diff --git "a/A0-Dataset-converted/hoi4d_frame_planning.json" "b/A0-Dataset-converted/hoi4d_frame_planning.json" new file mode 100644--- /dev/null +++ "b/A0-Dataset-converted/hoi4d_frame_planning.json" @@ -0,0 +1,131636 @@ +[ + { + "id": "hoi4d_121", + "task": "pick up the bucket", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00038.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00040.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bucket?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bucket, execute the following phases: 1) Initial approach phase (start at [1.628, 1.436]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.650, 1.245]). The trajectory involves 5 precise waypoints with total movement distance of 0.192." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 121, + "action": "pickup", + "object": "Bucket", + "frame_index": 40, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_130", + "task": "pick up the bucket", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bucket?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bucket, execute the following phases: 1) Initial approach phase (start at [1.599, 1.335]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.558, 1.228]). The trajectory involves 5 precise waypoints with total movement distance of 0.122." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 130, + "action": "pickup", + "object": "Bucket", + "frame_index": 58, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_133", + "task": "put down the bucket", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bucket?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bucket, execute the following phases: 1) Initial approach phase (start at [1.563, 1.053]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.556, 1.209]). The trajectory involves 5 precise waypoints with total movement distance of 0.156." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 133, + "action": "putdown", + "object": "Bucket", + "frame_index": 83, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_134", + "task": "put down the bucket", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bucket?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bucket, execute the following phases: 1) Initial approach phase (start at [1.559, 1.090]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.543, 1.266]). The trajectory involves 5 precise waypoints with total movement distance of 0.177." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 134, + "action": "putdown", + "object": "Bucket", + "frame_index": 85, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_138", + "task": "put down the bucket", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bucket?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bucket, execute the following phases: 1) Initial approach phase (start at [1.599, 1.155]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.586, 1.331]). The trajectory involves 5 precise waypoints with total movement distance of 0.177." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 138, + "action": "putdown", + "object": "Bucket", + "frame_index": 93, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_139", + "task": "put down the bucket", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T2/align_rgb/00095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bucket?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bucket, execute the following phases: 1) Initial approach phase (start at [1.610, 1.141]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.579, 1.329]). The trajectory involves 5 precise waypoints with total movement distance of 0.190." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 139, + "action": "putdown", + "object": "Bucket", + "frame_index": 95, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_189", + "task": "pick up the bucket", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00051.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bucket?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bucket, execute the following phases: 1) Initial approach phase (start at [1.514, 1.426]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.525, 1.247]). The trajectory involves 5 precise waypoints with total movement distance of 0.180." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 189, + "action": "pickup", + "object": "Bucket", + "frame_index": 51, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_197", + "task": "pick up the bucket", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bucket?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bucket, execute the following phases: 1) Initial approach phase (start at [1.477, 1.279]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.439, 1.048]). The trajectory involves 5 precise waypoints with total movement distance of 0.235." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 197, + "action": "pickup", + "object": "Bucket", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_198", + "task": "pick up the bucket", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bucket?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bucket, execute the following phases: 1) Initial approach phase (start at [1.459, 1.210]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.425, 0.991]). The trajectory involves 5 precise waypoints with total movement distance of 0.223." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 198, + "action": "pickup", + "object": "Bucket", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_223", + "task": "pick up the bucket", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bucket?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bucket, execute the following phases: 1) Initial approach phase (start at [1.516, 1.065]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.535, 0.800]). The trajectory involves 5 precise waypoints with total movement distance of 0.267." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 223, + "action": "pickup", + "object": "Bucket", + "frame_index": 186, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_224", + "task": "put down the bucket", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N13_S71_s02_T1/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bucket?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bucket, execute the following phases: 1) Initial approach phase (start at [1.505, 1.114]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.523, 1.206]). The trajectory involves 5 precise waypoints with total movement distance of 0.101." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 224, + "action": "putdown", + "object": "Bucket", + "frame_index": 208, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_248", + "task": "pick up the bucket", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C8_N12_S71_s02_T2/align_rgb/00045.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N12_S71_s02_T2/align_rgb/00046.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N12_S71_s02_T2/align_rgb/00047.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bucket?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bucket, execute the following phases: 1) Initial approach phase (start at [1.604, 1.107]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.620, 0.888]). The trajectory involves 5 precise waypoints with total movement distance of 0.220." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 248, + "action": "pickup", + "object": "Bucket", + "frame_index": 47, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_308", + "task": "put down the bucket", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C8_N12_S71_s02_T1/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N12_S71_s02_T1/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N12_S71_s02_T1/align_rgb/00089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bucket?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bucket, execute the following phases: 1) Initial approach phase (start at [1.376, 1.113]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.393, 1.293]). The trajectory involves 5 precise waypoints with total movement distance of 0.183." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 308, + "action": "putdown", + "object": "Bucket", + "frame_index": 89, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_339", + "task": "put down the bucket", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C8_N12_S71_s02_T1/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N12_S71_s02_T1/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N12_S71_s02_T1/align_rgb/00223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bucket?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bucket, execute the following phases: 1) Initial approach phase (start at [1.512, 1.188]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.545, 1.316]). The trajectory involves 5 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 339, + "action": "putdown", + "object": "Bucket", + "frame_index": 223, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_340", + "task": "put down the bucket", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C8_N12_S71_s02_T1/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N12_S71_s02_T1/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800004_H4_C8_N12_S71_s02_T1/align_rgb/00225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bucket?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bucket, execute the following phases: 1) Initial approach phase (start at [1.513, 1.150]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.535, 1.271]). The trajectory involves 5 precise waypoints with total movement distance of 0.123." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 340, + "action": "putdown", + "object": "Bucket", + "frame_index": 225, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_432", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C7_N13_S57_s01_T1/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800004_H4_C7_N13_S57_s01_T1/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800004_H4_C7_N13_S57_s01_T1/align_rgb/00189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.539, 1.601]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.531, 1.752]). The trajectory involves 5 precise waypoints with total movement distance of 0.152." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 432, + "action": "putdown", + "object": "Bowl", + "frame_index": 189, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_433", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C7_N13_S57_s01_T1/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C7_N13_S57_s01_T1/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800004_H4_C7_N13_S57_s01_T1/align_rgb/00191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.547, 1.603]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.522, 1.739]). The trajectory involves 5 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 433, + "action": "putdown", + "object": "Bowl", + "frame_index": 191, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_460", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00038.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00040.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.532, 1.383]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.547, 1.563]). The trajectory involves 5 precise waypoints with total movement distance of 0.183." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 460, + "action": "open", + "object": "Safe", + "frame_index": 40, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_461", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00040.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00041.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00042.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.597, 1.357]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.600, 1.493]). The trajectory involves 5 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 461, + "action": "open", + "object": "Safe", + "frame_index": 42, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_462", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00042.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00043.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00044.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.572, 1.322]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.576, 1.440]). The trajectory involves 5 precise waypoints with total movement distance of 0.156." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 462, + "action": "open", + "object": "Safe", + "frame_index": 44, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_469", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00132.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00133.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00134.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.764, 1.241]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.441, 1.079]). The trajectory involves 5 precise waypoints with total movement distance of 0.372." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 469, + "action": "close", + "object": "Safe", + "frame_index": 134, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_470", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00134.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00135.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00136.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.721, 1.260]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.437, 1.101]). The trajectory involves 5 precise waypoints with total movement distance of 0.342." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 470, + "action": "close", + "object": "Safe", + "frame_index": 136, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_473", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s05_T2/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.459, 1.349]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.144, 1.797]). The trajectory involves 5 precise waypoints with total movement distance of 0.882." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 473, + "action": "open", + "object": "Safe", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_485", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s04_T1/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s04_T1/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s04_T1/align_rgb/00109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.477, 1.237]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.986, 1.743]). The trajectory involves 5 precise waypoints with total movement distance of 0.751." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 485, + "action": "open", + "object": "Safe", + "frame_index": 109, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_489", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s04_T1/align_rgb/00135.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s04_T1/align_rgb/00136.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s04_T1/align_rgb/00137.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.599, 1.357]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.425, 1.054]). The trajectory involves 5 precise waypoints with total movement distance of 0.358." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 489, + "action": "close", + "object": "Safe", + "frame_index": 137, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_498", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s04_T1/align_rgb/00246.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s04_T1/align_rgb/00247.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s04_T1/align_rgb/00248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.558, 1.613]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.169, 1.048]). The trajectory involves 5 precise waypoints with total movement distance of 0.700." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 498, + "action": "close", + "object": "Safe", + "frame_index": 248, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_502", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.754, 1.600]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.549, 1.367]). The trajectory involves 5 precise waypoints with total movement distance of 0.327." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 502, + "action": "close", + "object": "Safe", + "frame_index": 100, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_503", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.832, 1.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.514, 1.191]). The trajectory involves 5 precise waypoints with total movement distance of 0.390." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 503, + "action": "close", + "object": "Safe", + "frame_index": 102, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_505", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.737, 1.881]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.296, 1.419]). The trajectory involves 5 precise waypoints with total movement distance of 0.659." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 505, + "action": "close", + "object": "Safe", + "frame_index": 106, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_506", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.724, 1.336]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.547, 1.125]). The trajectory involves 5 precise waypoints with total movement distance of 0.279." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 506, + "action": "close", + "object": "Safe", + "frame_index": 108, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_507", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.573, 1.715]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.316, 1.282]). The trajectory involves 5 precise waypoints with total movement distance of 0.511." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 507, + "action": "close", + "object": "Safe", + "frame_index": 110, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_509", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00112.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00113.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.403, 1.651]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.265, 1.270]). The trajectory involves 5 precise waypoints with total movement distance of 0.411." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 509, + "action": "close", + "object": "Safe", + "frame_index": 114, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_510", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.648, 1.203]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.095, 1.590]). The trajectory involves 5 precise waypoints with total movement distance of 0.617." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 510, + "action": "open", + "object": "Safe", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_511", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.764, 1.285]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.142, 1.441]). The trajectory involves 5 precise waypoints with total movement distance of 0.439." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 511, + "action": "open", + "object": "Safe", + "frame_index": 198, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_512", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.496, 1.380]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.190, 1.792]). The trajectory involves 5 precise waypoints with total movement distance of 0.855." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 512, + "action": "open", + "object": "Safe", + "frame_index": 199, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_513", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.757, 1.392]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.372, 1.032]). The trajectory involves 5 precise waypoints with total movement distance of 0.545." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 513, + "action": "close", + "object": "Safe", + "frame_index": 221, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_514", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s03_T3/align_rgb/00223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.660, 1.667]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.183, 1.079]). The trajectory involves 5 precise waypoints with total movement distance of 0.801." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 514, + "action": "close", + "object": "Safe", + "frame_index": 223, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_526", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s02_T2/align_rgb/00111.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s02_T2/align_rgb/00112.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s02_T2/align_rgb/00113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.500, 1.256]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.055, 1.655]). The trajectory involves 5 precise waypoints with total movement distance of 0.730." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 526, + "action": "open", + "object": "Safe", + "frame_index": 113, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_527", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s02_T2/align_rgb/00133.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s02_T2/align_rgb/00134.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s02_T2/align_rgb/00135.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.816, 1.203]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.442, 1.048]). The trajectory involves 5 precise waypoints with total movement distance of 0.433." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 527, + "action": "close", + "object": "Safe", + "frame_index": 135, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_529", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s02_T2/align_rgb/00136.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s02_T2/align_rgb/00137.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s02_T2/align_rgb/00138.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.744, 1.601]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.225, 1.156]). The trajectory involves 5 precise waypoints with total movement distance of 0.708." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 529, + "action": "close", + "object": "Safe", + "frame_index": 138, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_545", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00118.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00119.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.539, 1.218]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.956, 1.579]). The trajectory involves 5 precise waypoints with total movement distance of 0.578." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 545, + "action": "open", + "object": "Safe", + "frame_index": 120, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_546", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00120.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00121.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.547, 1.218]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.915, 1.558]). The trajectory involves 5 precise waypoints with total movement distance of 0.524." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 546, + "action": "open", + "object": "Safe", + "frame_index": 122, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_547", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00122.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00123.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.581, 1.203]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.865, 1.473]). The trajectory involves 5 precise waypoints with total movement distance of 0.408." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 547, + "action": "open", + "object": "Safe", + "frame_index": 124, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_552", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00151.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00152.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.524, 1.603]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.173, 1.125]). The trajectory involves 5 precise waypoints with total movement distance of 0.615." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 552, + "action": "close", + "object": "Safe", + "frame_index": 153, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_554", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.436, 1.428]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.014, 1.810]). The trajectory involves 5 precise waypoints with total movement distance of 0.823." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 554, + "action": "open", + "object": "Safe", + "frame_index": 227, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_555", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00243.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00244.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N54_S378_s01_T1/align_rgb/00245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.681, 1.293]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.342, 1.139]). The trajectory involves 5 precise waypoints with total movement distance of 0.382." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 555, + "action": "close", + "object": "Safe", + "frame_index": 245, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_566", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s05_T2/align_rgb/00136.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s05_T2/align_rgb/00137.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s05_T2/align_rgb/00138.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.591, 1.710]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.184, 1.232]). The trajectory involves 5 precise waypoints with total movement distance of 0.642." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 566, + "action": "close", + "object": "Safe", + "frame_index": 138, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_594", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.713, 1.301]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.445, 1.210]). The trajectory involves 5 precise waypoints with total movement distance of 0.286." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 594, + "action": "close", + "object": "Safe", + "frame_index": 239, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_595", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00241.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.721, 1.268]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.439, 1.170]). The trajectory involves 5 precise waypoints with total movement distance of 0.302." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 595, + "action": "close", + "object": "Safe", + "frame_index": 241, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_598", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00245.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00246.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00247.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.506, 1.554]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.122, 1.185]). The trajectory involves 5 precise waypoints with total movement distance of 0.550." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 598, + "action": "close", + "object": "Safe", + "frame_index": 247, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_599", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00247.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00248.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00249.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.464, 1.302]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.329, 1.067]). The trajectory involves 5 precise waypoints with total movement distance of 0.275." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 599, + "action": "close", + "object": "Safe", + "frame_index": 249, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_601", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00251.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00252.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00253.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.361, 1.335]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.227, 1.098]). The trajectory involves 5 precise waypoints with total movement distance of 0.283." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 601, + "action": "close", + "object": "Safe", + "frame_index": 253, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_602", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00253.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00254.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s04_T1/align_rgb/00255.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.354, 1.332]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.233, 1.127]). The trajectory involves 5 precise waypoints with total movement distance of 0.257." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 602, + "action": "close", + "object": "Safe", + "frame_index": 255, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_607", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s03_T3/align_rgb/00177.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s03_T3/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s03_T3/align_rgb/00179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.478, 1.481]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.143, 1.911]). The trajectory involves 5 precise waypoints with total movement distance of 0.818." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 607, + "action": "open", + "object": "Safe", + "frame_index": 179, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_608", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s03_T3/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s03_T3/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s03_T3/align_rgb/00180.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.469, 1.617]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.083, 2.061]). The trajectory involves 5 precise waypoints with total movement distance of 0.784." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 608, + "action": "open", + "object": "Safe", + "frame_index": 180, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_614", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s03_T3/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s03_T3/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s03_T3/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.654, 1.537]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.310, 1.199]). The trajectory involves 5 precise waypoints with total movement distance of 0.506." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 614, + "action": "close", + "object": "Safe", + "frame_index": 212, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_624", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s02_T2/align_rgb/00131.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s02_T2/align_rgb/00132.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s02_T2/align_rgb/00133.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.486, 1.285]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.880, 1.664]). The trajectory involves 5 precise waypoints with total movement distance of 0.552." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 624, + "action": "open", + "object": "Safe", + "frame_index": 133, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_626", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s02_T2/align_rgb/00147.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s02_T2/align_rgb/00148.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s02_T2/align_rgb/00149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.615, 1.806]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.147, 1.306]). The trajectory involves 5 precise waypoints with total movement distance of 0.713." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 626, + "action": "close", + "object": "Safe", + "frame_index": 149, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_640", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s01_T1/align_rgb/00119.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s01_T1/align_rgb/00120.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N52_S378_s01_T1/align_rgb/00121.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.573, 1.163]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.850, 1.566]). The trajectory involves 5 precise waypoints with total movement distance of 0.510." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 640, + "action": "open", + "object": "Safe", + "frame_index": 121, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_656", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s05_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s05_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s05_T2/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.422, 1.335]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.003, 1.739]). The trajectory involves 5 precise waypoints with total movement distance of 0.756." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 656, + "action": "open", + "object": "Safe", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_667", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.438, 1.239]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.877, 1.634]). The trajectory involves 5 precise waypoints with total movement distance of 0.610." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 667, + "action": "open", + "object": "Safe", + "frame_index": 110, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_671", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00136.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00137.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00138.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.617, 1.182]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.468, 1.009]). The trajectory involves 5 precise waypoints with total movement distance of 0.246." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 671, + "action": "close", + "object": "Safe", + "frame_index": 138, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_673", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00140.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00141.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00142.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.494, 1.404]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.243, 1.027]). The trajectory involves 5 precise waypoints with total movement distance of 0.488." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 673, + "action": "close", + "object": "Safe", + "frame_index": 142, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_674", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00142.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00143.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00144.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.562, 1.134]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.494, 0.947]). The trajectory involves 5 precise waypoints with total movement distance of 0.203." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 674, + "action": "close", + "object": "Safe", + "frame_index": 144, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_676", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.441, 1.286]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.869, 1.710]). The trajectory involves 5 precise waypoints with total movement distance of 0.667." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 676, + "action": "open", + "object": "Safe", + "frame_index": 214, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_678", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.628, 1.360]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.407, 1.128]). The trajectory involves 5 precise waypoints with total movement distance of 0.342." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 678, + "action": "close", + "object": "Safe", + "frame_index": 237, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_679", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s04_T1/align_rgb/00239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.553, 1.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.241, 1.121]). The trajectory involves 5 precise waypoints with total movement distance of 0.554." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 679, + "action": "close", + "object": "Safe", + "frame_index": 239, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_687", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s03_T3/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s03_T3/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s03_T3/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.794, 1.898]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.335, 1.371]). The trajectory involves 5 precise waypoints with total movement distance of 0.725." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 687, + "action": "close", + "object": "Safe", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_688", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s03_T3/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s03_T3/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s03_T3/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.835, 1.466]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.549, 1.251]). The trajectory involves 5 precise waypoints with total movement distance of 0.359." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 688, + "action": "close", + "object": "Safe", + "frame_index": 212, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_691", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s03_T3/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s03_T3/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s03_T3/align_rgb/00218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.570, 1.759]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.264, 1.298]). The trajectory involves 5 precise waypoints with total movement distance of 0.569." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 691, + "action": "close", + "object": "Safe", + "frame_index": 218, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_698", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s02_T2/align_rgb/00128.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s02_T2/align_rgb/00129.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s02_T2/align_rgb/00130.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.682, 1.787]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.208, 1.258]). The trajectory involves 5 precise waypoints with total movement distance of 0.732." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 698, + "action": "close", + "object": "Safe", + "frame_index": 130, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_701", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s02_T2/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s02_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s02_T2/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.396, 1.252]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.899, 1.960]). The trajectory involves 5 precise waypoints with total movement distance of 0.914." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 701, + "action": "open", + "object": "Safe", + "frame_index": 199, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_710", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00140.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00141.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00142.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.635, 1.768]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.120, 1.384]). The trajectory involves 5 precise waypoints with total movement distance of 0.668." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 710, + "action": "close", + "object": "Safe", + "frame_index": 142, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_712", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00144.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00145.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00146.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.569, 1.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.220, 1.183]). The trajectory involves 5 precise waypoints with total movement distance of 0.497." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 712, + "action": "close", + "object": "Safe", + "frame_index": 146, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_713", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00146.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00147.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.557, 1.359]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.350, 1.108]). The trajectory involves 5 precise waypoints with total movement distance of 0.334." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 713, + "action": "close", + "object": "Safe", + "frame_index": 148, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_714", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00148.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00149.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00150.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.506, 1.371]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.314, 1.120]). The trajectory involves 5 precise waypoints with total movement distance of 0.326." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 714, + "action": "close", + "object": "Safe", + "frame_index": 150, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_716", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.517, 1.109]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.977, 1.472]). The trajectory involves 5 precise waypoints with total movement distance of 0.615." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 716, + "action": "open", + "object": "Safe", + "frame_index": 223, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_718", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00242.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00243.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.721, 1.151]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.455, 1.011]). The trajectory involves 5 precise waypoints with total movement distance of 0.307." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 718, + "action": "close", + "object": "Safe", + "frame_index": 244, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_719", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00243.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00244.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N51_S378_s01_T1/align_rgb/00245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.668, 1.294]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.330, 1.058]). The trajectory involves 5 precise waypoints with total movement distance of 0.433." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 719, + "action": "close", + "object": "Safe", + "frame_index": 245, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_720", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00047.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00049.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.461, 1.167]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.804, 1.691]). The trajectory involves 5 precise waypoints with total movement distance of 0.651." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 720, + "action": "open", + "object": "Safe", + "frame_index": 49, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_721", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00051.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.516, 1.138]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.861, 1.584]). The trajectory involves 5 precise waypoints with total movement distance of 0.591." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 721, + "action": "open", + "object": "Safe", + "frame_index": 51, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_722", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00053.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.496, 1.162]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.920, 1.602]). The trajectory involves 5 precise waypoints with total movement distance of 0.651." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 722, + "action": "open", + "object": "Safe", + "frame_index": 53, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_723", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00053.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00055.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.529, 1.185]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.961, 1.554]). The trajectory involves 5 precise waypoints with total movement distance of 0.611." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 723, + "action": "open", + "object": "Safe", + "frame_index": 55, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_724", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00057.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.471, 1.251]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.996, 1.617]). The trajectory involves 5 precise waypoints with total movement distance of 0.694." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 724, + "action": "open", + "object": "Safe", + "frame_index": 57, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_725", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00059.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.571, 1.274]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.853, 1.489]). The trajectory involves 5 precise waypoints with total movement distance of 0.369." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 725, + "action": "open", + "object": "Safe", + "frame_index": 59, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_726", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.798, 1.371]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.401, 1.089]). The trajectory involves 5 precise waypoints with total movement distance of 0.510." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 726, + "action": "close", + "object": "Safe", + "frame_index": 81, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_727", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.798, 1.377]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.393, 1.111]). The trajectory involves 5 precise waypoints with total movement distance of 0.511." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 727, + "action": "close", + "object": "Safe", + "frame_index": 83, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_728", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.753, 1.372]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.388, 1.084]). The trajectory involves 5 precise waypoints with total movement distance of 0.482." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 728, + "action": "close", + "object": "Safe", + "frame_index": 85, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_729", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.698, 1.423]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.346, 1.054]). The trajectory involves 5 precise waypoints with total movement distance of 0.525." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 729, + "action": "close", + "object": "Safe", + "frame_index": 87, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_730", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.639, 1.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.276, 1.058]). The trajectory involves 5 precise waypoints with total movement distance of 0.626." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 730, + "action": "close", + "object": "Safe", + "frame_index": 89, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_732", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.515, 1.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.307, 1.077]). The trajectory involves 5 precise waypoints with total movement distance of 0.511." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 732, + "action": "close", + "object": "Safe", + "frame_index": 92, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_733", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.508, 1.199]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.811, 1.684]). The trajectory involves 5 precise waypoints with total movement distance of 0.595." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 733, + "action": "open", + "object": "Safe", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_734", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.478, 1.193]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.881, 1.746]). The trajectory involves 5 precise waypoints with total movement distance of 0.713." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 734, + "action": "open", + "object": "Safe", + "frame_index": 198, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_735", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.529, 1.233]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.926, 1.695]). The trajectory involves 5 precise waypoints with total movement distance of 0.637." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 735, + "action": "open", + "object": "Safe", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_736", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.527, 1.252]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.939, 1.660]). The trajectory involves 5 precise waypoints with total movement distance of 0.613." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 736, + "action": "open", + "object": "Safe", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_737", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.488, 1.277]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.934, 1.688]). The trajectory involves 5 precise waypoints with total movement distance of 0.643." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 737, + "action": "open", + "object": "Safe", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_738", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.459, 1.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.942, 1.782]). The trajectory involves 5 precise waypoints with total movement distance of 0.654." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 738, + "action": "open", + "object": "Safe", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_739", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.788, 1.471]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.307, 1.134]). The trajectory involves 5 precise waypoints with total movement distance of 0.623." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 739, + "action": "close", + "object": "Safe", + "frame_index": 228, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_740", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.789, 1.518]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.265, 1.097]). The trajectory involves 5 precise waypoints with total movement distance of 0.720." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 740, + "action": "close", + "object": "Safe", + "frame_index": 230, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_741", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.679, 1.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.321, 1.071]). The trajectory involves 5 precise waypoints with total movement distance of 0.566." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 741, + "action": "close", + "object": "Safe", + "frame_index": 232, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_742", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.641, 1.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.264, 1.140]). The trajectory involves 5 precise waypoints with total movement distance of 0.574." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 742, + "action": "close", + "object": "Safe", + "frame_index": 234, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_743", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.557, 1.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.249, 1.098]). The trajectory involves 5 precise waypoints with total movement distance of 0.561." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 743, + "action": "close", + "object": "Safe", + "frame_index": 236, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_745", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N50_S250_s05_T1/align_rgb/00240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.473, 1.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.363, 1.188]). The trajectory involves 5 precise waypoints with total movement distance of 0.339." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 745, + "action": "close", + "object": "Safe", + "frame_index": 240, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_747", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00057.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.446, 1.294]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.835, 1.780]). The trajectory involves 5 precise waypoints with total movement distance of 0.649." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 747, + "action": "open", + "object": "Safe", + "frame_index": 57, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_748", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00059.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.456, 1.291]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.894, 1.763]). The trajectory involves 5 precise waypoints with total movement distance of 0.670." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 748, + "action": "open", + "object": "Safe", + "frame_index": 59, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_749", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.450, 1.346]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.887, 1.792]). The trajectory involves 5 precise waypoints with total movement distance of 0.651." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 749, + "action": "open", + "object": "Safe", + "frame_index": 61, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_750", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.447, 1.359]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.891, 1.749]). The trajectory involves 5 precise waypoints with total movement distance of 0.622." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 750, + "action": "open", + "object": "Safe", + "frame_index": 63, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_751", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.440, 1.397]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.887, 1.734]). The trajectory involves 5 precise waypoints with total movement distance of 0.588." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 751, + "action": "open", + "object": "Safe", + "frame_index": 65, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_752", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.485, 1.420]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.845, 1.675]). The trajectory involves 5 precise waypoints with total movement distance of 0.461." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 752, + "action": "open", + "object": "Safe", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_753", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.538, 1.468]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.756, 1.650]). The trajectory involves 5 precise waypoints with total movement distance of 0.292." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 753, + "action": "open", + "object": "Safe", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_754", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.465, 1.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.804, 1.749]). The trajectory involves 5 precise waypoints with total movement distance of 0.397." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 754, + "action": "open", + "object": "Safe", + "frame_index": 70, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_755", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.790, 1.623]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.309, 1.296]). The trajectory involves 5 precise waypoints with total movement distance of 0.617." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 755, + "action": "close", + "object": "Safe", + "frame_index": 92, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_756", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.762, 1.702]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.287, 1.339]). The trajectory involves 5 precise waypoints with total movement distance of 0.638." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 756, + "action": "close", + "object": "Safe", + "frame_index": 94, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_758", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.645, 1.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.351, 1.196]). The trajectory involves 5 precise waypoints with total movement distance of 0.479." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 758, + "action": "close", + "object": "Safe", + "frame_index": 98, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_760", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.516, 1.634]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.288, 1.206]). The trajectory involves 5 precise waypoints with total movement distance of 0.503." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 760, + "action": "close", + "object": "Safe", + "frame_index": 101, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_761", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.500, 1.349]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.837, 1.849]). The trajectory involves 5 precise waypoints with total movement distance of 0.619." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 761, + "action": "open", + "object": "Safe", + "frame_index": 189, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_762", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.478, 1.398]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.931, 1.949]). The trajectory involves 5 precise waypoints with total movement distance of 0.762." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 762, + "action": "open", + "object": "Safe", + "frame_index": 191, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_763", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.486, 1.387]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.933, 1.855]). The trajectory involves 5 precise waypoints with total movement distance of 0.688." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 763, + "action": "open", + "object": "Safe", + "frame_index": 193, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_764", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.445, 1.436]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.932, 1.888]). The trajectory involves 5 precise waypoints with total movement distance of 0.711." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 764, + "action": "open", + "object": "Safe", + "frame_index": 195, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_765", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.432, 1.470]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.957, 1.869]). The trajectory involves 5 precise waypoints with total movement distance of 0.710." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 765, + "action": "open", + "object": "Safe", + "frame_index": 197, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_766", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.436, 1.458]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.942, 1.783]). The trajectory involves 5 precise waypoints with total movement distance of 0.642." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 766, + "action": "open", + "object": "Safe", + "frame_index": 199, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_767", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.488, 1.448]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.842, 1.693]). The trajectory involves 5 precise waypoints with total movement distance of 0.454." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 767, + "action": "open", + "object": "Safe", + "frame_index": 201, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_768", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.435, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.840, 1.774]). The trajectory involves 5 precise waypoints with total movement distance of 0.507." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 768, + "action": "open", + "object": "Safe", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_770", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.770, 1.661]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.248, 1.357]). The trajectory involves 5 precise waypoints with total movement distance of 0.639." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 770, + "action": "close", + "object": "Safe", + "frame_index": 226, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_771", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.695, 1.505]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.345, 1.253]). The trajectory involves 5 precise waypoints with total movement distance of 0.447." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 771, + "action": "close", + "object": "Safe", + "frame_index": 228, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_773", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.548, 1.523]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.324, 1.172]). The trajectory involves 5 precise waypoints with total movement distance of 0.433." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 773, + "action": "close", + "object": "Safe", + "frame_index": 232, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_774", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.509, 1.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.344, 1.169]). The trajectory involves 5 precise waypoints with total movement distance of 0.385." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 774, + "action": "close", + "object": "Safe", + "frame_index": 234, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_775", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.480, 1.560]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.345, 1.237]). The trajectory involves 5 precise waypoints with total movement distance of 0.365." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 775, + "action": "close", + "object": "Safe", + "frame_index": 236, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_776", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N47_S250_s04_T1/align_rgb/00237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.484, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.368, 1.229]). The trajectory involves 5 precise waypoints with total movement distance of 0.321." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 776, + "action": "close", + "object": "Safe", + "frame_index": 237, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_777", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00051.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.486, 1.332]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.966, 1.908]). The trajectory involves 5 precise waypoints with total movement distance of 0.807." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 777, + "action": "open", + "object": "Safe", + "frame_index": 51, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_778", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00053.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.492, 1.347]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.969, 1.871]). The trajectory involves 5 precise waypoints with total movement distance of 0.768." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 778, + "action": "open", + "object": "Safe", + "frame_index": 53, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_779", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00053.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00055.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.506, 1.396]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.037, 1.847]). The trajectory involves 5 precise waypoints with total movement distance of 0.745." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 779, + "action": "open", + "object": "Safe", + "frame_index": 55, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_780", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00057.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.513, 1.399]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.997, 1.767]). The trajectory involves 5 precise waypoints with total movement distance of 0.643." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 780, + "action": "open", + "object": "Safe", + "frame_index": 57, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_781", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00059.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.512, 1.447]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.004, 1.742]). The trajectory involves 5 precise waypoints with total movement distance of 0.596." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 781, + "action": "open", + "object": "Safe", + "frame_index": 59, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_782", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.548, 1.477]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.935, 1.697]). The trajectory involves 5 precise waypoints with total movement distance of 0.455." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 782, + "action": "open", + "object": "Safe", + "frame_index": 61, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_783", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.520, 1.602]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.916, 1.798]). The trajectory involves 5 precise waypoints with total movement distance of 0.452." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 783, + "action": "open", + "object": "Safe", + "frame_index": 63, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_786", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.844, 1.590]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.466, 1.184]). The trajectory involves 5 precise waypoints with total movement distance of 0.584." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 786, + "action": "close", + "object": "Safe", + "frame_index": 88, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_787", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.787, 1.637]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.432, 1.153]). The trajectory involves 5 precise waypoints with total movement distance of 0.628." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 787, + "action": "close", + "object": "Safe", + "frame_index": 90, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_788", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.745, 1.692]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.409, 1.224]). The trajectory involves 5 precise waypoints with total movement distance of 0.604." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 788, + "action": "close", + "object": "Safe", + "frame_index": 92, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_789", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.689, 1.715]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.451, 1.333]). The trajectory involves 5 precise waypoints with total movement distance of 0.469." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 789, + "action": "close", + "object": "Safe", + "frame_index": 94, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_792", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.562, 1.439]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.806, 1.953]). The trajectory involves 5 precise waypoints with total movement distance of 0.589." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 792, + "action": "open", + "object": "Safe", + "frame_index": 190, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_793", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.583, 1.471]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.871, 1.991]). The trajectory involves 5 precise waypoints with total movement distance of 0.615." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 793, + "action": "open", + "object": "Safe", + "frame_index": 192, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_794", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.523, 1.467]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.937, 2.056]). The trajectory involves 5 precise waypoints with total movement distance of 0.747." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 794, + "action": "open", + "object": "Safe", + "frame_index": 194, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_795", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.485, 1.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.923, 2.087]). The trajectory involves 5 precise waypoints with total movement distance of 0.718." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 795, + "action": "open", + "object": "Safe", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_796", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.491, 1.589]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.944, 2.012]). The trajectory involves 5 precise waypoints with total movement distance of 0.649." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 796, + "action": "open", + "object": "Safe", + "frame_index": 198, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_797", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.611, 1.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.847, 1.762]). The trajectory involves 5 precise waypoints with total movement distance of 0.326." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 797, + "action": "open", + "object": "Safe", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_799", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.577, 1.472]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.879, 1.641]). The trajectory involves 5 precise waypoints with total movement distance of 0.360." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 799, + "action": "open", + "object": "Safe", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_800", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.550, 1.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.920, 1.662]). The trajectory involves 5 precise waypoints with total movement distance of 0.421." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 800, + "action": "open", + "object": "Safe", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_801", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.572, 1.480]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.921, 1.585]). The trajectory involves 5 precise waypoints with total movement distance of 0.373." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 801, + "action": "open", + "object": "Safe", + "frame_index": 208, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_802", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.891, 1.498]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.351, 1.031]). The trajectory involves 5 precise waypoints with total movement distance of 0.770." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 802, + "action": "close", + "object": "Safe", + "frame_index": 230, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_805", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.769, 1.406]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.411, 0.980]). The trajectory involves 5 precise waypoints with total movement distance of 0.581." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 805, + "action": "close", + "object": "Safe", + "frame_index": 236, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_806", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.708, 1.360]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.432, 0.932]). The trajectory involves 5 precise waypoints with total movement distance of 0.527." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 806, + "action": "close", + "object": "Safe", + "frame_index": 238, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_807", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.605, 1.421]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.415, 0.969]). The trajectory involves 5 precise waypoints with total movement distance of 0.501." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 807, + "action": "close", + "object": "Safe", + "frame_index": 240, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_808", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.540, 1.374]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.403, 0.945]). The trajectory involves 5 precise waypoints with total movement distance of 0.460." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 808, + "action": "close", + "object": "Safe", + "frame_index": 242, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_810", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00244.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00245.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.497, 1.291]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.440, 1.014]). The trajectory involves 5 precise waypoints with total movement distance of 0.287." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 810, + "action": "close", + "object": "Safe", + "frame_index": 246, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_811", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00245.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00246.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N43_S250_s03_T1/align_rgb/00247.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.471, 1.284]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.437, 1.031]). The trajectory involves 5 precise waypoints with total movement distance of 0.257." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 811, + "action": "close", + "object": "Safe", + "frame_index": 247, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_812", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00053.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00054.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.509, 1.251]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.997, 1.844]). The trajectory involves 5 precise waypoints with total movement distance of 0.820." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 812, + "action": "open", + "object": "Safe", + "frame_index": 54, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_813", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00056.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.500, 1.292]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.044, 1.872]). The trajectory involves 5 precise waypoints with total movement distance of 0.880." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 813, + "action": "open", + "object": "Safe", + "frame_index": 56, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_814", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.515, 1.296]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.142, 1.773]). The trajectory involves 5 precise waypoints with total movement distance of 0.884." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 814, + "action": "open", + "object": "Safe", + "frame_index": 58, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_815", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.503, 1.344]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.057, 1.779]). The trajectory involves 5 precise waypoints with total movement distance of 0.769." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 815, + "action": "open", + "object": "Safe", + "frame_index": 60, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_816", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.807, 1.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.363, 1.152]). The trajectory involves 5 precise waypoints with total movement distance of 0.585." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 816, + "action": "close", + "object": "Safe", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_821", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.480, 1.366]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.917, 2.036]). The trajectory involves 5 precise waypoints with total movement distance of 0.824." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 821, + "action": "open", + "object": "Safe", + "frame_index": 189, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_822", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.483, 1.350]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.948, 1.990]). The trajectory involves 5 precise waypoints with total movement distance of 0.822." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 822, + "action": "open", + "object": "Safe", + "frame_index": 191, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_823", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.467, 1.398]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.981, 1.972]). The trajectory involves 5 precise waypoints with total movement distance of 0.806." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 823, + "action": "open", + "object": "Safe", + "frame_index": 193, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_824", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.452, 1.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.975, 2.001]). The trajectory involves 5 precise waypoints with total movement distance of 0.769." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 824, + "action": "open", + "object": "Safe", + "frame_index": 195, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_825", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.448, 1.540]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.965, 1.973]). The trajectory involves 5 precise waypoints with total movement distance of 0.712." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 825, + "action": "open", + "object": "Safe", + "frame_index": 197, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_826", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.514, 1.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.916, 1.794]). The trajectory involves 5 precise waypoints with total movement distance of 0.503." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 826, + "action": "open", + "object": "Safe", + "frame_index": 199, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_830", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.769, 1.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.407, 1.176]). The trajectory involves 5 precise waypoints with total movement distance of 0.541." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 830, + "action": "close", + "object": "Safe", + "frame_index": 226, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_832", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N39_S250_s02_T1/align_rgb/00230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.661, 1.604]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.409, 1.155]). The trajectory involves 5 precise waypoints with total movement distance of 0.526." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 832, + "action": "close", + "object": "Safe", + "frame_index": 230, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_844", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N24_S250_s01_T3/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N24_S250_s01_T3/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N24_S250_s01_T3/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.515, 1.212]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.007, 1.570]). The trajectory involves 5 precise waypoints with total movement distance of 0.638." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 844, + "action": "open", + "object": "Safe", + "frame_index": 208, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_875", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N20_S249_s05_T3/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N20_S249_s05_T3/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N20_S249_s05_T3/align_rgb/00106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.798, 1.573]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.381, 1.153]). The trajectory involves 5 precise waypoints with total movement distance of 0.630." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 875, + "action": "close", + "object": "Safe", + "frame_index": 106, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_882", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N20_S249_s05_T3/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N20_S249_s05_T3/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N20_S249_s05_T3/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.948, 1.460]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.197, 1.840]). The trajectory involves 5 precise waypoints with total movement distance of 0.462." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 882, + "action": "open", + "object": "Safe", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_883", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N20_S249_s05_T3/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N20_S249_s05_T3/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N20_S249_s05_T3/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.823, 1.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.115, 1.888]). The trajectory involves 5 precise waypoints with total movement distance of 0.594." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 883, + "action": "open", + "object": "Safe", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_885", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N20_S249_s05_T3/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N20_S249_s05_T3/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N20_S249_s05_T3/align_rgb/00235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.939, 1.480]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.629, 1.091]). The trajectory involves 5 precise waypoints with total movement distance of 0.510." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 885, + "action": "close", + "object": "Safe", + "frame_index": 235, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_897", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N19_S249_s05_T3/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N19_S249_s05_T3/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N19_S249_s05_T3/align_rgb/00100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.644, 1.378]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.386, 1.093]). The trajectory involves 5 precise waypoints with total movement distance of 0.397." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 897, + "action": "close", + "object": "Safe", + "frame_index": 100, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_899", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N19_S249_s05_T3/align_rgb/00102.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N19_S249_s05_T3/align_rgb/00103.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N19_S249_s05_T3/align_rgb/00104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.515, 1.680]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.234, 1.210]). The trajectory involves 5 precise waypoints with total movement distance of 0.569." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 899, + "action": "close", + "object": "Safe", + "frame_index": 104, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_914", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.893, 1.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.600, 1.454]). The trajectory involves 5 precise waypoints with total movement distance of 0.352." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 914, + "action": "close", + "object": "Safe", + "frame_index": 106, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_915", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.896, 1.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.591, 1.473]). The trajectory involves 5 precise waypoints with total movement distance of 0.359." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 915, + "action": "close", + "object": "Safe", + "frame_index": 108, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_916", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.893, 1.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.590, 1.376]). The trajectory involves 5 precise waypoints with total movement distance of 0.370." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 916, + "action": "close", + "object": "Safe", + "frame_index": 110, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_917", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.681, 1.356]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.965, 1.517]). The trajectory involves 5 precise waypoints with total movement distance of 0.363." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 917, + "action": "open", + "object": "Safe", + "frame_index": 201, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_918", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.838, 1.585]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.556, 1.406]). The trajectory involves 5 precise waypoints with total movement distance of 0.378." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 918, + "action": "close", + "object": "Safe", + "frame_index": 220, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_919", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N16_S249_s04_T3/align_rgb/00222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.800, 1.601]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.564, 1.443]). The trajectory involves 5 precise waypoints with total movement distance of 0.318." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 919, + "action": "close", + "object": "Safe", + "frame_index": 222, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1008", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T2/align_rgb/00007.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T2/align_rgb/00008.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T2/align_rgb/00009.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.541, 1.445]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.741, 1.558]). The trajectory involves 5 precise waypoints with total movement distance of 0.248." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1008, + "action": "open", + "object": "Safe", + "frame_index": 9, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1023", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T2/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T2/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T2/align_rgb/00097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.789, 1.490]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.694, 1.467]). The trajectory involves 5 precise waypoints with total movement distance of 0.102." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1023, + "action": "close", + "object": "Safe", + "frame_index": 97, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1027", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T2/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T2/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T2/align_rgb/00102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.820, 1.503]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.570, 1.344]). The trajectory involves 5 precise waypoints with total movement distance of 0.325." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1027, + "action": "close", + "object": "Safe", + "frame_index": 102, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1043", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.665, 1.412]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.501, 1.290]). The trajectory involves 5 precise waypoints with total movement distance of 0.209." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1043, + "action": "close", + "object": "Safe", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1046", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.688, 1.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.472, 1.262]). The trajectory involves 5 precise waypoints with total movement distance of 0.264." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1046, + "action": "close", + "object": "Safe", + "frame_index": 84, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1047", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.687, 1.380]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.466, 1.240]). The trajectory involves 5 precise waypoints with total movement distance of 0.269." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1047, + "action": "close", + "object": "Safe", + "frame_index": 86, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1053", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.604, 1.280]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.467, 1.123]). The trajectory involves 5 precise waypoints with total movement distance of 0.221." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1053, + "action": "close", + "object": "Safe", + "frame_index": 195, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1054", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.602, 1.296]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.475, 1.146]). The trajectory involves 5 precise waypoints with total movement distance of 0.210." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1054, + "action": "close", + "object": "Safe", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1056", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.620, 1.333]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.460, 1.179]). The trajectory involves 5 precise waypoints with total movement distance of 0.237." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1056, + "action": "close", + "object": "Safe", + "frame_index": 199, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1057", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S82_s02_T1/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.609, 1.267]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.455, 1.108]). The trajectory involves 5 precise waypoints with total movement distance of 0.234." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1057, + "action": "close", + "object": "Safe", + "frame_index": 201, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1071", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.985, 1.688]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.710, 1.633]). The trajectory involves 5 precise waypoints with total movement distance of 0.369." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1071, + "action": "close", + "object": "Safe", + "frame_index": 92, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1072", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.960, 1.662]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.660, 1.614]). The trajectory involves 5 precise waypoints with total movement distance of 0.401." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1072, + "action": "close", + "object": "Safe", + "frame_index": 97, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1073", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.882, 1.590]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.590, 1.647]). The trajectory involves 5 precise waypoints with total movement distance of 0.401." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1073, + "action": "close", + "object": "Safe", + "frame_index": 102, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1075", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00110.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00111.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.917, 1.645]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.554, 1.600]). The trajectory involves 5 precise waypoints with total movement distance of 0.482." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1075, + "action": "close", + "object": "Safe", + "frame_index": 112, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1076", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00112.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00113.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.907, 1.678]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.549, 1.620]). The trajectory involves 5 precise waypoints with total movement distance of 0.469." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1076, + "action": "close", + "object": "Safe", + "frame_index": 114, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1078", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00116.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00117.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00118.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.842, 1.753]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.548, 1.562]). The trajectory involves 5 precise waypoints with total movement distance of 0.398." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1078, + "action": "close", + "object": "Safe", + "frame_index": 118, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1079", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00118.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00119.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.776, 1.740]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.568, 1.497]). The trajectory involves 5 precise waypoints with total movement distance of 0.344." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1079, + "action": "close", + "object": "Safe", + "frame_index": 120, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1080", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00119.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00120.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00121.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.740, 1.750]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.564, 1.491]). The trajectory involves 5 precise waypoints with total movement distance of 0.334." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1080, + "action": "close", + "object": "Safe", + "frame_index": 121, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1084", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.846, 1.677]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.550, 1.521]). The trajectory involves 5 precise waypoints with total movement distance of 0.382." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1084, + "action": "close", + "object": "Safe", + "frame_index": 231, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1085", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.818, 1.700]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.542, 1.539]). The trajectory involves 5 precise waypoints with total movement distance of 0.366." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1085, + "action": "close", + "object": "Safe", + "frame_index": 233, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1087", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N14_S249_s04_T3/align_rgb/00236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.756, 1.708]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.536, 1.528]). The trajectory involves 5 precise waypoints with total movement distance of 0.304." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1087, + "action": "close", + "object": "Safe", + "frame_index": 236, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1245", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.589, 1.395]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.389, 1.332]). The trajectory involves 5 precise waypoints with total movement distance of 0.230." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1245, + "action": "close", + "object": "Safe", + "frame_index": 99, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1248", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.529, 1.441]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.399, 1.319]). The trajectory involves 5 precise waypoints with total movement distance of 0.199." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1248, + "action": "close", + "object": "Safe", + "frame_index": 106, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1256", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00177.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.344, 1.272]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.562, 1.458]). The trajectory involves 5 precise waypoints with total movement distance of 0.315." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1256, + "action": "open", + "object": "Safe", + "frame_index": 179, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1259", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.323, 1.275]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.566, 1.457]). The trajectory involves 5 precise waypoints with total movement distance of 0.332." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1259, + "action": "open", + "object": "Safe", + "frame_index": 185, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1266", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.555, 1.346]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.325, 1.216]). The trajectory involves 5 precise waypoints with total movement distance of 0.287." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1266, + "action": "close", + "object": "Safe", + "frame_index": 227, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1267", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.552, 1.347]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.314, 1.196]). The trajectory involves 5 precise waypoints with total movement distance of 0.307." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1267, + "action": "close", + "object": "Safe", + "frame_index": 229, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1268", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.524, 1.410]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.323, 1.253]). The trajectory involves 5 precise waypoints with total movement distance of 0.277." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1268, + "action": "close", + "object": "Safe", + "frame_index": 231, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1269", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N09_S82_s05_T1/align_rgb/00233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.500, 1.417]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.324, 1.275]). The trajectory involves 5 precise waypoints with total movement distance of 0.246." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1269, + "action": "close", + "object": "Safe", + "frame_index": 233, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1273", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N09_S249_s03_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N09_S249_s03_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N09_S249_s03_T2/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.785, 1.410]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.621, 1.248]). The trajectory involves 5 precise waypoints with total movement distance of 0.243." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1273, + "action": "close", + "object": "Safe", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1274", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N09_S249_s03_T2/align_rgb/00172.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N09_S249_s03_T2/align_rgb/00173.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N09_S249_s03_T2/align_rgb/00174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.675, 1.333]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.921, 1.508]). The trajectory involves 5 precise waypoints with total movement distance of 0.317." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1274, + "action": "open", + "object": "Safe", + "frame_index": 174, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1278", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00000.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.442, 1.128]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.520, 1.358]). The trajectory involves 5 precise waypoints with total movement distance of 0.260." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1278, + "action": "open", + "object": "Safe", + "frame_index": 0, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1279", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00003.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00004.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00005.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.438, 1.148]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.500, 1.373]). The trajectory involves 5 precise waypoints with total movement distance of 0.250." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1279, + "action": "open", + "object": "Safe", + "frame_index": 5, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1281", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00015.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00016.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00017.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.462, 1.152]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.551, 1.388]). The trajectory involves 5 precise waypoints with total movement distance of 0.270." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1281, + "action": "open", + "object": "Safe", + "frame_index": 17, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1285", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00027.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00028.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00029.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.463, 1.302]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.690, 1.599]). The trajectory involves 5 precise waypoints with total movement distance of 0.400." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1285, + "action": "open", + "object": "Safe", + "frame_index": 29, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1286", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00029.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00030.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00031.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.467, 1.394]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.624, 1.711]). The trajectory involves 5 precise waypoints with total movement distance of 0.378." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1286, + "action": "open", + "object": "Safe", + "frame_index": 31, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1297", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00126.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00127.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00128.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.338, 1.046]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.473, 1.331]). The trajectory involves 5 precise waypoints with total movement distance of 0.338." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1297, + "action": "open", + "object": "Safe", + "frame_index": 128, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1301", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00136.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00137.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T2/align_rgb/00138.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.369, 1.127]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.565, 1.433]). The trajectory involves 5 precise waypoints with total movement distance of 0.405." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1301, + "action": "open", + "object": "Safe", + "frame_index": 138, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1314", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00024.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00025.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00026.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.362, 1.218]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.503, 1.390]). The trajectory involves 5 precise waypoints with total movement distance of 0.230." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1314, + "action": "open", + "object": "Safe", + "frame_index": 26, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1315", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00026.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00027.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00028.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.367, 1.212]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.501, 1.392]). The trajectory involves 5 precise waypoints with total movement distance of 0.233." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1315, + "action": "open", + "object": "Safe", + "frame_index": 28, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1329", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00151.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00152.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.385, 1.109]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.644, 1.247]). The trajectory involves 5 precise waypoints with total movement distance of 0.330." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1329, + "action": "open", + "object": "Safe", + "frame_index": 153, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1331", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.412, 1.241]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.185, 1.119]). The trajectory involves 5 precise waypoints with total movement distance of 0.284." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1331, + "action": "close", + "object": "Safe", + "frame_index": 193, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1332", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.444, 1.272]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.219, 1.152]). The trajectory involves 5 precise waypoints with total movement distance of 0.282." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1332, + "action": "close", + "object": "Safe", + "frame_index": 198, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1333", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.490, 1.267]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.288, 1.163]). The trajectory involves 5 precise waypoints with total movement distance of 0.251." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1333, + "action": "close", + "object": "Safe", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1335", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.489, 1.252]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.261, 1.112]). The trajectory involves 5 precise waypoints with total movement distance of 0.293." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1335, + "action": "close", + "object": "Safe", + "frame_index": 216, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1336", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.476, 1.322]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.282, 1.169]). The trajectory involves 5 precise waypoints with total movement distance of 0.273." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1336, + "action": "close", + "object": "Safe", + "frame_index": 218, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1337", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S82_s04_T1/align_rgb/00220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.452, 1.311]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.294, 1.152]). The trajectory involves 5 precise waypoints with total movement distance of 0.247." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1337, + "action": "close", + "object": "Safe", + "frame_index": 220, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1340", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N07_S249_s02_T2/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S249_s02_T2/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S249_s02_T2/align_rgb/00062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.677, 1.165]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.904, 1.357]). The trajectory involves 5 precise waypoints with total movement distance of 0.322." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1340, + "action": "open", + "object": "Safe", + "frame_index": 62, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1341", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N07_S249_s02_T2/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S249_s02_T2/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S249_s02_T2/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.682, 1.192]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.881, 1.359]). The trajectory involves 5 precise waypoints with total movement distance of 0.277." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1341, + "action": "open", + "object": "Safe", + "frame_index": 64, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1342", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N07_S249_s02_T2/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S249_s02_T2/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S249_s02_T2/align_rgb/00086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.754, 1.407]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.567, 1.255]). The trajectory involves 5 precise waypoints with total movement distance of 0.254." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1342, + "action": "close", + "object": "Safe", + "frame_index": 86, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1343", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N07_S249_s02_T2/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S249_s02_T2/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N07_S249_s02_T2/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.738, 1.363]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.567, 1.179]). The trajectory involves 5 precise waypoints with total movement distance of 0.265." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1343, + "action": "close", + "object": "Safe", + "frame_index": 88, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1348", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T2/align_rgb/00000.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.301, 1.201]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.533, 1.531]). The trajectory involves 5 precise waypoints with total movement distance of 0.431." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1348, + "action": "open", + "object": "Safe", + "frame_index": 0, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1356", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T2/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T2/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T2/align_rgb/00081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.560, 1.539]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.364, 1.359]). The trajectory involves 5 precise waypoints with total movement distance of 0.280." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1356, + "action": "close", + "object": "Safe", + "frame_index": 81, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1357", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T2/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T2/align_rgb/00084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.562, 1.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.368, 1.345]). The trajectory involves 5 precise waypoints with total movement distance of 0.278." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1357, + "action": "close", + "object": "Safe", + "frame_index": 84, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1358", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T2/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T2/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T2/align_rgb/00087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.556, 1.518]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.354, 1.343]). The trajectory involves 5 precise waypoints with total movement distance of 0.282." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1358, + "action": "close", + "object": "Safe", + "frame_index": 87, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1359", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T2/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T2/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T2/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.548, 1.520]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.344, 1.344]). The trajectory involves 5 precise waypoints with total movement distance of 0.284." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1359, + "action": "close", + "object": "Safe", + "frame_index": 90, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1392", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.613, 1.476]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.464, 1.345]). The trajectory involves 5 precise waypoints with total movement distance of 0.206." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1392, + "action": "close", + "object": "Safe", + "frame_index": 101, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1393", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.610, 1.494]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.473, 1.374]). The trajectory involves 5 precise waypoints with total movement distance of 0.190." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1393, + "action": "close", + "object": "Safe", + "frame_index": 102, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1407", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.573, 1.412]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.407, 1.273]). The trajectory involves 5 precise waypoints with total movement distance of 0.224." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1407, + "action": "close", + "object": "Safe", + "frame_index": 226, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1408", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.569, 1.459]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.439, 1.332]). The trajectory involves 5 precise waypoints with total movement distance of 0.188." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1408, + "action": "close", + "object": "Safe", + "frame_index": 228, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1409", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.573, 1.478]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.447, 1.359]). The trajectory involves 5 precise waypoints with total movement distance of 0.180." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1409, + "action": "close", + "object": "Safe", + "frame_index": 230, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1410", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.581, 1.440]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.422, 1.303]). The trajectory involves 5 precise waypoints with total movement distance of 0.217." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1410, + "action": "close", + "object": "Safe", + "frame_index": 232, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1411", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N06_S82_s03_T1/align_rgb/00234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.586, 1.447]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.425, 1.315]). The trajectory involves 5 precise waypoints with total movement distance of 0.216." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1411, + "action": "close", + "object": "Safe", + "frame_index": 234, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1413", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N06_S249_s02_T2/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N06_S249_s02_T2/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N06_S249_s02_T2/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.771, 1.438]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.608, 1.253]). The trajectory involves 5 precise waypoints with total movement distance of 0.259." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1413, + "action": "close", + "object": "Safe", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1415", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N06_S249_s02_T2/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N06_S249_s02_T2/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N06_S249_s02_T2/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.742, 1.458]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.605, 1.272]). The trajectory involves 5 precise waypoints with total movement distance of 0.245." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1415, + "action": "close", + "object": "Safe", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1417", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N06_S249_s02_T2/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N06_S249_s02_T2/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N06_S249_s02_T2/align_rgb/00187.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.653, 1.292]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.853, 1.504]). The trajectory involves 5 precise waypoints with total movement distance of 0.318." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1417, + "action": "open", + "object": "Safe", + "frame_index": 187, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1496", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00031.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00032.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00033.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.484, 1.116]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.816, 1.357]). The trajectory involves 5 precise waypoints with total movement distance of 0.446." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1496, + "action": "open", + "object": "Safe", + "frame_index": 33, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1501", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.754, 1.314]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.441, 1.165]). The trajectory involves 5 precise waypoints with total movement distance of 0.379." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1501, + "action": "close", + "object": "Safe", + "frame_index": 91, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1502", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.758, 1.315]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.441, 1.162]). The trajectory involves 5 precise waypoints with total movement distance of 0.385." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1502, + "action": "close", + "object": "Safe", + "frame_index": 93, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1503", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.759, 1.318]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.445, 1.165]). The trajectory involves 5 precise waypoints with total movement distance of 0.381." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1503, + "action": "close", + "object": "Safe", + "frame_index": 95, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1504", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.761, 1.234]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.441, 1.075]). The trajectory involves 5 precise waypoints with total movement distance of 0.391." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1504, + "action": "close", + "object": "Safe", + "frame_index": 97, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1505", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.746, 1.200]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.474, 1.038]). The trajectory involves 5 precise waypoints with total movement distance of 0.341." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1505, + "action": "close", + "object": "Safe", + "frame_index": 99, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1508", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00168.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00169.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.461, 1.015]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.756, 1.221]). The trajectory involves 5 precise waypoints with total movement distance of 0.449." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1508, + "action": "open", + "object": "Safe", + "frame_index": 170, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1511", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.723, 1.190]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.472, 1.030]). The trajectory involves 5 precise waypoints with total movement distance of 0.321." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1511, + "action": "close", + "object": "Safe", + "frame_index": 212, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1512", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.727, 1.238]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.438, 1.034]). The trajectory involves 5 precise waypoints with total movement distance of 0.384." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1512, + "action": "close", + "object": "Safe", + "frame_index": 214, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1513", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.707, 1.170]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.473, 1.007]). The trajectory involves 5 precise waypoints with total movement distance of 0.307." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1513, + "action": "close", + "object": "Safe", + "frame_index": 216, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1514", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.724, 1.246]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.445, 1.063]). The trajectory involves 5 precise waypoints with total movement distance of 0.362." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1514, + "action": "close", + "object": "Safe", + "frame_index": 218, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1515", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S82_s02_T1/align_rgb/00221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.710, 1.163]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.469, 0.969]). The trajectory involves 5 precise waypoints with total movement distance of 0.333." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1515, + "action": "close", + "object": "Safe", + "frame_index": 221, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1517", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N04_S249_s01_T2/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S249_s01_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S249_s01_T2/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.598, 1.115]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.858, 1.278]). The trajectory involves 5 precise waypoints with total movement distance of 0.345." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1517, + "action": "open", + "object": "Safe", + "frame_index": 58, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1520", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N04_S249_s01_T2/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S249_s01_T2/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S249_s01_T2/align_rgb/00083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.742, 1.266]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.541, 1.077]). The trajectory involves 5 precise waypoints with total movement distance of 0.305." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1520, + "action": "close", + "object": "Safe", + "frame_index": 83, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1521", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N04_S249_s01_T2/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S249_s01_T2/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N04_S249_s01_T2/align_rgb/00190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.630, 1.108]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.950, 1.299]). The trajectory involves 5 precise waypoints with total movement distance of 0.456." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1521, + "action": "open", + "object": "Safe", + "frame_index": 190, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1532", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T2/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T2/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T2/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.622, 1.394]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.511, 1.083]). The trajectory involves 5 precise waypoints with total movement distance of 0.354." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1532, + "action": "close", + "object": "Safe", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1542", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00040.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00041.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00042.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.464, 1.332]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.643, 1.465]). The trajectory involves 5 precise waypoints with total movement distance of 0.243." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1542, + "action": "open", + "object": "Safe", + "frame_index": 42, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1543", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00042.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00043.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00044.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.472, 1.348]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.634, 1.453]). The trajectory involves 5 precise waypoints with total movement distance of 0.210." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1543, + "action": "open", + "object": "Safe", + "frame_index": 44, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1545", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.600, 1.586]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.393, 1.376]). The trajectory involves 5 precise waypoints with total movement distance of 0.309." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1545, + "action": "close", + "object": "Safe", + "frame_index": 86, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1546", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.615, 1.637]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.407, 1.437]). The trajectory involves 5 precise waypoints with total movement distance of 0.302." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1546, + "action": "close", + "object": "Safe", + "frame_index": 89, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1547", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.586, 1.661]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.383, 1.465]). The trajectory involves 5 precise waypoints with total movement distance of 0.296." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1547, + "action": "close", + "object": "Safe", + "frame_index": 92, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1548", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.594, 1.616]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.383, 1.410]). The trajectory involves 5 precise waypoints with total movement distance of 0.310." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1548, + "action": "close", + "object": "Safe", + "frame_index": 95, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1549", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.592, 1.605]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.368, 1.379]). The trajectory involves 5 precise waypoints with total movement distance of 0.334." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1549, + "action": "close", + "object": "Safe", + "frame_index": 99, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1550", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.587, 1.652]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.384, 1.451]). The trajectory involves 5 precise waypoints with total movement distance of 0.300." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1550, + "action": "close", + "object": "Safe", + "frame_index": 101, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1557", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.403, 1.418]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.583, 1.705]). The trajectory involves 5 precise waypoints with total movement distance of 0.383." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1557, + "action": "open", + "object": "Safe", + "frame_index": 190, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1559", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.634, 1.576]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.503, 1.602]). The trajectory involves 5 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1559, + "action": "close", + "object": "Safe", + "frame_index": 222, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1561", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S82_s02_T1/align_rgb/00226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.633, 1.523]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.352, 1.342]). The trajectory involves 5 precise waypoints with total movement distance of 0.355." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1561, + "action": "close", + "object": "Safe", + "frame_index": 226, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1567", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N03_S249_s01_T2/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S249_s01_T2/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S249_s01_T2/align_rgb/00060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.756, 1.146]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.872, 1.269]). The trajectory involves 5 precise waypoints with total movement distance of 0.180." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1567, + "action": "open", + "object": "Safe", + "frame_index": 60, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1568", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N03_S249_s01_T2/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S249_s01_T2/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S249_s01_T2/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.795, 1.361]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.612, 1.196]). The trajectory involves 5 precise waypoints with total movement distance of 0.270." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1568, + "action": "close", + "object": "Safe", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1569", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N03_S249_s01_T2/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S249_s01_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S249_s01_T2/align_rgb/00084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.788, 1.348]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.630, 1.228]). The trajectory involves 5 precise waypoints with total movement distance of 0.214." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1569, + "action": "close", + "object": "Safe", + "frame_index": 84, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1572", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N03_S249_s01_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S249_s01_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N03_S249_s01_T2/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.795, 1.198]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.919, 1.301]). The trajectory involves 5 precise waypoints with total movement distance of 0.184." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1572, + "action": "open", + "object": "Safe", + "frame_index": 201, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1582", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T2/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T2/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T2/align_rgb/00083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.900, 1.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.790, 1.363]). The trajectory involves 5 precise waypoints with total movement distance of 0.189." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1582, + "action": "close", + "object": "Safe", + "frame_index": 83, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1601", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.762, 1.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.585, 1.352]). The trajectory involves 5 precise waypoints with total movement distance of 0.282." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1601, + "action": "close", + "object": "Safe", + "frame_index": 88, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1603", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.775, 1.554]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.594, 1.350]). The trajectory involves 5 precise waypoints with total movement distance of 0.283." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1603, + "action": "close", + "object": "Safe", + "frame_index": 92, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1606", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.802, 1.549]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.614, 1.346]). The trajectory involves 5 precise waypoints with total movement distance of 0.287." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1606, + "action": "close", + "object": "Safe", + "frame_index": 98, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1607", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.809, 1.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.627, 1.316]). The trajectory involves 5 precise waypoints with total movement distance of 0.279." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1607, + "action": "close", + "object": "Safe", + "frame_index": 100, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1625", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00250.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00251.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N02_S82_s01_T1/align_rgb/00252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.759, 1.442]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.601, 1.366]). The trajectory involves 5 precise waypoints with total movement distance of 0.177." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1625, + "action": "close", + "object": "Safe", + "frame_index": 252, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1641", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T2/align_rgb/00036.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T2/align_rgb/00037.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T2/align_rgb/00038.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.779, 1.374]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.862, 1.528]). The trajectory involves 5 precise waypoints with total movement distance of 0.181." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1641, + "action": "open", + "object": "Safe", + "frame_index": 38, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1642", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T2/align_rgb/00038.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T2/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T2/align_rgb/00040.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.769, 1.402]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.882, 1.562]). The trajectory involves 5 precise waypoints with total movement distance of 0.206." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1642, + "action": "open", + "object": "Safe", + "frame_index": 40, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1648", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T2/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T2/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T2/align_rgb/00052.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.689, 1.422]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.919, 1.579]). The trajectory involves 5 precise waypoints with total movement distance of 0.299." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1648, + "action": "open", + "object": "Safe", + "frame_index": 52, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1653", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T2/align_rgb/00156.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T2/align_rgb/00157.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T2/align_rgb/00158.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.818, 1.286]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.073, 1.404]). The trajectory involves 5 precise waypoints with total movement distance of 0.326." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1653, + "action": "open", + "object": "Safe", + "frame_index": 158, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1658", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00035.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00036.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00037.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.720, 1.406]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.964, 1.624]). The trajectory involves 5 precise waypoints with total movement distance of 0.355." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1658, + "action": "open", + "object": "Safe", + "frame_index": 37, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1659", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00037.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00038.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00039.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.751, 1.405]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.990, 1.569]). The trajectory involves 5 precise waypoints with total movement distance of 0.309." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1659, + "action": "open", + "object": "Safe", + "frame_index": 39, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1660", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00040.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00041.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.781, 1.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.968, 1.535]). The trajectory involves 5 precise waypoints with total movement distance of 0.244." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1660, + "action": "open", + "object": "Safe", + "frame_index": 41, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1662", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00043.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00044.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00045.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.757, 1.451]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.961, 1.574]). The trajectory involves 5 precise waypoints with total movement distance of 0.248." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1662, + "action": "open", + "object": "Safe", + "frame_index": 45, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1663", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00045.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00046.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00047.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.750, 1.573]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.927, 1.673]). The trajectory involves 5 precise waypoints with total movement distance of 0.211." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1663, + "action": "open", + "object": "Safe", + "frame_index": 47, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1664", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.774, 1.615]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.719, 1.478]). The trajectory involves 5 precise waypoints with total movement distance of 0.153." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1664, + "action": "close", + "object": "Safe", + "frame_index": 94, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1665", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00160.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00161.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.698, 1.358]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.785, 1.562]). The trajectory involves 5 precise waypoints with total movement distance of 0.230." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1665, + "action": "open", + "object": "Safe", + "frame_index": 162, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1667", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00164.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00165.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.675, 1.363]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.870, 1.595]). The trajectory involves 5 precise waypoints with total movement distance of 0.329." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1667, + "action": "open", + "object": "Safe", + "frame_index": 166, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1668", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00166.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00167.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00168.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.672, 1.363]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.822, 1.683]). The trajectory involves 5 precise waypoints with total movement distance of 0.381." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1668, + "action": "open", + "object": "Safe", + "frame_index": 168, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1669", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00168.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00169.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.672, 1.378]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.887, 1.639]). The trajectory involves 5 precise waypoints with total movement distance of 0.365." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1669, + "action": "open", + "object": "Safe", + "frame_index": 170, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1670", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00170.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00171.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00172.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.678, 1.403]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.910, 1.614]). The trajectory involves 5 precise waypoints with total movement distance of 0.338." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1670, + "action": "open", + "object": "Safe", + "frame_index": 172, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1671", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00172.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00173.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.693, 1.394]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.932, 1.557]). The trajectory involves 5 precise waypoints with total movement distance of 0.309." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1671, + "action": "open", + "object": "Safe", + "frame_index": 174, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1672", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S82_s01_T1/align_rgb/00219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.750, 1.569]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.569, 1.379]). The trajectory involves 5 precise waypoints with total movement distance of 0.267." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1672, + "action": "close", + "object": "Safe", + "frame_index": 219, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1681", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C6_N01_S249_s01_T2/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S249_s01_T2/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800004_H4_C6_N01_S249_s01_T2/align_rgb/00087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.853, 1.422]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.753, 1.325]). The trajectory involves 5 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1681, + "action": "close", + "object": "Safe", + "frame_index": 87, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_1689", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C5_N32_S56_s03_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N32_S56_s03_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N32_S56_s03_T1/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.611, 1.141]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.660, 1.288]). The trajectory involves 5 precise waypoints with total movement distance of 0.156." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1689, + "action": "putdown", + "object": "Bottle", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_1691", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C5_N32_S56_s03_T1/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N32_S56_s03_T1/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N32_S56_s03_T1/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.607, 1.159]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.649, 1.273]). The trajectory involves 5 precise waypoints with total movement distance of 0.124." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1691, + "action": "putdown", + "object": "Bottle", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_1705", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C5_N32_S56_s03_T1/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N32_S56_s03_T1/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N32_S56_s03_T1/align_rgb/00187.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.625, 1.245]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.592, 1.136]). The trajectory involves 5 precise waypoints with total movement distance of 0.115." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1705, + "action": "carry", + "object": "Bottle", + "frame_index": 187, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_1770", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T5/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T5/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T5/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.625, 1.670]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.341, 2.090]). The trajectory involves 5 precise waypoints with total movement distance of 0.831." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1770, + "action": "carry", + "object": "Bottle", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_1771", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T5/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T5/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T5/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.568, 1.750]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.348, 2.210]). The trajectory involves 5 precise waypoints with total movement distance of 0.908." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1771, + "action": "carry", + "object": "Bottle", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_1772", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T5/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T5/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T5/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.553, 1.757]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.348, 2.183]). The trajectory involves 5 precise waypoints with total movement distance of 0.904." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1772, + "action": "carry", + "object": "Bottle", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_1781", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T1/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T1/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T1/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.613, 1.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.596, 1.618]). The trajectory involves 5 precise waypoints with total movement distance of 0.095." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1781, + "action": "putdown", + "object": "Bottle", + "frame_index": 85, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_1783", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T1/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T1/align_rgb/00181.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N29_S113_s02_T1/align_rgb/00182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.606, 1.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.602, 1.489]). The trajectory involves 5 precise waypoints with total movement distance of 0.109." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1783, + "action": "carry", + "object": "Bottle", + "frame_index": 182, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_1790", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C5_N28_S113_s02_T5/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N28_S113_s02_T5/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N28_S113_s02_T5/align_rgb/00056.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.601, 1.807]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.281, 2.252]). The trajectory involves 5 precise waypoints with total movement distance of 0.814." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1790, + "action": "carry", + "object": "Bottle", + "frame_index": 56, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_1800", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C5_N27_S113_s01_T5/align_rgb/00046.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N27_S113_s01_T5/align_rgb/00047.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N27_S113_s01_T5/align_rgb/00048.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.546, 1.646]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.990, 1.556]). The trajectory involves 5 precise waypoints with total movement distance of 0.586." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1800, + "action": "carry", + "object": "Bottle", + "frame_index": 48, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_1805", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C5_N27_S113_s01_T5/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N27_S113_s01_T5/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N27_S113_s01_T5/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.478, 1.621]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.510, 1.760]). The trajectory involves 5 precise waypoints with total movement distance of 0.168." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1805, + "action": "putdown", + "object": "Bottle", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_1811", + "task": "pick up the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C5_N26_S113_s01_T1/align_rgb/00147.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N26_S113_s01_T1/align_rgb/00148.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N26_S113_s01_T1/align_rgb/00149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.525, 1.879]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.514, 1.782]). The trajectory involves 5 precise waypoints with total movement distance of 0.098." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1811, + "action": "pickup", + "object": "Bottle", + "frame_index": 149, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_1828", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C5_N20_S109_s03_T5/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N20_S109_s03_T5/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N20_S109_s03_T5/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.460, 1.623]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.032, 2.171]). The trajectory involves 5 precise waypoints with total movement distance of 0.799." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1828, + "action": "carry", + "object": "Bottle", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_1853", + "task": "carry the Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C5_N16_S109_s01_T5/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N16_S109_s01_T5/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N16_S109_s01_T5/align_rgb/00077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry the Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry the Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.530, 1.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.331, 1.962]). The trajectory involves 5 precise waypoints with total movement distance of 1.000." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1853, + "action": "carry", + "object": "Bottle", + "frame_index": 77, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_1861", + "task": "pick up the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C5_N16_S109_s01_T1/align_rgb/00169.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N16_S109_s01_T1/align_rgb/00170.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N16_S109_s01_T1/align_rgb/00171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.471, 1.373]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.439, 1.265]). The trajectory involves 5 precise waypoints with total movement distance of 0.114." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1861, + "action": "pickup", + "object": "Bottle", + "frame_index": 171, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_1931", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C5_N14_S56_s02_T1/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N14_S56_s02_T1/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N14_S56_s02_T1/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.558, 1.325]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.588, 1.444]). The trajectory involves 5 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1931, + "action": "putdown", + "object": "Bottle", + "frame_index": 208, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_1963", + "task": "pickup Bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C5_N13_S56_s01_T1/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N13_S56_s01_T1/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N13_S56_s01_T1/align_rgb/00191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pickup Bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pickup Bottle, execute the following phases: 1) Initial approach phase (start at [1.764, 1.451]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.773, 1.321]). The trajectory involves 5 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1963, + "action": "carry", + "object": "Bottle", + "frame_index": 191, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_1985", + "task": "pick up the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00044.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00045.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00046.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.854, 1.524]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.862, 1.392]). The trajectory involves 5 precise waypoints with total movement distance of 0.141." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1985, + "action": "pickup", + "object": "Bottle", + "frame_index": 46, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_1991", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.789, 1.491]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.787, 1.625]). The trajectory involves 5 precise waypoints with total movement distance of 0.135." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1991, + "action": "putdown", + "object": "Bottle", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_1992", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.782, 1.501]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.791, 1.617]). The trajectory involves 5 precise waypoints with total movement distance of 0.117." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1992, + "action": "putdown", + "object": "Bottle", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_1993", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.810, 1.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.822, 1.659]). The trajectory involves 5 precise waypoints with total movement distance of 0.103." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 1993, + "action": "putdown", + "object": "Bottle", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_2008", + "task": "pick up the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00174.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00175.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00176.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.863, 1.558]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.898, 1.437]). The trajectory involves 5 precise waypoints with total movement distance of 0.127." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2008, + "action": "pickup", + "object": "Bottle", + "frame_index": 176, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_2010", + "task": "pick up the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00180.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.844, 1.615]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.882, 1.467]). The trajectory involves 5 precise waypoints with total movement distance of 0.152." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2010, + "action": "pickup", + "object": "Bottle", + "frame_index": 180, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_2011", + "task": "pick up the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00181.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.838, 1.592]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.869, 1.459]). The trajectory involves 5 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2011, + "action": "pickup", + "object": "Bottle", + "frame_index": 182, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_2012", + "task": "pick up the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00182.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800004_H4_C5_N12_S56_s01_T1/align_rgb/00184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.834, 1.582]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.859, 1.463]). The trajectory involves 5 precise waypoints with total movement distance of 0.122." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2012, + "action": "pickup", + "object": "Bottle", + "frame_index": 184, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_2077", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00000.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.656, 1.117]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.582, 1.391]). The trajectory involves 5 precise waypoints with total movement distance of 0.288." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2077, + "action": "open", + "object": "Storage Furniture", + "frame_index": 0, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2078", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00011.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00012.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00013.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.655, 1.127]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.552, 1.457]). The trajectory involves 5 precise waypoints with total movement distance of 0.349." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2078, + "action": "open", + "object": "Storage Furniture", + "frame_index": 13, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2079", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00025.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00026.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00027.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.724, 1.221]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.579, 1.619]). The trajectory involves 5 precise waypoints with total movement distance of 0.428." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2079, + "action": "open", + "object": "Storage Furniture", + "frame_index": 27, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2083", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00059.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.840, 1.369]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.416, 2.163]). The trajectory involves 5 precise waypoints with total movement distance of 0.908." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2083, + "action": "open", + "object": "Storage Furniture", + "frame_index": 59, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2084", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.849, 1.428]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.427, 2.246]). The trajectory involves 5 precise waypoints with total movement distance of 0.945." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2084, + "action": "open", + "object": "Storage Furniture", + "frame_index": 61, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2085", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.826, 1.425]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.396, 2.169]). The trajectory involves 5 precise waypoints with total movement distance of 0.885." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2085, + "action": "open", + "object": "Storage Furniture", + "frame_index": 63, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2086", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.789, 1.480]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.390, 2.101]). The trajectory involves 5 precise waypoints with total movement distance of 0.773." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2086, + "action": "open", + "object": "Storage Furniture", + "frame_index": 65, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2087", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.758, 1.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.365, 2.004]). The trajectory involves 5 precise waypoints with total movement distance of 0.688." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2087, + "action": "open", + "object": "Storage Furniture", + "frame_index": 67, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2088", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.717, 1.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.327, 1.912]). The trajectory involves 5 precise waypoints with total movement distance of 0.605." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2088, + "action": "open", + "object": "Storage Furniture", + "frame_index": 69, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2095", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00102.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.394, 1.390]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.782, 0.974]). The trajectory involves 5 precise waypoints with total movement distance of 0.576." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2095, + "action": "close", + "object": "Storage Furniture", + "frame_index": 103, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2100", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00151.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00152.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.808, 1.318]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.734, 1.658]). The trajectory involves 5 precise waypoints with total movement distance of 0.364." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2100, + "action": "open", + "object": "Storage Furniture", + "frame_index": 153, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2101", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00161.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00162.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00163.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.812, 1.311]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.739, 1.648]). The trajectory involves 5 precise waypoints with total movement distance of 0.362." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2101, + "action": "open", + "object": "Storage Furniture", + "frame_index": 163, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2103", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00181.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00182.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.786, 1.345]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.703, 1.731]). The trajectory involves 5 precise waypoints with total movement distance of 0.410." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2103, + "action": "open", + "object": "Storage Furniture", + "frame_index": 183, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2105", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.816, 1.254]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.664, 1.727]). The trajectory involves 5 precise waypoints with total movement distance of 0.502." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2105, + "action": "open", + "object": "Storage Furniture", + "frame_index": 196, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2107", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.850, 1.241]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.637, 1.984]). The trajectory involves 5 precise waypoints with total movement distance of 0.792." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2107, + "action": "open", + "object": "Storage Furniture", + "frame_index": 200, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2108", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.856, 1.271]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.469, 2.117]). The trajectory involves 5 precise waypoints with total movement distance of 0.955." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2108, + "action": "open", + "object": "Storage Furniture", + "frame_index": 202, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2109", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.873, 1.268]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.384, 2.187]). The trajectory involves 5 precise waypoints with total movement distance of 1.075." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2109, + "action": "open", + "object": "Storage Furniture", + "frame_index": 204, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2112", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.766, 1.359]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.250, 2.049]). The trajectory involves 5 precise waypoints with total movement distance of 0.896." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2112, + "action": "open", + "object": "Storage Furniture", + "frame_index": 210, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2113", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.802, 1.598]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.256, 2.344]). The trajectory involves 5 precise waypoints with total movement distance of 0.959." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2113, + "action": "open", + "object": "Storage Furniture", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2120", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00243.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00244.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.354, 1.376]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.787, 0.936]). The trajectory involves 5 precise waypoints with total movement distance of 0.650." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2120, + "action": "close", + "object": "Storage Furniture", + "frame_index": 245, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2121", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00245.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00246.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S260_s03_T2/align_rgb/00247.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.415, 1.381]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.848, 0.903]). The trajectory involves 5 precise waypoints with total movement distance of 0.655." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2121, + "action": "close", + "object": "Storage Furniture", + "frame_index": 247, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2129", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N50_S217_s05_T3/align_rgb/00114.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S217_s05_T3/align_rgb/00115.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S217_s05_T3/align_rgb/00116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.472, 1.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.511, 1.300]). The trajectory involves 5 precise waypoints with total movement distance of 0.301." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2129, + "action": "close", + "object": "Storage Furniture", + "frame_index": 116, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2130", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N50_S217_s05_T3/align_rgb/00116.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S217_s05_T3/align_rgb/00117.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N50_S217_s05_T3/align_rgb/00118.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.454, 1.611]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.468, 1.294]). The trajectory involves 5 precise waypoints with total movement distance of 0.323." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2130, + "action": "close", + "object": "Storage Furniture", + "frame_index": 118, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2155", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00059.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.802, 1.276]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.046, 2.225]). The trajectory involves 5 precise waypoints with total movement distance of 1.256." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2155, + "action": "open", + "object": "Storage Furniture", + "frame_index": 59, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2158", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.833, 1.278]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.850, 2.231]). The trajectory involves 5 precise waypoints with total movement distance of 1.393." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2158, + "action": "open", + "object": "Storage Furniture", + "frame_index": 65, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2159", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.764, 1.373]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.888, 2.164]). The trajectory involves 5 precise waypoints with total movement distance of 1.187." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2159, + "action": "open", + "object": "Storage Furniture", + "frame_index": 67, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2160", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.747, 1.383]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.919, 2.016]). The trajectory involves 5 precise waypoints with total movement distance of 1.103." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2160, + "action": "open", + "object": "Storage Furniture", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2161", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.654, 1.425]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.150, 1.964]). The trajectory involves 5 precise waypoints with total movement distance of 0.747." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2161, + "action": "open", + "object": "Storage Furniture", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2171", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00153.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00154.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.713, 1.308]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.371, 2.011]). The trajectory involves 5 precise waypoints with total movement distance of 0.796." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2171, + "action": "open", + "object": "Storage Furniture", + "frame_index": 155, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2172", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00163.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00164.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00165.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.715, 1.322]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.341, 2.035]). The trajectory involves 5 precise waypoints with total movement distance of 0.821." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2172, + "action": "open", + "object": "Storage Furniture", + "frame_index": 165, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2173", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00174.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00175.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00176.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.735, 1.301]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.350, 2.062]). The trajectory involves 5 precise waypoints with total movement distance of 0.869." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2173, + "action": "open", + "object": "Storage Furniture", + "frame_index": 176, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2174", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.745, 1.322]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.295, 2.127]). The trajectory involves 5 precise waypoints with total movement distance of 0.941." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2174, + "action": "open", + "object": "Storage Furniture", + "frame_index": 186, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2175", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.788, 1.405]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.331, 2.186]). The trajectory involves 5 precise waypoints with total movement distance of 0.942." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2175, + "action": "open", + "object": "Storage Furniture", + "frame_index": 197, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2176", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.921, 1.208]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.240, 2.224]). The trajectory involves 5 precise waypoints with total movement distance of 1.295." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2176, + "action": "open", + "object": "Storage Furniture", + "frame_index": 199, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2177", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.917, 1.247]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.207, 2.302]). The trajectory involves 5 precise waypoints with total movement distance of 1.317." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2177, + "action": "open", + "object": "Storage Furniture", + "frame_index": 201, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2178", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.810, 1.309]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.132, 2.108]). The trajectory involves 5 precise waypoints with total movement distance of 1.096." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2178, + "action": "open", + "object": "Storage Furniture", + "frame_index": 203, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2179", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.774, 1.363]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.078, 2.015]). The trajectory involves 5 precise waypoints with total movement distance of 0.988." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2179, + "action": "open", + "object": "Storage Furniture", + "frame_index": 205, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2180", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S260_s03_T2/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.750, 1.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.076, 2.037]). The trajectory involves 5 precise waypoints with total movement distance of 0.938." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2180, + "action": "open", + "object": "Storage Furniture", + "frame_index": 207, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2190", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N49_S223_s03_T4/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S223_s03_T4/align_rgb/00181.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S223_s03_T4/align_rgb/00182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.637, 1.437]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.683, 2.304]). The trajectory involves 5 precise waypoints with total movement distance of 0.876." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2190, + "action": "open", + "object": "Storage Furniture", + "frame_index": 182, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2207", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N49_S217_s05_T3/align_rgb/00143.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S217_s05_T3/align_rgb/00144.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S217_s05_T3/align_rgb/00145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.515, 1.632]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.549, 1.128]). The trajectory involves 5 precise waypoints with total movement distance of 0.507." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2207, + "action": "close", + "object": "Storage Furniture", + "frame_index": 145, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2209", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N49_S217_s05_T3/align_rgb/00147.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S217_s05_T3/align_rgb/00148.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S217_s05_T3/align_rgb/00149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.505, 1.652]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.499, 1.162]). The trajectory involves 5 precise waypoints with total movement distance of 0.493." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2209, + "action": "close", + "object": "Storage Furniture", + "frame_index": 149, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2210", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N49_S217_s05_T3/align_rgb/00149.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S217_s05_T3/align_rgb/00150.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N49_S217_s05_T3/align_rgb/00151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.520, 1.654]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.504, 1.226]). The trajectory involves 5 precise waypoints with total movement distance of 0.430." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2210, + "action": "close", + "object": "Storage Furniture", + "frame_index": 151, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2221", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00000.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.732, 1.114]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.415, 1.433]). The trajectory involves 5 precise waypoints with total movement distance of 0.499." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2221, + "action": "open", + "object": "Storage Furniture", + "frame_index": 0, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2222", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00012.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00013.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00014.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.752, 1.092]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.363, 1.517]). The trajectory involves 5 precise waypoints with total movement distance of 0.636." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2222, + "action": "open", + "object": "Storage Furniture", + "frame_index": 14, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2223", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00027.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00028.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00029.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.725, 1.153]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.286, 1.598]). The trajectory involves 5 precise waypoints with total movement distance of 0.689." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2223, + "action": "open", + "object": "Storage Furniture", + "frame_index": 29, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2224", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00042.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00043.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00044.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.797, 1.253]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.193, 1.883]). The trajectory involves 5 precise waypoints with total movement distance of 0.961." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2224, + "action": "open", + "object": "Storage Furniture", + "frame_index": 44, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2226", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.864, 1.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.172, 2.137]). The trajectory involves 5 precise waypoints with total movement distance of 1.088." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2226, + "action": "open", + "object": "Storage Furniture", + "frame_index": 61, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2227", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.841, 1.470]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.177, 2.156]). The trajectory involves 5 precise waypoints with total movement distance of 1.032." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2227, + "action": "open", + "object": "Storage Furniture", + "frame_index": 63, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2229", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.831, 1.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.045, 1.987]). The trajectory involves 5 precise waypoints with total movement distance of 0.979." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2229, + "action": "open", + "object": "Storage Furniture", + "frame_index": 67, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2230", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.814, 1.595]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.113, 1.987]). The trajectory involves 5 precise waypoints with total movement distance of 0.862." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2230, + "action": "open", + "object": "Storage Furniture", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2231", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.099, 1.642]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.664, 1.475]). The trajectory involves 5 precise waypoints with total movement distance of 0.644." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2231, + "action": "close", + "object": "Storage Furniture", + "frame_index": 91, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2232", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.122, 1.581]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.638, 1.425]). The trajectory involves 5 precise waypoints with total movement distance of 0.583." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2232, + "action": "close", + "object": "Storage Furniture", + "frame_index": 93, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2237", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00138.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00139.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00140.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.785, 1.403]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.345, 2.127]). The trajectory involves 5 precise waypoints with total movement distance of 0.888." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2237, + "action": "open", + "object": "Storage Furniture", + "frame_index": 140, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2240", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00166.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00167.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00168.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.787, 1.457]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.272, 2.180]). The trajectory involves 5 precise waypoints with total movement distance of 0.926." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2240, + "action": "open", + "object": "Storage Furniture", + "frame_index": 168, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2241", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00176.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00177.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.989, 1.353]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.296, 2.348]). The trajectory involves 5 precise waypoints with total movement distance of 1.282." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2241, + "action": "open", + "object": "Storage Furniture", + "frame_index": 178, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2246", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.069, 1.532]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.764, 1.230]). The trajectory involves 5 precise waypoints with total movement distance of 0.816." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2246, + "action": "close", + "object": "Storage Furniture", + "frame_index": 207, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2247", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S260_s02_T2/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.137, 1.564]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.572, 1.411]). The trajectory involves 5 precise waypoints with total movement distance of 0.507." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2247, + "action": "close", + "object": "Storage Furniture", + "frame_index": 209, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2254", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N48_S223_s02_T4/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S223_s02_T4/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S223_s02_T4/align_rgb/00187.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.626, 1.312]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.594, 2.223]). The trajectory involves 5 precise waypoints with total movement distance of 0.914." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2254, + "action": "open", + "object": "Storage Furniture", + "frame_index": 187, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2258", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N48_S223_s02_T4/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S223_s02_T4/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S223_s02_T4/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.630, 1.434]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.638, 2.188]). The trajectory involves 5 precise waypoints with total movement distance of 0.754." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2258, + "action": "open", + "object": "Storage Furniture", + "frame_index": 195, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2271", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N48_S217_s05_T3/align_rgb/00136.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S217_s05_T3/align_rgb/00137.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S217_s05_T3/align_rgb/00138.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.507, 1.602]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.551, 1.049]). The trajectory involves 5 precise waypoints with total movement distance of 0.557." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2271, + "action": "close", + "object": "Storage Furniture", + "frame_index": 138, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2272", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N48_S217_s05_T3/align_rgb/00138.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S217_s05_T3/align_rgb/00139.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S217_s05_T3/align_rgb/00140.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.658, 1.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.675, 1.012]). The trajectory involves 5 precise waypoints with total movement distance of 0.519." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2272, + "action": "close", + "object": "Storage Furniture", + "frame_index": 140, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2273", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N48_S217_s05_T3/align_rgb/00140.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S217_s05_T3/align_rgb/00141.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N48_S217_s05_T3/align_rgb/00142.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.445, 1.540]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.437, 1.061]). The trajectory involves 5 precise waypoints with total movement distance of 0.490." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2273, + "action": "close", + "object": "Storage Furniture", + "frame_index": 142, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2299", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.450, 1.655]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.948, 1.256]). The trajectory involves 5 precise waypoints with total movement distance of 0.639." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2299, + "action": "close", + "object": "Storage Furniture", + "frame_index": 97, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2305", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00170.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00171.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00172.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.798, 1.470]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.355, 2.007]). The trajectory involves 5 precise waypoints with total movement distance of 0.734." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2305, + "action": "open", + "object": "Storage Furniture", + "frame_index": 172, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2306", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00182.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.897, 1.307]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.347, 1.915]). The trajectory involves 5 precise waypoints with total movement distance of 0.857." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2306, + "action": "open", + "object": "Storage Furniture", + "frame_index": 184, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2307", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.934, 1.377]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.251, 2.142]). The trajectory involves 5 precise waypoints with total movement distance of 1.070." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2307, + "action": "open", + "object": "Storage Furniture", + "frame_index": 197, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2308", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.980, 1.392]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.199, 2.244]). The trajectory involves 5 precise waypoints with total movement distance of 1.178." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2308, + "action": "open", + "object": "Storage Furniture", + "frame_index": 199, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2310", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.935, 1.441]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.134, 2.141]). The trajectory involves 5 precise waypoints with total movement distance of 1.116." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2310, + "action": "open", + "object": "Storage Furniture", + "frame_index": 203, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2321", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00243.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00244.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S260_s02_T2/align_rgb/00245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.453, 1.801]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.864, 1.367]). The trajectory involves 5 precise waypoints with total movement distance of 0.629." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2321, + "action": "close", + "object": "Storage Furniture", + "frame_index": 245, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2333", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N45_S223_s02_T4/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S223_s02_T4/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S223_s02_T4/align_rgb/00186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.723, 1.410]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.736, 2.307]). The trajectory involves 5 precise waypoints with total movement distance of 0.898." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2333, + "action": "open", + "object": "Storage Furniture", + "frame_index": 186, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2335", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N45_S223_s02_T4/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S223_s02_T4/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S223_s02_T4/align_rgb/00190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.687, 1.510]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.631, 2.381]). The trajectory involves 5 precise waypoints with total movement distance of 0.878." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2335, + "action": "open", + "object": "Storage Furniture", + "frame_index": 190, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2339", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N45_S223_s02_T4/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S223_s02_T4/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S223_s02_T4/align_rgb/00197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.624, 1.611]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.612, 2.006]). The trajectory involves 5 precise waypoints with total movement distance of 0.409." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2339, + "action": "open", + "object": "Storage Furniture", + "frame_index": 197, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2345", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00121.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00122.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.487, 1.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.508, 1.039]). The trajectory involves 5 precise waypoints with total movement distance of 0.577." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2345, + "action": "close", + "object": "Storage Furniture", + "frame_index": 123, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Drawer", + "Body of the Cabinet" + ] + } + }, + { + "id": "hoi4d_2346", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00123.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00124.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.477, 1.648]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.493, 1.025]). The trajectory involves 5 precise waypoints with total movement distance of 0.625." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2346, + "action": "close", + "object": "Storage Furniture", + "frame_index": 125, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Drawer", + "Body of the Cabinet" + ] + } + }, + { + "id": "hoi4d_2347", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00125.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00126.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00127.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.438, 1.698]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.450, 1.113]). The trajectory involves 5 precise waypoints with total movement distance of 0.587." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2347, + "action": "close", + "object": "Storage Furniture", + "frame_index": 127, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Drawer", + "Body of the Cabinet" + ] + } + }, + { + "id": "hoi4d_2348", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00127.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00128.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00129.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.432, 1.692]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.438, 1.160]). The trajectory involves 5 precise waypoints with total movement distance of 0.532." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2348, + "action": "close", + "object": "Storage Furniture", + "frame_index": 129, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Drawer", + "Body of the Cabinet" + ] + } + }, + { + "id": "hoi4d_2349", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00129.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00130.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N45_S217_s04_T3/align_rgb/00131.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.441, 1.672]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.440, 1.172]). The trajectory involves 5 precise waypoints with total movement distance of 0.500." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2349, + "action": "close", + "object": "Storage Furniture", + "frame_index": 131, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Drawer", + "Body of the Cabinet" + ] + } + }, + { + "id": "hoi4d_2368", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00034.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00035.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00036.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.783, 1.250]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.556, 1.628]). The trajectory involves 5 precise waypoints with total movement distance of 0.448." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2368, + "action": "open", + "object": "Storage Furniture", + "frame_index": 36, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2369", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00046.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00047.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00048.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.870, 1.381]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.530, 1.930]). The trajectory involves 5 precise waypoints with total movement distance of 0.655." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2369, + "action": "open", + "object": "Storage Furniture", + "frame_index": 48, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2372", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00053.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00054.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.989, 1.310]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.326, 2.135]). The trajectory involves 5 precise waypoints with total movement distance of 1.118." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2372, + "action": "open", + "object": "Storage Furniture", + "frame_index": 54, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2374", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.966, 1.341]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.078, 2.094]). The trajectory involves 5 precise waypoints with total movement distance of 1.288." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2374, + "action": "open", + "object": "Storage Furniture", + "frame_index": 58, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2377", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.767, 1.503]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.040, 1.879]). The trajectory involves 5 precise waypoints with total movement distance of 0.879." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2377, + "action": "open", + "object": "Storage Furniture", + "frame_index": 64, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2378", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.665, 1.705]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.097, 1.956]). The trajectory involves 5 precise waypoints with total movement distance of 0.666." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2378, + "action": "open", + "object": "Storage Furniture", + "frame_index": 66, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2379", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.634, 1.718]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.091, 1.907]). The trajectory involves 5 precise waypoints with total movement distance of 0.620." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2379, + "action": "open", + "object": "Storage Furniture", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2381", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.236, 1.611]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.570, 1.551]). The trajectory involves 5 precise waypoints with total movement distance of 0.362." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2381, + "action": "close", + "object": "Storage Furniture", + "frame_index": 91, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2386", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.379, 1.604]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.873, 1.250]). The trajectory involves 5 precise waypoints with total movement distance of 0.619." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2386, + "action": "close", + "object": "Storage Furniture", + "frame_index": 101, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2393", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.689, 1.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.118, 2.097]). The trajectory involves 5 precise waypoints with total movement distance of 0.923." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2393, + "action": "open", + "object": "Storage Furniture", + "frame_index": 186, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2399", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.770, 1.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.129, 1.905]). The trajectory involves 5 precise waypoints with total movement distance of 0.782." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2399, + "action": "open", + "object": "Storage Furniture", + "frame_index": 206, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2400", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.181, 1.582]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.782, 1.318]). The trajectory involves 5 precise waypoints with total movement distance of 0.683." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2400, + "action": "close", + "object": "Storage Furniture", + "frame_index": 228, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2404", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.286, 1.566]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.785, 1.212]). The trajectory involves 5 precise waypoints with total movement distance of 0.627." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2404, + "action": "close", + "object": "Storage Furniture", + "frame_index": 236, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2406", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S260_s01_T2/align_rgb/00240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.409, 1.676]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.763, 1.239]). The trajectory involves 5 precise waypoints with total movement distance of 0.615." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2406, + "action": "close", + "object": "Storage Furniture", + "frame_index": 240, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2414", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N44_S223_s01_T4/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S223_s01_T4/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S223_s01_T4/align_rgb/00180.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.771, 1.397]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.786, 2.095]). The trajectory involves 5 precise waypoints with total movement distance of 0.698." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2414, + "action": "open", + "object": "Storage Furniture", + "frame_index": 180, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2417", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N44_S223_s01_T4/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S223_s01_T4/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S223_s01_T4/align_rgb/00186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.693, 1.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.704, 2.207]). The trajectory involves 5 precise waypoints with total movement distance of 0.754." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2417, + "action": "open", + "object": "Storage Furniture", + "frame_index": 186, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2418", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N44_S223_s01_T4/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S223_s01_T4/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S223_s01_T4/align_rgb/00188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.641, 1.498]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.622, 2.239]). The trajectory involves 5 precise waypoints with total movement distance of 0.743." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2418, + "action": "open", + "object": "Storage Furniture", + "frame_index": 188, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2419", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N44_S223_s01_T4/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S223_s01_T4/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N44_S223_s01_T4/align_rgb/00190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.656, 1.554]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.622, 2.186]). The trajectory involves 5 precise waypoints with total movement distance of 0.633." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2419, + "action": "open", + "object": "Storage Furniture", + "frame_index": 190, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2453", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00051.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.891, 1.427]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.236, 2.170]). The trajectory involves 5 precise waypoints with total movement distance of 1.071." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2453, + "action": "open", + "object": "Storage Furniture", + "frame_index": 51, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2454", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00053.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.885, 1.302]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.205, 1.893]). The trajectory involves 5 precise waypoints with total movement distance of 0.994." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2454, + "action": "open", + "object": "Storage Furniture", + "frame_index": 53, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2455", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00053.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00055.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.841, 1.330]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.220, 1.817]). The trajectory involves 5 precise waypoints with total movement distance of 0.845." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2455, + "action": "open", + "object": "Storage Furniture", + "frame_index": 55, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2457", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.179, 1.376]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.679, 1.164]). The trajectory involves 5 precise waypoints with total movement distance of 0.579." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2457, + "action": "close", + "object": "Storage Furniture", + "frame_index": 79, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2460", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.177, 1.392]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.802, 1.082]). The trajectory involves 5 precise waypoints with total movement distance of 0.742." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2460, + "action": "close", + "object": "Storage Furniture", + "frame_index": 85, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2464", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.341, 1.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.772, 1.003]). The trajectory involves 5 precise waypoints with total movement distance of 0.663." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2464, + "action": "close", + "object": "Storage Furniture", + "frame_index": 92, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2466", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00141.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00142.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00143.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.863, 1.188]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.484, 1.926]). The trajectory involves 5 precise waypoints with total movement distance of 0.863." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2466, + "action": "open", + "object": "Storage Furniture", + "frame_index": 143, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2468", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00160.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00161.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.869, 1.127]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.375, 2.020]). The trajectory involves 5 precise waypoints with total movement distance of 1.062." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2468, + "action": "open", + "object": "Storage Furniture", + "frame_index": 162, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2477", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.205, 1.383]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.752, 0.915]). The trajectory involves 5 precise waypoints with total movement distance of 0.775." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2477, + "action": "close", + "object": "Storage Furniture", + "frame_index": 207, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2479", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S260_s01_T2/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.331, 1.451]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.784, 1.007]). The trajectory involves 5 precise waypoints with total movement distance of 0.666." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2479, + "action": "close", + "object": "Storage Furniture", + "frame_index": 211, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2493", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N43_S223_s01_T4/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S223_s01_T4/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S223_s01_T4/align_rgb/00187.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.655, 1.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.632, 2.492]). The trajectory involves 5 precise waypoints with total movement distance of 0.989." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2493, + "action": "open", + "object": "Storage Furniture", + "frame_index": 187, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2494", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N43_S223_s01_T4/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S223_s01_T4/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S223_s01_T4/align_rgb/00189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.651, 1.533]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.608, 2.536]). The trajectory involves 5 precise waypoints with total movement distance of 1.005." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2494, + "action": "open", + "object": "Storage Furniture", + "frame_index": 189, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2495", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N43_S223_s01_T4/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S223_s01_T4/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S223_s01_T4/align_rgb/00191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.661, 1.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.618, 2.405]). The trajectory involves 5 precise waypoints with total movement distance of 0.863." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2495, + "action": "open", + "object": "Storage Furniture", + "frame_index": 191, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2497", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N43_S223_s01_T4/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S223_s01_T4/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S223_s01_T4/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.610, 1.600]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.552, 2.150]). The trajectory involves 5 precise waypoints with total movement distance of 0.561." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2497, + "action": "open", + "object": "Storage Furniture", + "frame_index": 195, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2505", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00118.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00119.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.501, 1.490]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.531, 1.058]). The trajectory involves 5 precise waypoints with total movement distance of 0.436." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2505, + "action": "close", + "object": "Storage Furniture", + "frame_index": 120, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2507", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00122.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00123.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.495, 1.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.550, 1.009]). The trajectory involves 5 precise waypoints with total movement distance of 0.502." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2507, + "action": "close", + "object": "Storage Furniture", + "frame_index": 124, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2508", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00124.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00125.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00126.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.515, 1.537]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.578, 1.012]). The trajectory involves 5 precise waypoints with total movement distance of 0.529." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2508, + "action": "close", + "object": "Storage Furniture", + "frame_index": 126, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2509", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00126.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00127.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00128.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.520, 1.524]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.589, 0.965]). The trajectory involves 5 precise waypoints with total movement distance of 0.563." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2509, + "action": "close", + "object": "Storage Furniture", + "frame_index": 128, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2510", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00128.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00129.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00130.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.499, 1.530]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.562, 0.963]). The trajectory involves 5 precise waypoints with total movement distance of 0.571." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2510, + "action": "close", + "object": "Storage Furniture", + "frame_index": 130, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2514", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00135.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00136.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N43_S217_s04_T3/align_rgb/00137.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.466, 1.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.516, 1.121]). The trajectory involves 5 precise waypoints with total movement distance of 0.395." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2514, + "action": "close", + "object": "Storage Furniture", + "frame_index": 137, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2533", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N42_S260_s01_T2/align_rgb/00046.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N42_S260_s01_T2/align_rgb/00047.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N42_S260_s01_T2/align_rgb/00048.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.967, 1.219]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.289, 2.232]). The trajectory involves 5 precise waypoints with total movement distance of 1.251." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2533, + "action": "open", + "object": "Storage Furniture", + "frame_index": 48, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2547", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N42_S260_s01_T2/align_rgb/00147.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N42_S260_s01_T2/align_rgb/00148.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N42_S260_s01_T2/align_rgb/00149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.799, 1.355]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.653, 1.972]). The trajectory involves 5 precise waypoints with total movement distance of 0.645." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2547, + "action": "open", + "object": "Storage Furniture", + "frame_index": 149, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2549", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N42_S260_s01_T2/align_rgb/00173.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N42_S260_s01_T2/align_rgb/00174.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N42_S260_s01_T2/align_rgb/00175.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.862, 1.239]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.698, 1.950]). The trajectory involves 5 precise waypoints with total movement distance of 0.742." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2549, + "action": "open", + "object": "Storage Furniture", + "frame_index": 175, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2581", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N42_S223_s01_T4/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N42_S223_s01_T4/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N42_S223_s01_T4/align_rgb/00197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.612, 1.534]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.603, 2.142]). The trajectory involves 5 precise waypoints with total movement distance of 0.610." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2581, + "action": "open", + "object": "Storage Furniture", + "frame_index": 197, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2610", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00000.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.693, 1.386]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.564, 1.889]). The trajectory involves 5 precise waypoints with total movement distance of 0.527." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2610, + "action": "open", + "object": "Storage Furniture", + "frame_index": 0, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2611", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00014.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00015.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00016.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.690, 1.389]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.522, 1.980]). The trajectory involves 5 precise waypoints with total movement distance of 0.625." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2611, + "action": "open", + "object": "Storage Furniture", + "frame_index": 16, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2612", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00030.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00031.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00032.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.598, 1.474]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.435, 2.099]). The trajectory involves 5 precise waypoints with total movement distance of 0.655." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2612, + "action": "open", + "object": "Storage Furniture", + "frame_index": 32, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2613", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00046.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00047.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00048.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.721, 1.517]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.512, 2.268]). The trajectory involves 5 precise waypoints with total movement distance of 0.791." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2613, + "action": "open", + "object": "Storage Furniture", + "frame_index": 48, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2617", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.856, 1.373]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.260, 2.058]). The trajectory involves 5 precise waypoints with total movement distance of 1.116." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2617, + "action": "open", + "object": "Storage Furniture", + "frame_index": 70, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2623", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.259, 1.716]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.442, 1.669]). The trajectory involves 5 precise waypoints with total movement distance of 0.203." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2623, + "action": "close", + "object": "Storage Furniture", + "frame_index": 101, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2631", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00115.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00116.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.624, 1.706]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.828, 1.314]). The trajectory involves 5 precise waypoints with total movement distance of 0.445." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2631, + "action": "close", + "object": "Storage Furniture", + "frame_index": 117, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2633", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00159.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00160.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00161.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.773, 1.621]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.486, 2.255]). The trajectory involves 5 precise waypoints with total movement distance of 0.713." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2633, + "action": "open", + "object": "Storage Furniture", + "frame_index": 161, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2634", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00171.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00172.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.757, 1.520]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.502, 2.104]). The trajectory involves 5 precise waypoints with total movement distance of 0.653." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2634, + "action": "open", + "object": "Storage Furniture", + "frame_index": 173, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2635", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.728, 1.518]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.463, 2.104]). The trajectory involves 5 precise waypoints with total movement distance of 0.658." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2635, + "action": "open", + "object": "Storage Furniture", + "frame_index": 185, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2636", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.772, 1.418]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.443, 2.056]). The trajectory involves 5 precise waypoints with total movement distance of 0.733." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2636, + "action": "open", + "object": "Storage Furniture", + "frame_index": 197, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2637", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.794, 1.409]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.359, 2.170]). The trajectory involves 5 precise waypoints with total movement distance of 0.895." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2637, + "action": "open", + "object": "Storage Furniture", + "frame_index": 209, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2638", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.783, 1.388]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.176, 2.203]). The trajectory involves 5 precise waypoints with total movement distance of 1.049." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2638, + "action": "open", + "object": "Storage Furniture", + "frame_index": 211, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2639", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.855, 1.389]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.083, 2.330]). The trajectory involves 5 precise waypoints with total movement distance of 1.259." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2639, + "action": "open", + "object": "Storage Furniture", + "frame_index": 213, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2644", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.196, 1.860]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.509, 1.790]). The trajectory involves 5 precise waypoints with total movement distance of 0.341." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2644, + "action": "close", + "object": "Storage Furniture", + "frame_index": 242, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2647", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00246.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00247.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S260_s01_T2/align_rgb/00248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.253, 1.833]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.411, 1.770]). The trajectory involves 5 precise waypoints with total movement distance of 0.175." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2647, + "action": "close", + "object": "Storage Furniture", + "frame_index": 248, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2658", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N41_S223_s01_T4/align_rgb/00129.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S223_s01_T4/align_rgb/00130.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S223_s01_T4/align_rgb/00131.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.581, 1.713]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.540, 2.441]). The trajectory involves 5 precise waypoints with total movement distance of 0.729." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2658, + "action": "open", + "object": "Storage Furniture", + "frame_index": 131, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Drawer", + "Body of the Cabinet" + ] + } + }, + { + "id": "hoi4d_2659", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N41_S223_s01_T4/align_rgb/00131.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S223_s01_T4/align_rgb/00132.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S223_s01_T4/align_rgb/00133.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.559, 1.733]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.524, 2.371]). The trajectory involves 5 precise waypoints with total movement distance of 0.639." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2659, + "action": "open", + "object": "Storage Furniture", + "frame_index": 133, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Drawer", + "Body of the Cabinet" + ] + } + }, + { + "id": "hoi4d_2660", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N41_S223_s01_T4/align_rgb/00133.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S223_s01_T4/align_rgb/00134.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S223_s01_T4/align_rgb/00135.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.536, 1.661]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.507, 2.190]). The trajectory involves 5 precise waypoints with total movement distance of 0.529." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2660, + "action": "open", + "object": "Storage Furniture", + "frame_index": 135, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Drawer", + "Body of the Cabinet" + ] + } + }, + { + "id": "hoi4d_2661", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N41_S223_s01_T4/align_rgb/00134.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S223_s01_T4/align_rgb/00135.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S223_s01_T4/align_rgb/00136.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.528, 1.785]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.494, 2.277]). The trajectory involves 5 precise waypoints with total movement distance of 0.493." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2661, + "action": "open", + "object": "Storage Furniture", + "frame_index": 136, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Drawer", + "Body of the Cabinet" + ] + } + }, + { + "id": "hoi4d_2672", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N41_S217_s03_T3/align_rgb/00115.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S217_s03_T3/align_rgb/00116.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S217_s03_T3/align_rgb/00117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.509, 1.667]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.535, 1.088]). The trajectory involves 5 precise waypoints with total movement distance of 0.580." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2672, + "action": "close", + "object": "Storage Furniture", + "frame_index": 117, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2673", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N41_S217_s03_T3/align_rgb/00117.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S217_s03_T3/align_rgb/00118.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S217_s03_T3/align_rgb/00119.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.543, 1.656]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.560, 1.123]). The trajectory involves 5 precise waypoints with total movement distance of 0.533." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2673, + "action": "close", + "object": "Storage Furniture", + "frame_index": 119, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2674", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N41_S217_s03_T3/align_rgb/00118.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S217_s03_T3/align_rgb/00119.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N41_S217_s03_T3/align_rgb/00120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.529, 1.642]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.551, 1.160]). The trajectory involves 5 precise waypoints with total movement distance of 0.483." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2674, + "action": "close", + "object": "Storage Furniture", + "frame_index": 120, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2690", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00059.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.352, 1.366]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.720, 1.926]). The trajectory involves 5 precise waypoints with total movement distance of 0.699." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2690, + "action": "open", + "object": "Storage Furniture", + "frame_index": 59, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2691", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.303, 1.371]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.737, 2.003]). The trajectory involves 5 precise waypoints with total movement distance of 0.809." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2691, + "action": "open", + "object": "Storage Furniture", + "frame_index": 61, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2692", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.323, 1.367]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.786, 1.923]). The trajectory involves 5 precise waypoints with total movement distance of 0.774." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2692, + "action": "open", + "object": "Storage Furniture", + "frame_index": 63, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2693", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.261, 1.354]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.803, 1.939]). The trajectory involves 5 precise waypoints with total movement distance of 0.855." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2693, + "action": "open", + "object": "Storage Furniture", + "frame_index": 65, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2694", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.348, 1.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.837, 1.863]). The trajectory involves 5 precise waypoints with total movement distance of 0.685." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2694, + "action": "open", + "object": "Storage Furniture", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2695", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.413, 1.457]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.828, 1.728]). The trajectory involves 5 precise waypoints with total movement distance of 0.525." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2695, + "action": "open", + "object": "Storage Furniture", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2701", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.349, 1.750]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.187, 1.363]). The trajectory involves 5 precise waypoints with total movement distance of 0.440." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2701, + "action": "close", + "object": "Storage Furniture", + "frame_index": 101, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2702", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.410, 1.237]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.897, 1.859]). The trajectory involves 5 precise waypoints with total movement distance of 0.870." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2702, + "action": "open", + "object": "Storage Furniture", + "frame_index": 194, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2703", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.396, 1.239]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.908, 1.857]). The trajectory involves 5 precise waypoints with total movement distance of 0.886." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2703, + "action": "open", + "object": "Storage Furniture", + "frame_index": 196, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2704", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.415, 1.254]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.988, 1.817]). The trajectory involves 5 precise waypoints with total movement distance of 0.901." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2704, + "action": "open", + "object": "Storage Furniture", + "frame_index": 198, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2705", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N40_S257_s05_T2/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.390, 1.299]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.933, 1.808]). The trajectory involves 5 precise waypoints with total movement distance of 0.817." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2705, + "action": "open", + "object": "Storage Furniture", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2716", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N40_S217_s03_T3/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N40_S217_s03_T3/align_rgb/00102.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N40_S217_s03_T3/align_rgb/00103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.460, 1.786]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.480, 1.418]). The trajectory involves 5 precise waypoints with total movement distance of 0.369." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2716, + "action": "close", + "object": "Storage Furniture", + "frame_index": 103, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2730", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.413, 1.251]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.737, 1.908]). The trajectory involves 5 precise waypoints with total movement distance of 0.775." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2730, + "action": "open", + "object": "Storage Furniture", + "frame_index": 65, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2731", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.412, 1.260]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.781, 1.892]). The trajectory involves 5 precise waypoints with total movement distance of 0.780." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2731, + "action": "open", + "object": "Storage Furniture", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2732", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.394, 1.306]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.821, 1.870]). The trajectory involves 5 precise waypoints with total movement distance of 0.762." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2732, + "action": "open", + "object": "Storage Furniture", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2733", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.331, 1.291]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.761, 1.889]). The trajectory involves 5 precise waypoints with total movement distance of 0.782." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2733, + "action": "open", + "object": "Storage Furniture", + "frame_index": 71, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2734", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.725, 1.665]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.251, 1.248]). The trajectory involves 5 precise waypoints with total movement distance of 0.649." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2734, + "action": "close", + "object": "Storage Furniture", + "frame_index": 93, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2735", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.679, 1.699]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.236, 1.231]). The trajectory involves 5 precise waypoints with total movement distance of 0.670." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2735, + "action": "close", + "object": "Storage Furniture", + "frame_index": 95, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2736", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.651, 1.669]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.232, 1.159]). The trajectory involves 5 precise waypoints with total movement distance of 0.696." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2736, + "action": "close", + "object": "Storage Furniture", + "frame_index": 97, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2737", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.590, 1.692]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.286, 1.222]). The trajectory involves 5 precise waypoints with total movement distance of 0.596." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2737, + "action": "close", + "object": "Storage Furniture", + "frame_index": 99, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2738", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.534, 1.691]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.302, 1.216]). The trajectory involves 5 precise waypoints with total movement distance of 0.562." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2738, + "action": "close", + "object": "Storage Furniture", + "frame_index": 101, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2741", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.409, 1.193]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.806, 1.875]). The trajectory involves 5 precise waypoints with total movement distance of 0.852." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2741, + "action": "open", + "object": "Storage Furniture", + "frame_index": 191, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2742", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.382, 1.260]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.888, 1.906]). The trajectory involves 5 precise waypoints with total movement distance of 0.872." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2742, + "action": "open", + "object": "Storage Furniture", + "frame_index": 193, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2743", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.390, 1.296]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.911, 1.846]). The trajectory involves 5 precise waypoints with total movement distance of 0.804." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2743, + "action": "open", + "object": "Storage Furniture", + "frame_index": 195, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2744", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N39_S257_s05_T2/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.393, 1.323]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.917, 1.818]). The trajectory involves 5 precise waypoints with total movement distance of 0.761." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2744, + "action": "open", + "object": "Storage Furniture", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_2777", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N36_S217_s02_T3/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N36_S217_s02_T3/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N36_S217_s02_T3/align_rgb/00109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.456, 1.694]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.456, 1.337]). The trajectory involves 5 precise waypoints with total movement distance of 0.357." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2777, + "action": "close", + "object": "Storage Furniture", + "frame_index": 109, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2808", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N35_S221_s04_T4/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N35_S221_s04_T4/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N35_S221_s04_T4/align_rgb/00181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.525, 1.572]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.529, 1.943]). The trajectory involves 5 precise waypoints with total movement distance of 0.373." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2808, + "action": "open", + "object": "Storage Furniture", + "frame_index": 181, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2814", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N35_S217_s02_T3/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N35_S217_s02_T3/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N35_S217_s02_T3/align_rgb/00100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.501, 1.514]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.539, 1.136]). The trajectory involves 5 precise waypoints with total movement distance of 0.381." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2814, + "action": "close", + "object": "Storage Furniture", + "frame_index": 100, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer", + "Door" + ] + } + }, + { + "id": "hoi4d_2815", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N35_S217_s02_T3/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N35_S217_s02_T3/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N35_S217_s02_T3/align_rgb/00102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.460, 1.547]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.504, 1.176]). The trajectory involves 5 precise waypoints with total movement distance of 0.375." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2815, + "action": "close", + "object": "Storage Furniture", + "frame_index": 102, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2846", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N34_S221_s04_T4/align_rgb/00163.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N34_S221_s04_T4/align_rgb/00164.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N34_S221_s04_T4/align_rgb/00165.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.560, 1.449]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.581, 1.870]). The trajectory involves 5 precise waypoints with total movement distance of 0.424." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2846, + "action": "open", + "object": "Storage Furniture", + "frame_index": 165, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2848", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N34_S221_s04_T4/align_rgb/00167.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N34_S221_s04_T4/align_rgb/00168.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N34_S221_s04_T4/align_rgb/00169.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.534, 1.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.545, 1.901]). The trajectory involves 5 precise waypoints with total movement distance of 0.418." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2848, + "action": "open", + "object": "Storage Furniture", + "frame_index": 169, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_2849", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N34_S221_s04_T4/align_rgb/00169.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N34_S221_s04_T4/align_rgb/00170.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N34_S221_s04_T4/align_rgb/00171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.613, 1.470]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.624, 1.817]). The trajectory involves 5 precise waypoints with total movement distance of 0.347." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 2849, + "action": "open", + "object": "Storage Furniture", + "frame_index": 171, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3023", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N14_S254_s04_T1/align_rgb/00247.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S254_s04_T1/align_rgb/00248.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S254_s04_T1/align_rgb/00249.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.640, 1.690]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.617, 1.426]). The trajectory involves 5 precise waypoints with total movement distance of 0.267." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3023, + "action": "close", + "object": "Storage Furniture", + "frame_index": 249, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3033", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.403, 1.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.383, 2.139]). The trajectory involves 5 precise waypoints with total movement distance of 0.542." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3033, + "action": "open", + "object": "Storage Furniture", + "frame_index": 188, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3034", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.459, 1.573]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.452, 2.112]). The trajectory involves 5 precise waypoints with total movement distance of 0.540." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3034, + "action": "open", + "object": "Storage Furniture", + "frame_index": 190, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3035", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.545, 1.532]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.542, 2.038]). The trajectory involves 5 precise waypoints with total movement distance of 0.506." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3035, + "action": "open", + "object": "Storage Furniture", + "frame_index": 192, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3036", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.585, 1.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.582, 1.962]). The trajectory involves 5 precise waypoints with total movement distance of 0.441." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3036, + "action": "open", + "object": "Storage Furniture", + "frame_index": 194, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3037", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S219_s04_T4/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.722, 1.588]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.736, 1.987]). The trajectory involves 5 precise waypoints with total movement distance of 0.401." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3037, + "action": "open", + "object": "Storage Furniture", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3046", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.730, 1.542]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.161, 2.354]). The trajectory involves 5 precise waypoints with total movement distance of 1.028." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3046, + "action": "open", + "object": "Storage Furniture", + "frame_index": 64, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3048", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.778, 1.758]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.916, 2.479]). The trajectory involves 5 precise waypoints with total movement distance of 1.177." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3048, + "action": "open", + "object": "Storage Furniture", + "frame_index": 68, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3049", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.507, 1.661]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.008, 2.019]). The trajectory involves 5 precise waypoints with total movement distance of 0.623." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3049, + "action": "open", + "object": "Storage Furniture", + "frame_index": 70, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3050", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.044, 2.003]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.779, 1.613]). The trajectory involves 5 precise waypoints with total movement distance of 0.863." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3050, + "action": "close", + "object": "Storage Furniture", + "frame_index": 92, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3051", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.070, 2.036]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.857, 1.585]). The trajectory involves 5 precise waypoints with total movement distance of 0.946." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3051, + "action": "close", + "object": "Storage Furniture", + "frame_index": 94, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3052", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.128, 2.045]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.892, 1.526]). The trajectory involves 5 precise waypoints with total movement distance of 0.975." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3052, + "action": "close", + "object": "Storage Furniture", + "frame_index": 96, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3053", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.189, 1.779]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.721, 1.372]). The trajectory involves 5 precise waypoints with total movement distance of 0.708." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3053, + "action": "close", + "object": "Storage Furniture", + "frame_index": 98, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3055", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.230, 1.764]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.639, 1.364]). The trajectory involves 5 precise waypoints with total movement distance of 0.583." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3055, + "action": "close", + "object": "Storage Furniture", + "frame_index": 102, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3056", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00102.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00103.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.229, 1.750]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.524, 1.350]). The trajectory involves 5 precise waypoints with total movement distance of 0.512." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3056, + "action": "close", + "object": "Storage Furniture", + "frame_index": 104, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3058", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.311, 1.761]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.555, 1.394]). The trajectory involves 5 precise waypoints with total movement distance of 0.456." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3058, + "action": "close", + "object": "Storage Furniture", + "frame_index": 108, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3063", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.544, 1.650]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.026, 1.979]). The trajectory involves 5 precise waypoints with total movement distance of 0.629." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3063, + "action": "open", + "object": "Storage Furniture", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3064", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.526, 1.686]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.069, 1.940]). The trajectory involves 5 precise waypoints with total movement distance of 0.536." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3064, + "action": "open", + "object": "Storage Furniture", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3065", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.503, 1.714]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.080, 1.929]). The trajectory involves 5 precise waypoints with total movement distance of 0.488." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3065, + "action": "open", + "object": "Storage Furniture", + "frame_index": 212, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3066", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.118, 1.773]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.445, 1.621]). The trajectory involves 5 precise waypoints with total movement distance of 0.368." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3066, + "action": "close", + "object": "Storage Furniture", + "frame_index": 234, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3070", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.206, 1.776]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.604, 1.411]). The trajectory involves 5 precise waypoints with total movement distance of 0.559." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3070, + "action": "close", + "object": "Storage Furniture", + "frame_index": 242, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3072", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00244.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00245.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.307, 1.772]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.606, 1.391]). The trajectory involves 5 precise waypoints with total movement distance of 0.505." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3072, + "action": "close", + "object": "Storage Furniture", + "frame_index": 246, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3073", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00246.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00247.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.353, 1.739]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.597, 1.342]). The trajectory involves 5 precise waypoints with total movement distance of 0.477." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3073, + "action": "close", + "object": "Storage Furniture", + "frame_index": 248, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3077", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00254.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00255.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N14_S215_s01_T2/align_rgb/00256.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.491, 1.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.565, 1.375]). The trajectory involves 5 precise waypoints with total movement distance of 0.274." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3077, + "action": "close", + "object": "Storage Furniture", + "frame_index": 256, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3079", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00057.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.751, 1.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.958, 2.445]). The trajectory involves 5 precise waypoints with total movement distance of 1.266." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3079, + "action": "open", + "object": "Storage Furniture", + "frame_index": 57, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3081", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.739, 1.592]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.968, 2.456]). The trajectory involves 5 precise waypoints with total movement distance of 1.222." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3081, + "action": "open", + "object": "Storage Furniture", + "frame_index": 61, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3082", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.332, 1.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.942, 1.793]). The trajectory involves 5 precise waypoints with total movement distance of 0.523." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3082, + "action": "open", + "object": "Storage Furniture", + "frame_index": 63, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3083", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.641, 1.746]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.820, 2.374]). The trajectory involves 5 precise waypoints with total movement distance of 1.092." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3083, + "action": "open", + "object": "Storage Furniture", + "frame_index": 65, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3084", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.598, 1.844]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.740, 2.356]). The trajectory involves 5 precise waypoints with total movement distance of 1.042." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3084, + "action": "open", + "object": "Storage Furniture", + "frame_index": 67, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3085", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.292, 1.611]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.829, 1.801]). The trajectory involves 5 precise waypoints with total movement distance of 0.507." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3085, + "action": "open", + "object": "Storage Furniture", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3086", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.854, 1.994]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.758, 1.395]). The trajectory involves 5 precise waypoints with total movement distance of 1.139." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3086, + "action": "close", + "object": "Storage Furniture", + "frame_index": 90, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3087", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.950, 2.003]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.780, 1.349]). The trajectory involves 5 precise waypoints with total movement distance of 1.114." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3087, + "action": "close", + "object": "Storage Furniture", + "frame_index": 92, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3088", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.145, 1.613]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.428, 1.404]). The trajectory involves 5 precise waypoints with total movement distance of 0.368." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3088, + "action": "close", + "object": "Storage Furniture", + "frame_index": 94, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3089", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.113, 1.570]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.475, 1.246]). The trajectory involves 5 precise waypoints with total movement distance of 0.510." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3089, + "action": "close", + "object": "Storage Furniture", + "frame_index": 96, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3091", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.117, 1.625]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.423, 1.265]). The trajectory involves 5 precise waypoints with total movement distance of 0.492." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3091, + "action": "close", + "object": "Storage Furniture", + "frame_index": 100, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3094", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.714, 1.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.060, 2.517]). The trajectory involves 5 precise waypoints with total movement distance of 1.224." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3094, + "action": "open", + "object": "Storage Furniture", + "frame_index": 199, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3095", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.643, 1.547]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.987, 2.404]). The trajectory involves 5 precise waypoints with total movement distance of 1.114." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3095, + "action": "open", + "object": "Storage Furniture", + "frame_index": 201, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3096", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.741, 1.610]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.745, 2.590]). The trajectory involves 5 precise waypoints with total movement distance of 1.458." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3096, + "action": "open", + "object": "Storage Furniture", + "frame_index": 203, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3097", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.702, 1.692]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.815, 2.578]). The trajectory involves 5 precise waypoints with total movement distance of 1.311." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3097, + "action": "open", + "object": "Storage Furniture", + "frame_index": 205, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3098", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.637, 1.811]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.733, 2.537]). The trajectory involves 5 precise waypoints with total movement distance of 1.223." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3098, + "action": "open", + "object": "Storage Furniture", + "frame_index": 207, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3101", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.286, 1.722]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.778, 1.903]). The trajectory involves 5 precise waypoints with total movement distance of 0.554." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3101, + "action": "open", + "object": "Storage Furniture", + "frame_index": 213, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3102", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.249, 1.738]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.797, 1.867]). The trajectory involves 5 precise waypoints with total movement distance of 0.484." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3102, + "action": "open", + "object": "Storage Furniture", + "frame_index": 214, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3103", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.883, 2.043]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.734, 1.461]). The trajectory involves 5 precise waypoints with total movement distance of 1.112." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3103, + "action": "close", + "object": "Storage Furniture", + "frame_index": 236, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3104", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.037, 1.704]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.418, 1.454]). The trajectory involves 5 precise waypoints with total movement distance of 0.488." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3104, + "action": "close", + "object": "Storage Furniture", + "frame_index": 238, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3105", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S260_s05_T2/align_rgb/00240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.073, 1.706]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.314, 1.558]). The trajectory involves 5 precise waypoints with total movement distance of 0.292." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3105, + "action": "close", + "object": "Storage Furniture", + "frame_index": 240, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3111", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00053.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00055.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.664, 1.715]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.688, 2.220]). The trajectory involves 5 precise waypoints with total movement distance of 0.507." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3111, + "action": "open", + "object": "Storage Furniture", + "frame_index": 55, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3113", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00059.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.786, 1.421]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.853, 1.920]). The trajectory involves 5 precise waypoints with total movement distance of 0.504." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3113, + "action": "open", + "object": "Storage Furniture", + "frame_index": 59, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3119", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.425, 1.611]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.398, 1.206]). The trajectory involves 5 precise waypoints with total movement distance of 0.407." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3119, + "action": "close", + "object": "Storage Furniture", + "frame_index": 91, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3124", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00187.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.761, 1.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.787, 2.102]). The trajectory involves 5 precise waypoints with total movement distance of 0.551." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3124, + "action": "open", + "object": "Storage Furniture", + "frame_index": 187, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3125", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.762, 1.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.789, 2.140]). The trajectory involves 5 precise waypoints with total movement distance of 0.584." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3125, + "action": "open", + "object": "Storage Furniture", + "frame_index": 189, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3126", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.755, 1.532]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.781, 2.089]). The trajectory involves 5 precise waypoints with total movement distance of 0.558." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3126, + "action": "open", + "object": "Storage Furniture", + "frame_index": 191, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3127", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.704, 1.607]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.725, 2.088]). The trajectory involves 5 precise waypoints with total movement distance of 0.482." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3127, + "action": "open", + "object": "Storage Furniture", + "frame_index": 193, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3132", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.788, 1.607]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.728, 1.218]). The trajectory involves 5 precise waypoints with total movement distance of 0.398." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3132, + "action": "close", + "object": "Storage Furniture", + "frame_index": 222, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3133", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.800, 1.658]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.751, 1.254]). The trajectory involves 5 precise waypoints with total movement distance of 0.408." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3133, + "action": "close", + "object": "Storage Furniture", + "frame_index": 224, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3136", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N10_S254_s03_T1/align_rgb/00230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.678, 1.702]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.665, 1.299]). The trajectory involves 5 precise waypoints with total movement distance of 0.404." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3136, + "action": "close", + "object": "Storage Furniture", + "frame_index": 230, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3140", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00056.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.767, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.205, 2.508]). The trajectory involves 5 precise waypoints with total movement distance of 1.194." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3140, + "action": "open", + "object": "Storage Furniture", + "frame_index": 56, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3141", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.512, 1.490]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.093, 2.035]). The trajectory involves 5 precise waypoints with total movement distance of 0.719." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3141, + "action": "open", + "object": "Storage Furniture", + "frame_index": 58, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3142", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.772, 1.611]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.647, 2.456]). The trajectory involves 5 precise waypoints with total movement distance of 1.506." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3142, + "action": "open", + "object": "Storage Furniture", + "frame_index": 60, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3146", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.931, 1.885]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.770, 1.365]). The trajectory involves 5 precise waypoints with total movement distance of 1.028." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3146, + "action": "close", + "object": "Storage Furniture", + "frame_index": 88, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3147", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.963, 1.915]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.836, 1.221]). The trajectory involves 5 precise waypoints with total movement distance of 1.163." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3147, + "action": "close", + "object": "Storage Furniture", + "frame_index": 90, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3148", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.033, 2.033]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.774, 1.447]). The trajectory involves 5 precise waypoints with total movement distance of 0.991." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3148, + "action": "close", + "object": "Storage Furniture", + "frame_index": 92, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3149", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.103, 1.617]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.455, 1.389]). The trajectory involves 5 precise waypoints with total movement distance of 0.433." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3149, + "action": "close", + "object": "Storage Furniture", + "frame_index": 94, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3155", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.776, 1.588]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.825, 2.723]). The trajectory involves 5 precise waypoints with total movement distance of 1.549." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3155, + "action": "open", + "object": "Storage Furniture", + "frame_index": 203, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3159", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.429, 1.653]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.904, 2.063]). The trajectory involves 5 precise waypoints with total movement distance of 0.710." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3159, + "action": "open", + "object": "Storage Furniture", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3160", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.850, 2.131]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.731, 1.479]). The trajectory involves 5 precise waypoints with total movement distance of 1.170." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3160, + "action": "close", + "object": "Storage Furniture", + "frame_index": 233, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3161", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.918, 2.144]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.714, 1.481]). The trajectory involves 5 precise waypoints with total movement distance of 1.091." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3161, + "action": "close", + "object": "Storage Furniture", + "frame_index": 235, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3163", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S260_s05_T2/align_rgb/00239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.109, 1.720]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.453, 1.298]). The trajectory involves 5 precise waypoints with total movement distance of 0.559." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3163, + "action": "close", + "object": "Storage Furniture", + "frame_index": 239, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3166", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.545, 1.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.527, 1.966]). The trajectory involves 5 precise waypoints with total movement distance of 0.483." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3166, + "action": "open", + "object": "Storage Furniture", + "frame_index": 60, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3167", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.777, 1.456]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.785, 1.914]). The trajectory involves 5 precise waypoints with total movement distance of 0.459." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3167, + "action": "open", + "object": "Storage Furniture", + "frame_index": 62, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3168", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.813, 1.426]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.818, 1.874]). The trajectory involves 5 precise waypoints with total movement distance of 0.448." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3168, + "action": "open", + "object": "Storage Furniture", + "frame_index": 64, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3169", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.805, 1.425]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.804, 1.863]). The trajectory involves 5 precise waypoints with total movement distance of 0.438." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3169, + "action": "open", + "object": "Storage Furniture", + "frame_index": 66, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3170", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.789, 1.429]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.785, 1.831]). The trajectory involves 5 precise waypoints with total movement distance of 0.402." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3170, + "action": "open", + "object": "Storage Furniture", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3171", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.787, 1.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.790, 1.116]). The trajectory involves 5 precise waypoints with total movement distance of 0.377." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3171, + "action": "close", + "object": "Storage Furniture", + "frame_index": 90, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3172", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.749, 1.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.759, 1.151]). The trajectory involves 5 precise waypoints with total movement distance of 0.396." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3172, + "action": "close", + "object": "Storage Furniture", + "frame_index": 92, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3173", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.702, 1.582]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.716, 1.199]). The trajectory involves 5 precise waypoints with total movement distance of 0.384." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3173, + "action": "close", + "object": "Storage Furniture", + "frame_index": 94, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3174", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.688, 1.571]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.701, 1.195]). The trajectory involves 5 precise waypoints with total movement distance of 0.376." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3174, + "action": "close", + "object": "Storage Furniture", + "frame_index": 96, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3175", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00182.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.695, 1.573]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.702, 2.065]). The trajectory involves 5 precise waypoints with total movement distance of 0.492." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3175, + "action": "open", + "object": "Storage Furniture", + "frame_index": 184, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3176", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.694, 1.520]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.697, 2.027]). The trajectory involves 5 precise waypoints with total movement distance of 0.507." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3176, + "action": "open", + "object": "Storage Furniture", + "frame_index": 186, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3178", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.802, 1.534]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.819, 1.957]). The trajectory involves 5 precise waypoints with total movement distance of 0.424." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3178, + "action": "open", + "object": "Storage Furniture", + "frame_index": 190, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3179", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.701, 1.571]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.708, 1.930]). The trajectory involves 5 precise waypoints with total movement distance of 0.360." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3179, + "action": "open", + "object": "Storage Furniture", + "frame_index": 192, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3182", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.512, 1.702]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.510, 1.342]). The trajectory involves 5 precise waypoints with total movement distance of 0.361." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3182, + "action": "close", + "object": "Storage Furniture", + "frame_index": 218, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3183", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.729, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.702, 1.165]). The trajectory involves 5 precise waypoints with total movement distance of 0.354." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3183, + "action": "close", + "object": "Storage Furniture", + "frame_index": 220, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3185", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.654, 1.512]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.644, 1.181]). The trajectory involves 5 precise waypoints with total movement distance of 0.333." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3185, + "action": "close", + "object": "Storage Furniture", + "frame_index": 224, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3186", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N08_S254_s02_T1/align_rgb/00226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.783, 1.589]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.768, 1.256]). The trajectory involves 5 precise waypoints with total movement distance of 0.334." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3186, + "action": "close", + "object": "Storage Furniture", + "frame_index": 226, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3252", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N05_S254_s02_T1/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N05_S254_s02_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N05_S254_s02_T1/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.641, 1.682]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.633, 1.298]). The trajectory involves 5 precise waypoints with total movement distance of 0.385." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3252, + "action": "close", + "object": "Storage Furniture", + "frame_index": 92, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3258", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N05_S254_s02_T1/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N05_S254_s02_T1/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N05_S254_s02_T1/align_rgb/00190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.608, 1.530]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.629, 2.086]). The trajectory involves 5 precise waypoints with total movement distance of 0.556." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3258, + "action": "open", + "object": "Storage Furniture", + "frame_index": 190, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3259", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N05_S254_s02_T1/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N05_S254_s02_T1/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N05_S254_s02_T1/align_rgb/00192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.602, 1.550]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.624, 2.088]). The trajectory involves 5 precise waypoints with total movement distance of 0.538." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3259, + "action": "open", + "object": "Storage Furniture", + "frame_index": 192, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3277", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.640, 1.610]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.999, 2.310]). The trajectory involves 5 precise waypoints with total movement distance of 0.985." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3277, + "action": "open", + "object": "Storage Furniture", + "frame_index": 60, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3279", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.563, 1.708]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.011, 2.260]). The trajectory involves 5 precise waypoints with total movement distance of 0.802." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3279, + "action": "open", + "object": "Storage Furniture", + "frame_index": 63, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3280", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.099, 1.764]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.639, 1.254]). The trajectory involves 5 precise waypoints with total movement distance of 0.758." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3280, + "action": "close", + "object": "Storage Furniture", + "frame_index": 85, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3281", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.149, 1.721]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.639, 1.167]). The trajectory involves 5 precise waypoints with total movement distance of 0.759." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3281, + "action": "close", + "object": "Storage Furniture", + "frame_index": 87, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3282", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.187, 1.782]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.681, 1.144]). The trajectory involves 5 precise waypoints with total movement distance of 0.829." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3282, + "action": "close", + "object": "Storage Furniture", + "frame_index": 89, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3283", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.226, 1.779]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.642, 1.164]). The trajectory involves 5 precise waypoints with total movement distance of 0.768." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3283, + "action": "close", + "object": "Storage Furniture", + "frame_index": 91, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3284", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.300, 1.753]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.644, 1.135]). The trajectory involves 5 precise waypoints with total movement distance of 0.727." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3284, + "action": "close", + "object": "Storage Furniture", + "frame_index": 93, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3285", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.311, 1.738]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.630, 1.160]). The trajectory involves 5 precise waypoints with total movement distance of 0.674." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3285, + "action": "close", + "object": "Storage Furniture", + "frame_index": 94, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3286", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00176.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00177.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.688, 1.466]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.848, 2.469]). The trajectory involves 5 precise waypoints with total movement distance of 1.361." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3286, + "action": "open", + "object": "Storage Furniture", + "frame_index": 178, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3288", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00181.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.638, 1.572]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.903, 2.347]). The trajectory involves 5 precise waypoints with total movement distance of 1.095." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3288, + "action": "open", + "object": "Storage Furniture", + "frame_index": 182, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3290", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.044, 1.701]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.651, 1.240]). The trajectory involves 5 precise waypoints with total movement distance of 0.785." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3290, + "action": "close", + "object": "Storage Furniture", + "frame_index": 205, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3291", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.076, 1.703]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.605, 1.193]). The trajectory involves 5 precise waypoints with total movement distance of 0.746." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3291, + "action": "close", + "object": "Storage Furniture", + "frame_index": 207, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3294", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.181, 1.711]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.593, 1.179]). The trajectory involves 5 precise waypoints with total movement distance of 0.689." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3294, + "action": "close", + "object": "Storage Furniture", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3297", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S260_s04_T2/align_rgb/00219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.382, 1.663]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.594, 1.246]). The trajectory involves 5 precise waypoints with total movement distance of 0.471." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3297, + "action": "close", + "object": "Storage Furniture", + "frame_index": 219, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3300", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.812, 1.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.807, 2.059]). The trajectory involves 5 precise waypoints with total movement distance of 0.538." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3300, + "action": "open", + "object": "Storage Furniture", + "frame_index": 60, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3315", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.883, 1.511]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.915, 1.964]). The trajectory involves 5 precise waypoints with total movement distance of 0.455." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3315, + "action": "open", + "object": "Storage Furniture", + "frame_index": 207, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3316", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.789, 1.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.807, 2.020]). The trajectory involves 5 precise waypoints with total movement distance of 0.521." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3316, + "action": "open", + "object": "Storage Furniture", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3317", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.788, 1.482]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.805, 1.998]). The trajectory involves 5 precise waypoints with total movement distance of 0.516." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3317, + "action": "open", + "object": "Storage Furniture", + "frame_index": 211, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3318", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.795, 1.535]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.809, 2.040]). The trajectory involves 5 precise waypoints with total movement distance of 0.505." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3318, + "action": "open", + "object": "Storage Furniture", + "frame_index": 213, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3319", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.792, 1.528]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.801, 2.000]). The trajectory involves 5 precise waypoints with total movement distance of 0.472." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3319, + "action": "open", + "object": "Storage Furniture", + "frame_index": 215, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3321", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.874, 1.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.897, 1.888]). The trajectory involves 5 precise waypoints with total movement distance of 0.384." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3321, + "action": "open", + "object": "Storage Furniture", + "frame_index": 219, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3322", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.782, 1.568]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.787, 1.901]). The trajectory involves 5 precise waypoints with total movement distance of 0.333." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3322, + "action": "open", + "object": "Storage Furniture", + "frame_index": 221, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3323", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S254_s01_T1/align_rgb/00222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.778, 1.569]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.782, 1.864]). The trajectory involves 5 precise waypoints with total movement distance of 0.295." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3323, + "action": "open", + "object": "Storage Furniture", + "frame_index": 222, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3330", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N04_S219_s01_T3/align_rgb/00116.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S219_s01_T3/align_rgb/00117.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N04_S219_s01_T3/align_rgb/00118.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.660, 1.407]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.666, 1.092]). The trajectory involves 5 precise waypoints with total movement distance of 0.315." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3330, + "action": "close", + "object": "Storage Furniture", + "frame_index": 118, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3347", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N03_S260_s04_T2/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N03_S260_s04_T2/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N03_S260_s04_T2/align_rgb/00053.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.411, 1.576]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.738, 2.132]). The trajectory involves 5 precise waypoints with total movement distance of 0.914." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3347, + "action": "open", + "object": "Storage Furniture", + "frame_index": 53, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3400", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N03_S254_s01_T1/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N03_S254_s01_T1/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N03_S254_s01_T1/align_rgb/00241.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.735, 1.791]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.695, 1.303]). The trajectory involves 5 precise waypoints with total movement distance of 0.491." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3400, + "action": "close", + "object": "Storage Furniture", + "frame_index": 241, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3425", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00059.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.655, 1.388]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.886, 2.439]). The trajectory involves 5 precise waypoints with total movement distance of 1.347." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3425, + "action": "open", + "object": "Storage Furniture", + "frame_index": 59, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3426", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.642, 1.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.972, 2.371]). The trajectory involves 5 precise waypoints with total movement distance of 1.163." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3426, + "action": "open", + "object": "Storage Furniture", + "frame_index": 61, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3428", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.106, 1.781]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.637, 1.307]). The trajectory involves 5 precise waypoints with total movement distance of 0.747." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3428, + "action": "close", + "object": "Storage Furniture", + "frame_index": 84, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3429", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.154, 1.749]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.628, 1.239]). The trajectory involves 5 precise waypoints with total movement distance of 0.733." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3429, + "action": "close", + "object": "Storage Furniture", + "frame_index": 86, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3432", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00167.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00168.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00169.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.635, 1.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.831, 2.421]). The trajectory involves 5 precise waypoints with total movement distance of 1.325." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3432, + "action": "open", + "object": "Storage Furniture", + "frame_index": 169, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3435", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.061, 1.800]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.593, 1.355]). The trajectory involves 5 precise waypoints with total movement distance of 0.710." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3435, + "action": "close", + "object": "Storage Furniture", + "frame_index": 195, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3436", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.098, 1.777]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.645, 1.276]). The trajectory involves 5 precise waypoints with total movement distance of 0.768." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3436, + "action": "close", + "object": "Storage Furniture", + "frame_index": 197, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3437", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.125, 1.775]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.654, 1.213]). The trajectory involves 5 precise waypoints with total movement distance of 0.793." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3437, + "action": "close", + "object": "Storage Furniture", + "frame_index": 199, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3438", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.158, 1.755]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.627, 1.199]). The trajectory involves 5 precise waypoints with total movement distance of 0.756." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3438, + "action": "close", + "object": "Storage Furniture", + "frame_index": 201, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3439", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.176, 1.779]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.616, 1.219]). The trajectory involves 5 precise waypoints with total movement distance of 0.749." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3439, + "action": "close", + "object": "Storage Furniture", + "frame_index": 203, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3440", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.252, 1.714]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.587, 1.180]). The trajectory involves 5 precise waypoints with total movement distance of 0.652." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3440, + "action": "close", + "object": "Storage Furniture", + "frame_index": 205, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3443", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N02_S260_s03_T2/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.381, 1.691]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.561, 1.275]). The trajectory involves 5 precise waypoints with total movement distance of 0.455." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3443, + "action": "close", + "object": "Storage Furniture", + "frame_index": 211, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_3453", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N02_S254_s01_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N02_S254_s01_T1/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N02_S254_s01_T1/align_rgb/00100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.715, 1.633]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.705, 1.256]). The trajectory involves 5 precise waypoints with total movement distance of 0.381." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3453, + "action": "close", + "object": "Storage Furniture", + "frame_index": 100, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3459", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N02_S254_s01_T1/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N02_S254_s01_T1/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N02_S254_s01_T1/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.762, 1.598]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.746, 2.120]). The trajectory involves 5 precise waypoints with total movement distance of 0.523." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3459, + "action": "open", + "object": "Storage Furniture", + "frame_index": 201, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3472", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.870, 0.898]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.546, 1.781]). The trajectory involves 5 precise waypoints with total movement distance of 0.961." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3472, + "action": "open", + "object": "Storage Furniture", + "frame_index": 67, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3479", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.610, 1.086]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.119, 1.496]). The trajectory involves 5 precise waypoints with total movement distance of 0.661." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3479, + "action": "open", + "object": "Storage Furniture", + "frame_index": 81, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3480", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00102.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.009, 1.423]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.696, 0.840]). The trajectory involves 5 precise waypoints with total movement distance of 0.930." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3480, + "action": "close", + "object": "Storage Furniture", + "frame_index": 103, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3481", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00103.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.064, 1.257]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.587, 0.767]). The trajectory involves 5 precise waypoints with total movement distance of 0.740." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3481, + "action": "close", + "object": "Storage Furniture", + "frame_index": 105, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3485", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00111.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00112.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.309, 1.240]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.594, 0.663]). The trajectory involves 5 precise waypoints with total movement distance of 0.661." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3485, + "action": "close", + "object": "Storage Furniture", + "frame_index": 113, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3486", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00113.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00114.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.408, 1.205]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.629, 0.651]). The trajectory involves 5 precise waypoints with total movement distance of 0.607." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3486, + "action": "close", + "object": "Storage Furniture", + "frame_index": 115, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3489", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.799, 0.897]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.165, 1.830]). The trajectory involves 5 precise waypoints with total movement distance of 1.160." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3489, + "action": "open", + "object": "Storage Furniture", + "frame_index": 209, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3490", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.766, 0.927]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.107, 1.795]). The trajectory involves 5 precise waypoints with total movement distance of 1.126." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3490, + "action": "open", + "object": "Storage Furniture", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3491", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.755, 1.006]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.045, 1.811]). The trajectory involves 5 precise waypoints with total movement distance of 1.115." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3491, + "action": "open", + "object": "Storage Furniture", + "frame_index": 213, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3495", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.960, 1.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.770, 0.912]). The trajectory involves 5 precise waypoints with total movement distance of 1.035." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3495, + "action": "close", + "object": "Storage Furniture", + "frame_index": 240, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3496", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.020, 1.320]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.653, 0.857]). The trajectory involves 5 precise waypoints with total movement distance of 0.822." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3496, + "action": "close", + "object": "Storage Furniture", + "frame_index": 242, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3497", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00242.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00243.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.096, 1.335]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.659, 0.800]). The trajectory involves 5 precise waypoints with total movement distance of 0.808." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3497, + "action": "close", + "object": "Storage Furniture", + "frame_index": 244, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3499", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00246.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00247.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.210, 1.294]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.682, 0.601]). The trajectory involves 5 precise waypoints with total movement distance of 0.864." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3499, + "action": "close", + "object": "Storage Furniture", + "frame_index": 248, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3501", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00250.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00251.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S260_s03_T2/align_rgb/00252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.313, 1.251]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.685, 0.617]). The trajectory involves 5 precise waypoints with total movement distance of 0.756." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3501, + "action": "close", + "object": "Storage Furniture", + "frame_index": 252, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3504", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00059.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.788, 1.592]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.821, 2.077]). The trajectory involves 5 precise waypoints with total movement distance of 0.487." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3504, + "action": "open", + "object": "Storage Furniture", + "frame_index": 59, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3505", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.768, 1.572]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.794, 2.030]). The trajectory involves 5 precise waypoints with total movement distance of 0.459." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3505, + "action": "open", + "object": "Storage Furniture", + "frame_index": 61, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3509", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.532, 1.828]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.538, 1.424]). The trajectory involves 5 precise waypoints with total movement distance of 0.406." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3509, + "action": "close", + "object": "Storage Furniture", + "frame_index": 88, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3510", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.487, 1.805]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.494, 1.384]). The trajectory involves 5 precise waypoints with total movement distance of 0.421." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3510, + "action": "close", + "object": "Storage Furniture", + "frame_index": 90, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3511", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.683, 1.860]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.666, 1.457]). The trajectory involves 5 precise waypoints with total movement distance of 0.405." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3511, + "action": "close", + "object": "Storage Furniture", + "frame_index": 92, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3514", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800004_H4_C4_N01_S254_s01_T1/align_rgb/00098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.798, 1.844]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.788, 1.500]). The trajectory involves 5 precise waypoints with total movement distance of 0.345." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3514, + "action": "close", + "object": "Storage Furniture", + "frame_index": 98, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_3565", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s05_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s05_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s05_T2/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.838, 1.608]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.937, 0.927]). The trajectory involves 5 precise waypoints with total movement distance of 0.689." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3565, + "action": "open", + "object": "Laptop", + "frame_index": 208, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_3569", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s05_T2/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s05_T2/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s05_T2/align_rgb/00235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.038, 0.912]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.003, 1.739]). The trajectory involves 5 precise waypoints with total movement distance of 0.831." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3569, + "action": "close", + "object": "Laptop", + "frame_index": 235, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_3570", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s05_T2/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s05_T2/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s05_T2/align_rgb/00237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.041, 0.925]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.002, 1.684]). The trajectory involves 5 precise waypoints with total movement distance of 0.762." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3570, + "action": "close", + "object": "Laptop", + "frame_index": 237, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_3574", + "task": "carry the Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry the Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry the Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.423, 1.422]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.918, 1.355]). The trajectory involves 5 precise waypoints with total movement distance of 0.575." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3574, + "action": "carry", + "object": "Laptop", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3580", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.719, 1.310]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.705, 1.446]). The trajectory involves 5 precise waypoints with total movement distance of 0.170." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3580, + "action": "putdown", + "object": "Laptop", + "frame_index": 95, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3584", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00174.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00175.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00176.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.621, 1.420]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.712, 0.739]). The trajectory involves 5 precise waypoints with total movement distance of 0.687." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3584, + "action": "open", + "object": "Laptop", + "frame_index": 176, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_3586", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00180.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.523, 1.439]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.612, 0.672]). The trajectory involves 5 precise waypoints with total movement distance of 0.772." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3586, + "action": "open", + "object": "Laptop", + "frame_index": 180, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_3591", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.815, 0.762]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.719, 1.612]). The trajectory involves 5 precise waypoints with total movement distance of 0.856." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3591, + "action": "close", + "object": "Laptop", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_3592", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.800, 0.854]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.722, 1.458]). The trajectory involves 5 precise waypoints with total movement distance of 0.609." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3592, + "action": "close", + "object": "Laptop", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_3593", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.767, 0.890]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.685, 1.547]). The trajectory involves 5 precise waypoints with total movement distance of 0.663." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3593, + "action": "close", + "object": "Laptop", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_3594", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.727, 0.940]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.696, 1.229]). The trajectory involves 5 precise waypoints with total movement distance of 0.292." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3594, + "action": "close", + "object": "Laptop", + "frame_index": 215, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_3595", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s03_T2/align_rgb/00217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.688, 1.009]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.631, 1.535]). The trajectory involves 5 precise waypoints with total movement distance of 0.529." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3595, + "action": "close", + "object": "Laptop", + "frame_index": 217, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_3599", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s02_T1/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s02_T1/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s02_T1/align_rgb/00087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.573, 1.419]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.009, 1.429]). The trajectory involves 5 precise waypoints with total movement distance of 0.517." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3599, + "action": "carry", + "object": "Laptop", + "frame_index": 87, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3607", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s02_T1/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s02_T1/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s02_T1/align_rgb/00228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.516, 1.352]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.404, 1.560]). The trajectory involves 5 precise waypoints with total movement distance of 0.264." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3607, + "action": "putdown", + "object": "Laptop", + "frame_index": 228, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3611", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s01_T1/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s01_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s01_T1/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.440, 1.568]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.991, 1.411]). The trajectory involves 5 precise waypoints with total movement distance of 0.601." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3611, + "action": "carry", + "object": "Laptop", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3625", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s01_T1/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s01_T1/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N68_S380_s01_T1/align_rgb/00216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.660, 1.660]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.208, 1.465]). The trajectory involves 5 precise waypoints with total movement distance of 0.516." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3625, + "action": "carry", + "object": "Laptop", + "frame_index": 216, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3637", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.620, 1.489]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.159, 1.495]). The trajectory involves 5 precise waypoints with total movement distance of 0.557." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3637, + "action": "carry", + "object": "Laptop", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_3640", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.898, 1.572]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.942, 1.138]). The trajectory involves 5 precise waypoints with total movement distance of 0.436." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3640, + "action": "open", + "object": "Laptop", + "frame_index": 188, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_3644", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.974, 1.566]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.993, 0.960]). The trajectory involves 5 precise waypoints with total movement distance of 0.606." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3644, + "action": "open", + "object": "Laptop", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_3646", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [2.043, 1.498]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.055, 0.937]). The trajectory involves 5 precise waypoints with total movement distance of 0.570." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3646, + "action": "open", + "object": "Laptop", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_3650", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s05_T2/align_rgb/00228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.098, 1.007]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.136, 1.464]). The trajectory involves 5 precise waypoints with total movement distance of 0.465." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3650, + "action": "close", + "object": "Laptop", + "frame_index": 228, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_3652", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s04_T2/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s04_T2/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s04_T2/align_rgb/00075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.517, 1.527]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.954, 1.393]). The trajectory involves 5 precise waypoints with total movement distance of 0.494." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3652, + "action": "carry", + "object": "Laptop", + "frame_index": 75, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3664", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s04_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s04_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s04_T2/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.809, 1.461]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.866, 1.137]). The trajectory involves 5 precise waypoints with total movement distance of 0.344." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3664, + "action": "open", + "object": "Laptop", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_3665", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s04_T2/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s04_T2/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s04_T2/align_rgb/00215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.788, 1.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.851, 1.157]). The trajectory involves 5 precise waypoints with total movement distance of 0.380." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3665, + "action": "open", + "object": "Laptop", + "frame_index": 215, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_3668", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s04_T2/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s04_T2/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s04_T2/align_rgb/00240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.785, 0.952]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.647, 1.667]). The trajectory involves 5 precise waypoints with total movement distance of 0.732." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3668, + "action": "close", + "object": "Laptop", + "frame_index": 240, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_3675", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.591, 1.335]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.067, 1.219]). The trajectory involves 5 precise waypoints with total movement distance of 0.521." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3675, + "action": "carry", + "object": "Laptop", + "frame_index": 63, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3677", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.727, 1.135]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.775, 1.450]). The trajectory involves 5 precise waypoints with total movement distance of 0.320." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3677, + "action": "putdown", + "object": "Laptop", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_3684", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00175.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00176.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00177.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.693, 1.393]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.741, 0.764]). The trajectory involves 5 precise waypoints with total movement distance of 0.631." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3684, + "action": "open", + "object": "Laptop", + "frame_index": 177, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_3685", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00177.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.675, 1.352]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.732, 0.689]). The trajectory involves 5 precise waypoints with total movement distance of 0.666." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3685, + "action": "open", + "object": "Laptop", + "frame_index": 179, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_3686", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.688, 1.358]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.726, 0.723]). The trajectory involves 5 precise waypoints with total movement distance of 0.639." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3686, + "action": "open", + "object": "Laptop", + "frame_index": 181, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_3687", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00181.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00182.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.678, 1.306]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.727, 0.789]). The trajectory involves 5 precise waypoints with total movement distance of 0.519." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3687, + "action": "open", + "object": "Laptop", + "frame_index": 183, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_3689", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00187.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.695, 1.226]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.782, 0.768]). The trajectory involves 5 precise waypoints with total movement distance of 0.469." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3689, + "action": "open", + "object": "Laptop", + "frame_index": 187, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_3690", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.659, 1.196]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.717, 0.639]). The trajectory involves 5 precise waypoints with total movement distance of 0.560." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3690, + "action": "open", + "object": "Laptop", + "frame_index": 189, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_3691", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.669, 1.165]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.714, 0.702]). The trajectory involves 5 precise waypoints with total movement distance of 0.466." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3691, + "action": "open", + "object": "Laptop", + "frame_index": 190, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_3692", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.819, 0.776]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.778, 1.385]). The trajectory involves 5 precise waypoints with total movement distance of 0.611." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3692, + "action": "close", + "object": "Laptop", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_3693", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.828, 0.810]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.801, 1.330]). The trajectory involves 5 precise waypoints with total movement distance of 0.521." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3693, + "action": "close", + "object": "Laptop", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_3694", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s03_T2/align_rgb/00215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.818, 0.817]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.798, 1.375]). The trajectory involves 5 precise waypoints with total movement distance of 0.559." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3694, + "action": "close", + "object": "Laptop", + "frame_index": 215, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_3699", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s02_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s02_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s02_T1/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.614, 1.501]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.002, 1.375]). The trajectory involves 5 precise waypoints with total movement distance of 0.418." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3699, + "action": "carry", + "object": "Laptop", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3700", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s02_T1/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s02_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s02_T1/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.962, 1.416]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.956, 1.695]). The trajectory involves 5 precise waypoints with total movement distance of 0.280." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3700, + "action": "putdown", + "object": "Laptop", + "frame_index": 92, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3709", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s02_T1/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s02_T1/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s02_T1/align_rgb/00219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.791, 1.461]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.413, 1.290]). The trajectory involves 5 precise waypoints with total movement distance of 0.416." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3709, + "action": "carry", + "object": "Laptop", + "frame_index": 219, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3712", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s02_T1/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s02_T1/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s02_T1/align_rgb/00240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.495, 1.474]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.461, 1.713]). The trajectory involves 5 precise waypoints with total movement distance of 0.247." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3712, + "action": "putdown", + "object": "Laptop", + "frame_index": 240, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3716", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s01_T1/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s01_T1/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s01_T1/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.392, 1.742]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.717, 1.528]). The trajectory involves 5 precise waypoints with total movement distance of 0.406." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3716, + "action": "carry", + "object": "Laptop", + "frame_index": 66, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3720", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s01_T1/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s01_T1/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s01_T1/align_rgb/00086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.730, 1.580]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.724, 1.815]). The trajectory involves 5 precise waypoints with total movement distance of 0.236." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3720, + "action": "putdown", + "object": "Laptop", + "frame_index": 86, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3724", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s01_T1/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s01_T1/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N67_S380_s01_T1/align_rgb/00191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.664, 1.632]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.308, 1.395]). The trajectory involves 5 precise waypoints with total movement distance of 0.482." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3724, + "action": "carry", + "object": "Laptop", + "frame_index": 191, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_3738", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s05_T1/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s05_T1/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s05_T1/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.606, 1.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.265, 1.358]). The trajectory involves 5 precise waypoints with total movement distance of 0.695." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3738, + "action": "carry", + "object": "Laptop", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3758", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.881, 1.390]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.889, 1.679]). The trajectory involves 5 precise waypoints with total movement distance of 0.290." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3758, + "action": "putdown", + "object": "Laptop", + "frame_index": 91, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3760", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.883, 1.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.879, 1.647]). The trajectory involves 5 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3760, + "action": "putdown", + "object": "Laptop", + "frame_index": 94, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3765", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.937, 1.622]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.970, 1.401]). The trajectory involves 5 precise waypoints with total movement distance of 0.223." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3765, + "action": "open", + "object": "Laptop", + "frame_index": 192, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_3769", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.947, 1.625]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.985, 1.357]). The trajectory involves 5 precise waypoints with total movement distance of 0.271." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3769, + "action": "open", + "object": "Laptop", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_3771", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.959, 1.605]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.004, 1.408]). The trajectory involves 5 precise waypoints with total movement distance of 0.212." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3771, + "action": "open", + "object": "Laptop", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_3779", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.962, 1.048]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.006, 1.354]). The trajectory involves 5 precise waypoints with total movement distance of 0.314." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3779, + "action": "close", + "object": "Laptop", + "frame_index": 240, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_3782", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00244.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00245.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s04_T2/align_rgb/00246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.945, 1.035]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.936, 1.625]). The trajectory involves 5 precise waypoints with total movement distance of 0.593." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3782, + "action": "close", + "object": "Laptop", + "frame_index": 246, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_3788", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.365, 1.457]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.824, 1.300]). The trajectory involves 5 precise waypoints with total movement distance of 0.507." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3788, + "action": "carry", + "object": "Laptop", + "frame_index": 66, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3799", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00181.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.788, 1.353]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.792, 1.074]). The trajectory involves 5 precise waypoints with total movement distance of 0.298." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3799, + "action": "open", + "object": "Laptop", + "frame_index": 182, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_3818", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.854, 0.850]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.805, 1.504]). The trajectory involves 5 precise waypoints with total movement distance of 0.656." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3818, + "action": "close", + "object": "Laptop", + "frame_index": 240, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_3819", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.842, 0.892]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.795, 1.473]). The trajectory involves 5 precise waypoints with total movement distance of 0.584." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3819, + "action": "close", + "object": "Laptop", + "frame_index": 242, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_3820", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00242.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00243.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s03_T2/align_rgb/00244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.827, 0.934]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.783, 1.472]). The trajectory involves 5 precise waypoints with total movement distance of 0.540." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3820, + "action": "close", + "object": "Laptop", + "frame_index": 244, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_3822", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s02_T1/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s02_T1/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s02_T1/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.649, 1.486]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.185, 1.390]). The trajectory involves 5 precise waypoints with total movement distance of 0.653." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3822, + "action": "carry", + "object": "Laptop", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3826", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s02_T1/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s02_T1/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s02_T1/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.997, 1.346]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.624, 1.138]). The trajectory involves 5 precise waypoints with total movement distance of 0.431." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3826, + "action": "carry", + "object": "Laptop", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3827", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s02_T1/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s02_T1/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s02_T1/align_rgb/00221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.576, 1.243]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.477, 1.564]). The trajectory involves 5 precise waypoints with total movement distance of 0.337." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3827, + "action": "putdown", + "object": "Laptop", + "frame_index": 221, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3845", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s01_T1/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s01_T1/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s01_T1/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.617, 1.545]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.942, 1.332]). The trajectory involves 5 precise waypoints with total movement distance of 0.729." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3845, + "action": "carry", + "object": "Laptop", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3849", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s01_T1/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s01_T1/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N66_S380_s01_T1/align_rgb/00227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.375, 1.419]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.419, 1.653]). The trajectory involves 5 precise waypoints with total movement distance of 0.243." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3849, + "action": "putdown", + "object": "Laptop", + "frame_index": 227, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3852", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s05_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s05_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s05_T1/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.651, 1.323]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.031, 1.251]). The trajectory involves 5 precise waypoints with total movement distance of 0.411." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3852, + "action": "carry", + "object": "Laptop", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3859", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s05_T1/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s05_T1/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s05_T1/align_rgb/00197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.949, 1.445]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.584, 1.279]). The trajectory involves 5 precise waypoints with total movement distance of 0.425." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3859, + "action": "carry", + "object": "Laptop", + "frame_index": 197, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3861", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s05_T1/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s05_T1/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s05_T1/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.548, 1.355]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.491, 1.557]). The trajectory involves 5 precise waypoints with total movement distance of 0.222." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3861, + "action": "putdown", + "object": "Laptop", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3868", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s05_T1/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s05_T1/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s05_T1/align_rgb/00227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.537, 1.517]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.543, 1.632]). The trajectory involves 5 precise waypoints with total movement distance of 0.115." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3868, + "action": "putdown", + "object": "Laptop", + "frame_index": 227, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3870", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s04_T2/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s04_T2/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s04_T2/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.636, 1.428]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.059, 1.428]). The trajectory involves 5 precise waypoints with total movement distance of 0.451." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3870, + "action": "carry", + "object": "Laptop", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3877", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s04_T2/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s04_T2/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s04_T2/align_rgb/00181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.964, 1.606]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.037, 1.354]). The trajectory involves 5 precise waypoints with total movement distance of 0.263." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3877, + "action": "open", + "object": "Laptop", + "frame_index": 181, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_3882", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s04_T2/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s04_T2/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s04_T2/align_rgb/00191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.919, 1.586]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.971, 1.175]). The trajectory involves 5 precise waypoints with total movement distance of 0.415." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3882, + "action": "open", + "object": "Laptop", + "frame_index": 191, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_3908", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s03_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s03_T2/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s03_T2/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.410, 1.339]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.009, 1.374]). The trajectory involves 5 precise waypoints with total movement distance of 0.657." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3908, + "action": "carry", + "object": "Laptop", + "frame_index": 85, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3923", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s03_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s03_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s03_T2/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.784, 1.487]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.844, 1.046]). The trajectory involves 5 precise waypoints with total movement distance of 0.446." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3923, + "action": "open", + "object": "Laptop", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_3935", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s03_T2/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s03_T2/align_rgb/00242.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s03_T2/align_rgb/00243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.021, 0.972]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.047, 1.544]). The trajectory involves 5 precise waypoints with total movement distance of 0.577." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3935, + "action": "close", + "object": "Laptop", + "frame_index": 243, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_3940", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s02_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s02_T1/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s02_T1/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.533, 1.560]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.913, 1.432]). The trajectory involves 5 precise waypoints with total movement distance of 0.425." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3940, + "action": "carry", + "object": "Laptop", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3941", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s02_T1/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s02_T1/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s02_T1/align_rgb/00075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.548, 1.560]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.938, 1.463]). The trajectory involves 5 precise waypoints with total movement distance of 0.429." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3941, + "action": "carry", + "object": "Laptop", + "frame_index": 75, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3954", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s02_T1/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s02_T1/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s02_T1/align_rgb/00238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.453, 1.459]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.379, 1.655]). The trajectory involves 5 precise waypoints with total movement distance of 0.216." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3954, + "action": "putdown", + "object": "Laptop", + "frame_index": 238, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3963", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s01_T1/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s01_T1/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s01_T1/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.611, 1.705]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.174, 1.520]). The trajectory involves 5 precise waypoints with total movement distance of 0.498." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3963, + "action": "carry", + "object": "Laptop", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3971", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s01_T1/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s01_T1/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N65_S380_s01_T1/align_rgb/00194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.464, 1.565]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.984, 1.609]). The trajectory involves 5 precise waypoints with total movement distance of 0.595." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3971, + "action": "carry", + "object": "Laptop", + "frame_index": 194, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3985", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s05_T2/align_rgb/00175.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s05_T2/align_rgb/00176.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s05_T2/align_rgb/00177.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.509, 1.714]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.531, 1.270]). The trajectory involves 5 precise waypoints with total movement distance of 0.446." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3985, + "action": "open", + "object": "Laptop", + "frame_index": 177, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_3986", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s05_T2/align_rgb/00177.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s05_T2/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s05_T2/align_rgb/00179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.529, 1.672]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.549, 1.282]). The trajectory involves 5 precise waypoints with total movement distance of 0.391." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3986, + "action": "open", + "object": "Laptop", + "frame_index": 179, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_3987", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s05_T2/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s05_T2/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s05_T2/align_rgb/00181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.519, 1.682]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.541, 1.207]). The trajectory involves 5 precise waypoints with total movement distance of 0.476." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 3987, + "action": "open", + "object": "Laptop", + "frame_index": 181, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4000", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s05_T2/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s05_T2/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s05_T2/align_rgb/00227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.815, 1.177]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.800, 1.411]). The trajectory involves 5 precise waypoints with total movement distance of 0.234." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4000, + "action": "close", + "object": "Laptop", + "frame_index": 227, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4010", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s04_T2/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s04_T2/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s04_T2/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.652, 1.505]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.611, 1.614]). The trajectory involves 5 precise waypoints with total movement distance of 1.021." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4010, + "action": "carry", + "object": "Laptop", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4044", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00174.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00175.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00176.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.511, 1.713]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.574, 1.287]). The trajectory involves 5 precise waypoints with total movement distance of 0.431." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4044, + "action": "open", + "object": "Laptop", + "frame_index": 176, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4048", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00182.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.856, 1.806]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.977, 1.197]). The trajectory involves 5 precise waypoints with total movement distance of 0.622." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4048, + "action": "open", + "object": "Laptop", + "frame_index": 184, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4049", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.920, 1.793]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.050, 1.143]). The trajectory involves 5 precise waypoints with total movement distance of 0.664." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4049, + "action": "open", + "object": "Laptop", + "frame_index": 186, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4050", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.793, 1.580]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.893, 1.097]). The trajectory involves 5 precise waypoints with total movement distance of 0.493." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4050, + "action": "open", + "object": "Laptop", + "frame_index": 188, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4055", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.070, 1.117]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.991, 1.593]). The trajectory involves 5 precise waypoints with total movement distance of 0.483." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4055, + "action": "close", + "object": "Laptop", + "frame_index": 217, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4060", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s03_T2/align_rgb/00227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.992, 1.194]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.925, 1.557]). The trajectory involves 5 precise waypoints with total movement distance of 0.370." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4060, + "action": "close", + "object": "Laptop", + "frame_index": 227, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4073", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s02_T1/align_rgb/00103.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s02_T1/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s02_T1/align_rgb/00105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.891, 1.263]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.877, 1.523]). The trajectory involves 5 precise waypoints with total movement distance of 0.261." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4073, + "action": "putdown", + "object": "Laptop", + "frame_index": 105, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4079", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s02_T1/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s02_T1/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s02_T1/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.680, 1.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.247, 1.254]). The trajectory involves 5 precise waypoints with total movement distance of 0.508." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4079, + "action": "carry", + "object": "Laptop", + "frame_index": 208, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4083", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s02_T1/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s02_T1/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s02_T1/align_rgb/00228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.396, 1.401]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.427, 1.656]). The trajectory involves 5 precise waypoints with total movement distance of 0.258." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4083, + "action": "putdown", + "object": "Laptop", + "frame_index": 228, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4090", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s01_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s01_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s01_T1/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.528, 1.447]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.223, 1.287]). The trajectory involves 5 precise waypoints with total movement distance of 0.731." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4090, + "action": "carry", + "object": "Laptop", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4099", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s01_T1/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s01_T1/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N64_S379_s01_T1/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.727, 1.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.258, 1.316]). The trajectory involves 5 precise waypoints with total movement distance of 0.526." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4099, + "action": "carry", + "object": "Laptop", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4128", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s05_T2/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s05_T2/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s05_T2/align_rgb/00238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.128, 1.120]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.134, 1.422]). The trajectory involves 5 precise waypoints with total movement distance of 0.302." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4128, + "action": "close", + "object": "Laptop", + "frame_index": 238, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4138", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.663, 1.646]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.492, 1.864]). The trajectory involves 5 precise waypoints with total movement distance of 0.866." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4138, + "action": "carry", + "object": "Laptop", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4144", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00174.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00175.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00176.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.904, 1.622]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.967, 1.219]). The trajectory involves 5 precise waypoints with total movement distance of 0.408." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4144, + "action": "open", + "object": "Laptop", + "frame_index": 176, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4151", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.051, 1.080]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.998, 1.392]). The trajectory involves 5 precise waypoints with total movement distance of 0.317." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4151, + "action": "close", + "object": "Laptop", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4154", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.974, 1.115]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.893, 1.557]). The trajectory involves 5 precise waypoints with total movement distance of 0.450." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4154, + "action": "close", + "object": "Laptop", + "frame_index": 216, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4157", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.022, 1.148]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.997, 1.323]). The trajectory involves 5 precise waypoints with total movement distance of 0.178." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4157, + "action": "close", + "object": "Laptop", + "frame_index": 222, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4158", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.956, 1.175]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.872, 1.645]). The trajectory involves 5 precise waypoints with total movement distance of 0.478." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4158, + "action": "close", + "object": "Laptop", + "frame_index": 224, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4161", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s03_T2/align_rgb/00230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.928, 1.300]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.009, 0.829]). The trajectory involves 5 precise waypoints with total movement distance of 0.478." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4161, + "action": "close", + "object": "Laptop", + "frame_index": 230, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4165", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s02_T1/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s02_T1/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s02_T1/align_rgb/00075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.533, 1.637]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.965, 1.575]). The trajectory involves 5 precise waypoints with total movement distance of 0.498." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4165, + "action": "carry", + "object": "Laptop", + "frame_index": 75, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4178", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s02_T1/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s02_T1/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s02_T1/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.764, 1.790]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.427, 1.413]). The trajectory involves 5 precise waypoints with total movement distance of 0.525." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4178, + "action": "carry", + "object": "Laptop", + "frame_index": 208, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4186", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s01_T1/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s01_T1/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s01_T1/align_rgb/00062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.438, 1.702]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.094, 1.668]). The trajectory involves 5 precise waypoints with total movement distance of 0.719." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4186, + "action": "carry", + "object": "Laptop", + "frame_index": 62, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4196", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s01_T1/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s01_T1/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N63_S379_s01_T1/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.961, 1.792]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.348, 1.624]). The trajectory involves 5 precise waypoints with total movement distance of 0.654." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4196, + "action": "carry", + "object": "Laptop", + "frame_index": 199, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4222", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.533, 1.555]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.250, 1.393]). The trajectory involves 5 precise waypoints with total movement distance of 0.782." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4222, + "action": "carry", + "object": "Laptop", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4232", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00171.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00172.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.663, 1.568]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.623, 1.176]). The trajectory involves 5 precise waypoints with total movement distance of 0.406." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4232, + "action": "open", + "object": "Laptop", + "frame_index": 173, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4240", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.761, 1.440]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.782, 0.894]). The trajectory involves 5 precise waypoints with total movement distance of 0.546." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4240, + "action": "open", + "object": "Laptop", + "frame_index": 189, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4242", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.786, 1.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.819, 1.110]). The trajectory involves 5 precise waypoints with total movement distance of 0.417." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4242, + "action": "open", + "object": "Laptop", + "frame_index": 192, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4243", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.873, 0.875]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.881, 1.138]). The trajectory involves 5 precise waypoints with total movement distance of 0.264." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4243, + "action": "close", + "object": "Laptop", + "frame_index": 214, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4246", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s04_T2/align_rgb/00220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.848, 1.017]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.826, 1.378]). The trajectory involves 5 precise waypoints with total movement distance of 0.361." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4246, + "action": "close", + "object": "Laptop", + "frame_index": 220, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4274", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s03_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s03_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s03_T2/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.928, 1.921]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.054, 1.218]). The trajectory involves 5 precise waypoints with total movement distance of 0.715." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4274, + "action": "open", + "object": "Laptop", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4275", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s03_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s03_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s03_T2/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.987, 1.862]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.090, 1.276]). The trajectory involves 5 precise waypoints with total movement distance of 0.596." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4275, + "action": "open", + "object": "Laptop", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4276", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s03_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s03_T2/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s03_T2/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.988, 1.832]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.088, 1.257]). The trajectory involves 5 precise waypoints with total movement distance of 0.585." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4276, + "action": "open", + "object": "Laptop", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4277", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s03_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s03_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N62_S379_s03_T2/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.944, 1.654]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.987, 1.319]). The trajectory involves 5 precise waypoints with total movement distance of 0.341." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4277, + "action": "open", + "object": "Laptop", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4296", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s05_T2/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s05_T2/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s05_T2/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.461, 1.833]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.988, 1.826]). The trajectory involves 5 precise waypoints with total movement distance of 0.570." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4296, + "action": "carry", + "object": "Laptop", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4302", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s05_T2/align_rgb/00181.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s05_T2/align_rgb/00182.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s05_T2/align_rgb/00183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.841, 1.707]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.941, 1.161]). The trajectory involves 5 precise waypoints with total movement distance of 0.559." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4302, + "action": "open", + "object": "Laptop", + "frame_index": 183, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4304", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s05_T2/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s05_T2/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s05_T2/align_rgb/00187.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.769, 1.665]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.827, 1.074]). The trajectory involves 5 precise waypoints with total movement distance of 0.593." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4304, + "action": "open", + "object": "Laptop", + "frame_index": 187, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4323", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.281, 1.514]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.855, 1.322]). The trajectory involves 5 precise waypoints with total movement distance of 0.651." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4323, + "action": "carry", + "object": "Laptop", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4336", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.676, 1.591]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.711, 1.077]). The trajectory involves 5 precise waypoints with total movement distance of 0.515." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4336, + "action": "open", + "object": "Laptop", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4338", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.681, 1.587]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.765, 1.062]). The trajectory involves 5 precise waypoints with total movement distance of 0.532." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4338, + "action": "open", + "object": "Laptop", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4339", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.673, 1.568]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.767, 0.974]). The trajectory involves 5 precise waypoints with total movement distance of 0.602." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4339, + "action": "open", + "object": "Laptop", + "frame_index": 208, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4340", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s04_T2/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.666, 1.604]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.776, 0.848]). The trajectory involves 5 precise waypoints with total movement distance of 0.764." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4340, + "action": "open", + "object": "Laptop", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4358", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s03_T2/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s03_T2/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s03_T2/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.661, 1.909]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.717, 2.098]). The trajectory involves 5 precise waypoints with total movement distance of 1.092." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4358, + "action": "carry", + "object": "Laptop", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4364", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s03_T2/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s03_T2/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s03_T2/align_rgb/00186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.741, 1.730]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.837, 0.964]). The trajectory involves 5 precise waypoints with total movement distance of 0.775." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4364, + "action": "open", + "object": "Laptop", + "frame_index": 186, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4365", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s03_T2/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s03_T2/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s03_T2/align_rgb/00188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.735, 1.623]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.840, 0.951]). The trajectory involves 5 precise waypoints with total movement distance of 0.681." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4365, + "action": "open", + "object": "Laptop", + "frame_index": 188, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4382", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.614, 1.832]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.338, 1.813]). The trajectory involves 5 precise waypoints with total movement distance of 0.742." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4382, + "action": "carry", + "object": "Laptop", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4383", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.617, 1.798]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.403, 1.819]). The trajectory involves 5 precise waypoints with total movement distance of 0.823." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4383, + "action": "carry", + "object": "Laptop", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4384", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.644, 1.796]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.386, 1.850]). The trajectory involves 5 precise waypoints with total movement distance of 0.779." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4384, + "action": "carry", + "object": "Laptop", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4389", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.844, 1.692]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.430, 1.411]). The trajectory involves 5 precise waypoints with total movement distance of 0.534." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4389, + "action": "carry", + "object": "Laptop", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4398", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s02_T1/align_rgb/00235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.434, 1.619]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.475, 1.771]). The trajectory involves 5 precise waypoints with total movement distance of 0.158." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4398, + "action": "putdown", + "object": "Laptop", + "frame_index": 235, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4401", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s01_T1/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s01_T1/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s01_T1/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.445, 1.732]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.068, 1.656]). The trajectory involves 5 precise waypoints with total movement distance of 0.660." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4401, + "action": "carry", + "object": "Laptop", + "frame_index": 64, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4402", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s01_T1/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s01_T1/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s01_T1/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.465, 1.740]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.141, 1.735]). The trajectory involves 5 precise waypoints with total movement distance of 0.715." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4402, + "action": "carry", + "object": "Laptop", + "frame_index": 66, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4403", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s01_T1/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s01_T1/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s01_T1/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.462, 1.708]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.199, 1.719]). The trajectory involves 5 precise waypoints with total movement distance of 0.761." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4403, + "action": "carry", + "object": "Laptop", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4408", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s01_T1/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s01_T1/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N61_S379_s01_T1/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.794, 1.551]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.146, 1.493]). The trajectory involves 5 precise waypoints with total movement distance of 0.664." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4408, + "action": "carry", + "object": "Laptop", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4413", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.525, 1.722]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.414, 1.836]). The trajectory involves 5 precise waypoints with total movement distance of 0.914." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4413, + "action": "carry", + "object": "Laptop", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4424", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00182.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.528, 1.668]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.586, 1.234]). The trajectory involves 5 precise waypoints with total movement distance of 0.439." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4424, + "action": "open", + "object": "Laptop", + "frame_index": 184, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4429", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.802, 1.039]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.677, 1.513]). The trajectory involves 5 precise waypoints with total movement distance of 0.491." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4429, + "action": "close", + "object": "Laptop", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4434", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.734, 1.146]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.661, 1.490]). The trajectory involves 5 precise waypoints with total movement distance of 0.352." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4434, + "action": "close", + "object": "Laptop", + "frame_index": 223, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4435", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s05_T2/align_rgb/00225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.712, 1.214]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.640, 1.612]). The trajectory involves 5 precise waypoints with total movement distance of 0.404." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4435, + "action": "close", + "object": "Laptop", + "frame_index": 225, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4444", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.933, 1.490]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.743, 1.322]). The trajectory involves 5 precise waypoints with total movement distance of 1.231." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4444, + "action": "carry", + "object": "Laptop", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4446", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.833, 1.539]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.453, 1.348]). The trajectory involves 5 precise waypoints with total movement distance of 1.439." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4446, + "action": "carry", + "object": "Laptop", + "frame_index": 86, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4459", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.669, 1.555]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.714, 1.306]). The trajectory involves 5 precise waypoints with total movement distance of 0.253." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4459, + "action": "open", + "object": "Laptop", + "frame_index": 221, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4460", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.642, 1.571]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.696, 1.282]). The trajectory involves 5 precise waypoints with total movement distance of 0.295." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4460, + "action": "open", + "object": "Laptop", + "frame_index": 223, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4461", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.635, 1.580]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.678, 1.318]). The trajectory involves 5 precise waypoints with total movement distance of 0.266." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4461, + "action": "open", + "object": "Laptop", + "frame_index": 225, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4463", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.523, 1.643]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.557, 1.334]). The trajectory involves 5 precise waypoints with total movement distance of 0.311." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4463, + "action": "open", + "object": "Laptop", + "frame_index": 229, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4464", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.509, 1.672]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.634, 1.026]). The trajectory involves 5 precise waypoints with total movement distance of 0.658." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4464, + "action": "open", + "object": "Laptop", + "frame_index": 230, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4465", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00250.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00251.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N60_S377_s04_T2/align_rgb/00252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.850, 0.995]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.722, 1.589]). The trajectory involves 5 precise waypoints with total movement distance of 0.609." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4465, + "action": "close", + "object": "Laptop", + "frame_index": 252, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4467", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.480, 1.261]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.083, 1.189]). The trajectory involves 5 precise waypoints with total movement distance of 0.633." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4467, + "action": "carry", + "object": "Laptop", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4473", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.514, 1.360]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.599, 0.486]). The trajectory involves 5 precise waypoints with total movement distance of 0.879." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4473, + "action": "open", + "object": "Laptop", + "frame_index": 185, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4474", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00187.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.506, 1.311]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.573, 0.589]). The trajectory involves 5 precise waypoints with total movement distance of 0.727." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4474, + "action": "open", + "object": "Laptop", + "frame_index": 187, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4476", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.587, 1.320]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.652, 0.606]). The trajectory involves 5 precise waypoints with total movement distance of 0.718." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4476, + "action": "open", + "object": "Laptop", + "frame_index": 190, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4478", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.741, 0.663]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.577, 1.446]). The trajectory involves 5 precise waypoints with total movement distance of 0.804." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4478, + "action": "close", + "object": "Laptop", + "frame_index": 214, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4479", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.758, 0.725]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.619, 1.440]). The trajectory involves 5 precise waypoints with total movement distance of 0.729." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4479, + "action": "close", + "object": "Laptop", + "frame_index": 216, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4480", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.712, 0.692]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.563, 1.560]). The trajectory involves 5 precise waypoints with total movement distance of 0.882." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4480, + "action": "close", + "object": "Laptop", + "frame_index": 218, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4481", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.738, 0.791]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.624, 1.457]). The trajectory involves 5 precise waypoints with total movement distance of 0.676." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4481, + "action": "close", + "object": "Laptop", + "frame_index": 220, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4482", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.689, 0.783]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.577, 1.489]). The trajectory involves 5 precise waypoints with total movement distance of 0.715." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4482, + "action": "close", + "object": "Laptop", + "frame_index": 222, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4484", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s03_T2/align_rgb/00226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.602, 0.902]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.522, 1.503]). The trajectory involves 5 precise waypoints with total movement distance of 0.607." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4484, + "action": "close", + "object": "Laptop", + "frame_index": 226, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4493", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.476, 1.475]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.993, 1.469]). The trajectory involves 5 precise waypoints with total movement distance of 0.541." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4493, + "action": "carry", + "object": "Laptop", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4498", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00182.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.510, 1.462]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.635, 0.700]). The trajectory involves 5 precise waypoints with total movement distance of 0.773." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4498, + "action": "open", + "object": "Laptop", + "frame_index": 184, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4503", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.788, 0.732]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.613, 1.497]). The trajectory involves 5 precise waypoints with total movement distance of 0.793." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4503, + "action": "close", + "object": "Laptop", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4504", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.779, 0.735]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.594, 1.523]). The trajectory involves 5 precise waypoints with total movement distance of 0.814." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4504, + "action": "close", + "object": "Laptop", + "frame_index": 215, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4507", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S375_s02_T2/align_rgb/00221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.774, 0.830]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.597, 1.536]). The trajectory involves 5 precise waypoints with total movement distance of 0.731." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4507, + "action": "close", + "object": "Laptop", + "frame_index": 221, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4518", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N59_S374_s02_T1/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S374_s02_T1/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S374_s02_T1/align_rgb/00083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.517, 1.537]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.002, 1.405]). The trajectory involves 5 precise waypoints with total movement distance of 0.541." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4518, + "action": "carry", + "object": "Laptop", + "frame_index": 83, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4522", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N59_S374_s02_T1/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S374_s02_T1/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S374_s02_T1/align_rgb/00091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.597, 1.445]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.251, 1.515]). The trajectory involves 5 precise waypoints with total movement distance of 0.687." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4522, + "action": "carry", + "object": "Laptop", + "frame_index": 91, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4523", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N59_S374_s02_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S374_s02_T1/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S374_s02_T1/align_rgb/00093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.615, 1.433]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.238, 1.578]). The trajectory involves 5 precise waypoints with total movement distance of 0.691." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4523, + "action": "carry", + "object": "Laptop", + "frame_index": 93, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4536", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N59_S374_s02_T1/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S374_s02_T1/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S374_s02_T1/align_rgb/00236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.876, 1.484]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.211, 1.341]). The trajectory involves 5 precise waypoints with total movement distance of 0.736." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4536, + "action": "carry", + "object": "Laptop", + "frame_index": 236, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4541", + "task": "pick up the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00059.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the laptop, execute the following phases: 1) Initial approach phase (start at [1.439, 1.829]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.546, 1.611]). The trajectory involves 5 precise waypoints with total movement distance of 0.249." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4541, + "action": "pickup", + "object": "Laptop", + "frame_index": 59, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4542", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.504, 1.630]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.109, 1.599]). The trajectory involves 5 precise waypoints with total movement distance of 0.653." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4542, + "action": "carry", + "object": "Laptop", + "frame_index": 81, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4555", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00187.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.738, 1.833]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.763, 1.400]). The trajectory involves 5 precise waypoints with total movement distance of 0.434." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4555, + "action": "open", + "object": "Laptop", + "frame_index": 187, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4557", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.752, 1.864]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.796, 1.275]). The trajectory involves 5 precise waypoints with total movement distance of 0.591." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4557, + "action": "open", + "object": "Laptop", + "frame_index": 191, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4560", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.597, 1.803]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.651, 1.080]). The trajectory involves 5 precise waypoints with total movement distance of 0.725." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4560, + "action": "open", + "object": "Laptop", + "frame_index": 197, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4568", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.680, 1.110]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.655, 1.817]). The trajectory involves 5 precise waypoints with total movement distance of 0.710." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4568, + "action": "close", + "object": "Laptop", + "frame_index": 232, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4571", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.567, 1.223]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.536, 1.817]). The trajectory involves 5 precise waypoints with total movement distance of 0.595." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4571, + "action": "close", + "object": "Laptop", + "frame_index": 238, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4572", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s05_T2/align_rgb/00240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.521, 1.271]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.483, 1.830]). The trajectory involves 5 precise waypoints with total movement distance of 0.561." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4572, + "action": "close", + "object": "Laptop", + "frame_index": 240, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_4586", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s03_T1/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s03_T1/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N59_S373_s03_T1/align_rgb/00225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [2.074, 1.817]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.429, 1.525]). The trajectory involves 5 precise waypoints with total movement distance of 0.743." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4586, + "action": "carry", + "object": "Laptop", + "frame_index": 225, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4726", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.464, 1.182]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.089, 1.105]). The trajectory involves 5 precise waypoints with total movement distance of 0.654." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4726, + "action": "carry", + "object": "Laptop", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4732", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.800, 1.271]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.891, 0.858]). The trajectory involves 5 precise waypoints with total movement distance of 0.424." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4732, + "action": "open", + "object": "Laptop", + "frame_index": 194, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4733", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.705, 1.270]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.799, 0.783]). The trajectory involves 5 precise waypoints with total movement distance of 0.497." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4733, + "action": "open", + "object": "Laptop", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4734", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.770, 1.266]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.877, 0.774]). The trajectory involves 5 precise waypoints with total movement distance of 0.504." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4734, + "action": "open", + "object": "Laptop", + "frame_index": 198, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4735", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.703, 1.262]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.782, 0.738]). The trajectory involves 5 precise waypoints with total movement distance of 0.530." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4735, + "action": "open", + "object": "Laptop", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4738", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.713, 1.231]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.825, 0.744]). The trajectory involves 5 precise waypoints with total movement distance of 0.548." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4738, + "action": "open", + "object": "Laptop", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4740", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.942, 0.751]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.741, 1.515]). The trajectory involves 5 precise waypoints with total movement distance of 0.790." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4740, + "action": "close", + "object": "Laptop", + "frame_index": 229, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4741", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.890, 0.760]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.712, 1.459]). The trajectory involves 5 precise waypoints with total movement distance of 0.721." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4741, + "action": "close", + "object": "Laptop", + "frame_index": 231, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4742", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S375_s01_T2/align_rgb/00233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.794, 0.821]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.730, 1.039]). The trajectory involves 5 precise waypoints with total movement distance of 0.228." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4742, + "action": "close", + "object": "Laptop", + "frame_index": 233, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4748", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.431, 1.543]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.096, 1.565]). The trajectory involves 5 precise waypoints with total movement distance of 0.673." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4748, + "action": "carry", + "object": "Laptop", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4749", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.414, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.075, 1.539]). The trajectory involves 5 precise waypoints with total movement distance of 0.668." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4749, + "action": "carry", + "object": "Laptop", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4750", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.422, 1.524]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.079, 1.568]). The trajectory involves 5 precise waypoints with total movement distance of 0.669." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4750, + "action": "carry", + "object": "Laptop", + "frame_index": 75, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4760", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.908, 1.660]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.315, 1.525]). The trajectory involves 5 precise waypoints with total movement distance of 0.638." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4760, + "action": "carry", + "object": "Laptop", + "frame_index": 222, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4761", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.878, 1.639]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.283, 1.560]). The trajectory involves 5 precise waypoints with total movement distance of 0.639." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4761, + "action": "carry", + "object": "Laptop", + "frame_index": 224, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4762", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S374_s02_T1/align_rgb/00226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.879, 1.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.285, 1.483]). The trajectory involves 5 precise waypoints with total movement distance of 0.643." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4762, + "action": "carry", + "object": "Laptop", + "frame_index": 226, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4766", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.409, 1.655]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.110, 1.533]). The trajectory involves 5 precise waypoints with total movement distance of 0.748." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4766, + "action": "carry", + "object": "Laptop", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4780", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.715, 1.720]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.780, 1.202]). The trajectory involves 5 precise waypoints with total movement distance of 0.523." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4780, + "action": "open", + "object": "Laptop", + "frame_index": 189, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4781", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.705, 1.706]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.768, 1.203]). The trajectory involves 5 precise waypoints with total movement distance of 0.508." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4781, + "action": "open", + "object": "Laptop", + "frame_index": 191, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4783", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.682, 1.729]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.744, 1.124]). The trajectory involves 5 precise waypoints with total movement distance of 0.609." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4783, + "action": "open", + "object": "Laptop", + "frame_index": 195, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4784", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.710, 1.725]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.766, 1.184]). The trajectory involves 5 precise waypoints with total movement distance of 0.544." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4784, + "action": "open", + "object": "Laptop", + "frame_index": 197, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4785", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.758, 1.643]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.810, 1.154]). The trajectory involves 5 precise waypoints with total movement distance of 0.491." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4785, + "action": "open", + "object": "Laptop", + "frame_index": 199, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4787", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s05_T2/align_rgb/00222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.845, 1.176]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.772, 1.798]). The trajectory involves 5 precise waypoints with total movement distance of 0.627." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4787, + "action": "close", + "object": "Laptop", + "frame_index": 222, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4791", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.418, 1.479]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.105, 1.515]). The trajectory involves 5 precise waypoints with total movement distance of 0.709." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4791, + "action": "carry", + "object": "Laptop", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4794", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [2.072, 1.582]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.061, 1.773]). The trajectory involves 5 precise waypoints with total movement distance of 0.192." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4794, + "action": "putdown", + "object": "Laptop", + "frame_index": 97, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4803", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00171.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00172.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.907, 1.713]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.993, 1.138]). The trajectory involves 5 precise waypoints with total movement distance of 0.582." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4803, + "action": "open", + "object": "Laptop", + "frame_index": 173, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4804", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00173.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00174.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00175.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.889, 1.704]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.970, 1.128]). The trajectory involves 5 precise waypoints with total movement distance of 0.582." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4804, + "action": "open", + "object": "Laptop", + "frame_index": 175, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4805", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00175.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00176.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00177.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.941, 1.710]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.065, 1.131]). The trajectory involves 5 precise waypoints with total movement distance of 0.592." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4805, + "action": "open", + "object": "Laptop", + "frame_index": 177, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4806", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00177.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.956, 1.683]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.060, 0.972]). The trajectory involves 5 precise waypoints with total movement distance of 0.719." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4806, + "action": "open", + "object": "Laptop", + "frame_index": 179, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4807", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.966, 1.650]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.092, 1.028]). The trajectory involves 5 precise waypoints with total movement distance of 0.635." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4807, + "action": "open", + "object": "Laptop", + "frame_index": 181, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4808", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00181.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00182.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.986, 1.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.081, 1.149]). The trajectory involves 5 precise waypoints with total movement distance of 0.437." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4808, + "action": "open", + "object": "Laptop", + "frame_index": 183, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4811", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.092, 1.111]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.921, 1.893]). The trajectory involves 5 precise waypoints with total movement distance of 0.802." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4811, + "action": "close", + "object": "Laptop", + "frame_index": 208, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4812", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.048, 1.173]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.973, 1.496]). The trajectory involves 5 precise waypoints with total movement distance of 0.331." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4812, + "action": "close", + "object": "Laptop", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4813", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s04_T2/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.034, 1.221]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.958, 1.581]). The trajectory involves 5 precise waypoints with total movement distance of 0.368." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4813, + "action": "close", + "object": "Laptop", + "frame_index": 212, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4822", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s02_T1/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s02_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s02_T1/align_rgb/00098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [2.160, 1.380]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.092, 1.592]). The trajectory involves 5 precise waypoints with total movement distance of 0.226." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4822, + "action": "putdown", + "object": "Laptop", + "frame_index": 98, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4823", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s02_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s02_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s02_T1/align_rgb/00099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [2.176, 1.448]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.073, 1.661]). The trajectory involves 5 precise waypoints with total movement distance of 0.238." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4823, + "action": "putdown", + "object": "Laptop", + "frame_index": 99, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4825", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s02_T1/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s02_T1/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s02_T1/align_rgb/00193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.923, 1.462]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.353, 1.321]). The trajectory involves 5 precise waypoints with total movement distance of 0.627." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4825, + "action": "carry", + "object": "Laptop", + "frame_index": 193, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4826", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s02_T1/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s02_T1/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N57_S373_s02_T1/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.874, 1.431]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.299, 1.351]). The trajectory involves 5 precise waypoints with total movement distance of 0.628." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4826, + "action": "carry", + "object": "Laptop", + "frame_index": 195, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4833", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.472, 1.377]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.958, 1.251]). The trajectory involves 5 precise waypoints with total movement distance of 0.505." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4833, + "action": "carry", + "object": "Laptop", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4834", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.481, 1.395]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.972, 1.310]). The trajectory involves 5 precise waypoints with total movement distance of 0.513." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4834, + "action": "carry", + "object": "Laptop", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4835", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.504, 1.411]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.998, 1.344]). The trajectory involves 5 precise waypoints with total movement distance of 0.525." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4835, + "action": "carry", + "object": "Laptop", + "frame_index": 75, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4836", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.510, 1.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.004, 1.335]). The trajectory involves 5 precise waypoints with total movement distance of 0.524." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4836, + "action": "carry", + "object": "Laptop", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4840", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S375_s01_T2/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.813, 1.368]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.857, 1.044]). The trajectory involves 5 precise waypoints with total movement distance of 0.327." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4840, + "action": "open", + "object": "Laptop", + "frame_index": 195, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4861", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N56_S374_s02_T1/align_rgb/00103.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S374_s02_T1/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S374_s02_T1/align_rgb/00105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.793, 1.383]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.934, 1.631]). The trajectory involves 5 precise waypoints with total movement distance of 0.305." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4861, + "action": "putdown", + "object": "Laptop", + "frame_index": 105, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4862", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N56_S374_s02_T1/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S374_s02_T1/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S374_s02_T1/align_rgb/00107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.848, 1.314]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.958, 1.549]). The trajectory involves 5 precise waypoints with total movement distance of 0.263." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4862, + "action": "putdown", + "object": "Laptop", + "frame_index": 107, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4876", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N56_S374_s02_T1/align_rgb/00254.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S374_s02_T1/align_rgb/00255.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S374_s02_T1/align_rgb/00256.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.312, 1.561]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.286, 1.758]). The trajectory involves 5 precise waypoints with total movement distance of 0.201." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4876, + "action": "putdown", + "object": "Laptop", + "frame_index": 256, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4891", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.849, 1.783]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.912, 1.425]). The trajectory involves 5 precise waypoints with total movement distance of 0.364." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4891, + "action": "open", + "object": "Laptop", + "frame_index": 188, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4892", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.888, 1.773]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.957, 1.429]). The trajectory involves 5 precise waypoints with total movement distance of 0.352." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4892, + "action": "open", + "object": "Laptop", + "frame_index": 190, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4893", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.803, 1.746]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.874, 1.280]). The trajectory involves 5 precise waypoints with total movement distance of 0.471." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4893, + "action": "open", + "object": "Laptop", + "frame_index": 192, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4894", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.926, 1.756]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.004, 1.300]). The trajectory involves 5 precise waypoints with total movement distance of 0.463." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4894, + "action": "open", + "object": "Laptop", + "frame_index": 194, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4902", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s05_T2/align_rgb/00229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.918, 1.227]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.877, 1.592]). The trajectory involves 5 precise waypoints with total movement distance of 0.368." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4902, + "action": "close", + "object": "Laptop", + "frame_index": 229, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4904", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.601, 1.604]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.414, 1.764]). The trajectory involves 5 precise waypoints with total movement distance of 0.849." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4904, + "action": "carry", + "object": "Laptop", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4915", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [2.011, 1.770]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.072, 1.572]). The trajectory involves 5 precise waypoints with total movement distance of 0.207." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4915, + "action": "open", + "object": "Laptop", + "frame_index": 185, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4917", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.985, 1.696]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.045, 1.541]). The trajectory involves 5 precise waypoints with total movement distance of 0.168." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4917, + "action": "open", + "object": "Laptop", + "frame_index": 189, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4919", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.882, 1.667]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.963, 1.309]). The trajectory involves 5 precise waypoints with total movement distance of 0.368." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4919, + "action": "open", + "object": "Laptop", + "frame_index": 193, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4920", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.986, 1.684]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.064, 1.411]). The trajectory involves 5 precise waypoints with total movement distance of 0.285." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4920, + "action": "open", + "object": "Laptop", + "frame_index": 195, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4934", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.108, 1.087]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.031, 1.472]). The trajectory involves 5 precise waypoints with total movement distance of 0.393." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4934, + "action": "close", + "object": "Laptop", + "frame_index": 242, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4935", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00242.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00243.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.068, 1.099]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.012, 1.405]). The trajectory involves 5 precise waypoints with total movement distance of 0.311." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4935, + "action": "close", + "object": "Laptop", + "frame_index": 244, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4936", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00244.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00245.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.069, 1.102]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.958, 1.800]). The trajectory involves 5 precise waypoints with total movement distance of 0.707." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4936, + "action": "close", + "object": "Laptop", + "frame_index": 246, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4937", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00246.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00247.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.019, 1.100]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.956, 1.434]). The trajectory involves 5 precise waypoints with total movement distance of 0.341." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4937, + "action": "close", + "object": "Laptop", + "frame_index": 248, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4938", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00248.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00249.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s04_T2/align_rgb/00250.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.017, 1.173]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.963, 1.385]). The trajectory involves 5 precise waypoints with total movement distance of 0.219." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4938, + "action": "close", + "object": "Laptop", + "frame_index": 250, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4943", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s02_T1/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s02_T1/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s02_T1/align_rgb/00087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.539, 1.406]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.214, 1.244]). The trajectory involves 5 precise waypoints with total movement distance of 0.711." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4943, + "action": "carry", + "object": "Laptop", + "frame_index": 87, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4954", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s02_T1/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s02_T1/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N56_S373_s02_T1/align_rgb/00221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [2.064, 1.570]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.520, 1.242]). The trajectory involves 5 precise waypoints with total movement distance of 0.701." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4954, + "action": "carry", + "object": "Laptop", + "frame_index": 221, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4961", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s03_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s03_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s03_T1/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.472, 1.347]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.030, 1.256]). The trajectory involves 5 precise waypoints with total movement distance of 0.583." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4961, + "action": "carry", + "object": "Laptop", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4962", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s03_T1/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s03_T1/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s03_T1/align_rgb/00075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.507, 1.283]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.087, 1.254]). The trajectory involves 5 precise waypoints with total movement distance of 0.601." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4962, + "action": "carry", + "object": "Laptop", + "frame_index": 75, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4967", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s03_T1/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s03_T1/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s03_T1/align_rgb/00230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.429, 1.260]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.341, 1.550]). The trajectory involves 5 precise waypoints with total movement distance of 0.306." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4967, + "action": "putdown", + "object": "Laptop", + "frame_index": 230, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4970", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s03_T1/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s03_T1/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s03_T1/align_rgb/00236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.361, 1.301]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.324, 1.470]). The trajectory involves 5 precise waypoints with total movement distance of 0.180." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4970, + "action": "putdown", + "object": "Laptop", + "frame_index": 236, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_4983", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s01_T2/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s01_T2/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s01_T2/align_rgb/00191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.865, 1.518]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.913, 1.341]). The trajectory involves 5 precise waypoints with total movement distance of 0.238." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4983, + "action": "open", + "object": "Laptop", + "frame_index": 191, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4987", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s01_T2/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s01_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s01_T2/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.792, 1.463]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.866, 1.123]). The trajectory involves 5 precise waypoints with total movement distance of 0.350." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4987, + "action": "open", + "object": "Laptop", + "frame_index": 199, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_4999", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s01_T2/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s01_T2/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s01_T2/align_rgb/00242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.009, 0.794]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.828, 1.491]). The trajectory involves 5 precise waypoints with total movement distance of 0.720." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 4999, + "action": "close", + "object": "Laptop", + "frame_index": 242, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_5000", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s01_T2/align_rgb/00242.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s01_T2/align_rgb/00243.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S375_s01_T2/align_rgb/00244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.991, 0.810]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.805, 1.510]). The trajectory involves 5 precise waypoints with total movement distance of 0.724." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5000, + "action": "close", + "object": "Laptop", + "frame_index": 244, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_5007", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N55_S374_s01_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S374_s01_T1/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S374_s01_T1/align_rgb/00093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.582, 1.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.008, 1.436]). The trajectory involves 5 precise waypoints with total movement distance of 0.463." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5007, + "action": "carry", + "object": "Laptop", + "frame_index": 93, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_5030", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s04_T2/align_rgb/00169.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s04_T2/align_rgb/00170.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s04_T2/align_rgb/00171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.949, 1.651]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.037, 1.392]). The trajectory involves 5 precise waypoints with total movement distance of 0.299." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5030, + "action": "open", + "object": "Laptop", + "frame_index": 171, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_5038", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s04_T2/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s04_T2/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s04_T2/align_rgb/00187.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.975, 1.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.028, 1.214]). The trajectory involves 5 precise waypoints with total movement distance of 0.340." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5038, + "action": "open", + "object": "Laptop", + "frame_index": 187, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_5054", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s04_T2/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s04_T2/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s04_T2/align_rgb/00238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [2.098, 1.080]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.836, 1.519]). The trajectory involves 5 precise waypoints with total movement distance of 0.511." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5054, + "action": "putdown", + "object": "Laptop", + "frame_index": 238, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_5055", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s04_T2/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s04_T2/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s04_T2/align_rgb/00240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [2.086, 1.117]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.775, 1.686]). The trajectory involves 5 precise waypoints with total movement distance of 0.649." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5055, + "action": "putdown", + "object": "Laptop", + "frame_index": 240, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_5058", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.487, 1.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.116, 1.407]). The trajectory involves 5 precise waypoints with total movement distance of 0.671." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5058, + "action": "carry", + "object": "Laptop", + "frame_index": 88, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_5059", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.497, 1.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.156, 1.365]). The trajectory involves 5 precise waypoints with total movement distance of 0.706." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5059, + "action": "carry", + "object": "Laptop", + "frame_index": 90, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_5060", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.499, 1.486]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.169, 1.378]). The trajectory involves 5 precise waypoints with total movement distance of 0.693." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5060, + "action": "carry", + "object": "Laptop", + "frame_index": 92, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_5062", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.553, 1.474]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.259, 1.466]). The trajectory involves 5 precise waypoints with total movement distance of 0.712." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5062, + "action": "carry", + "object": "Laptop", + "frame_index": 96, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_5064", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00117.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00118.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00119.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [2.066, 1.332]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.095, 1.700]). The trajectory involves 5 precise waypoints with total movement distance of 0.370." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5064, + "action": "putdown", + "object": "Laptop", + "frame_index": 119, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_5066", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00121.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00122.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [2.085, 1.358]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.077, 1.629]). The trajectory involves 5 precise waypoints with total movement distance of 0.281." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5066, + "action": "putdown", + "object": "Laptop", + "frame_index": 123, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_5071", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N55_S373_s02_T1/align_rgb/00239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.925, 1.358]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.450, 1.299]). The trajectory involves 5 precise waypoints with total movement distance of 0.524." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5071, + "action": "carry", + "object": "Laptop", + "frame_index": 239, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_5075", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.485, 1.497]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.054, 1.378]). The trajectory involves 5 precise waypoints with total movement distance of 0.614." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5075, + "action": "carry", + "object": "Laptop", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_5076", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.529, 1.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.152, 1.426]). The trajectory involves 5 precise waypoints with total movement distance of 0.658." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5076, + "action": "carry", + "object": "Laptop", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_5077", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.494, 1.457]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.101, 1.401]). The trajectory involves 5 precise waypoints with total movement distance of 0.651." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5077, + "action": "carry", + "object": "Laptop", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_5081", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.921, 1.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.383, 1.285]). The trajectory involves 5 precise waypoints with total movement distance of 0.613." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5081, + "action": "carry", + "object": "Laptop", + "frame_index": 212, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_5082", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S375_s03_T1/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.905, 1.471]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.389, 1.343]). The trajectory involves 5 precise waypoints with total movement distance of 0.564." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5082, + "action": "carry", + "object": "Laptop", + "frame_index": 214, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_5092", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.505, 1.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.185, 1.566]). The trajectory involves 5 precise waypoints with total movement distance of 0.694." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5092, + "action": "carry", + "object": "Laptop", + "frame_index": 88, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_5093", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.800, 1.348]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.740, 1.552]). The trajectory involves 5 precise waypoints with total movement distance of 0.228." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5093, + "action": "putdown", + "object": "Laptop", + "frame_index": 110, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_5103", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.764, 1.584]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.808, 1.401]). The trajectory involves 5 precise waypoints with total movement distance of 0.189." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5103, + "action": "open", + "object": "Laptop", + "frame_index": 195, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_5104", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.780, 1.596]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.839, 1.364]). The trajectory involves 5 precise waypoints with total movement distance of 0.240." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5104, + "action": "open", + "object": "Laptop", + "frame_index": 197, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_5107", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.810, 1.595]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.915, 1.187]). The trajectory involves 5 precise waypoints with total movement distance of 0.423." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5107, + "action": "open", + "object": "Laptop", + "frame_index": 203, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_5109", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.808, 1.550]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.926, 1.075]). The trajectory involves 5 precise waypoints with total movement distance of 0.490." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5109, + "action": "open", + "object": "Laptop", + "frame_index": 207, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_5112", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.797, 1.334]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.878, 0.942]). The trajectory involves 5 precise waypoints with total movement distance of 0.401." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5112, + "action": "open", + "object": "Laptop", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_5115", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.793, 1.462]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.865, 1.079]). The trajectory involves 5 precise waypoints with total movement distance of 0.390." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5115, + "action": "open", + "object": "Laptop", + "frame_index": 219, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_5116", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.808, 1.446]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.836, 1.302]). The trajectory involves 5 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5116, + "action": "open", + "object": "Laptop", + "frame_index": 221, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_5118", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00243.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00244.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.001, 1.032]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.907, 1.457]). The trajectory involves 5 precise waypoints with total movement distance of 0.435." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5118, + "action": "close", + "object": "Laptop", + "frame_index": 245, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_5119", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00245.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00246.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00247.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.005, 1.115]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.940, 1.430]). The trajectory involves 5 precise waypoints with total movement distance of 0.322." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5119, + "action": "close", + "object": "Laptop", + "frame_index": 247, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_5121", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00249.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00250.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00251.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.050, 1.102]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.991, 1.393]). The trajectory involves 5 precise waypoints with total movement distance of 0.297." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5121, + "action": "close", + "object": "Laptop", + "frame_index": 251, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_5122", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00251.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00252.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s03_T2/align_rgb/00253.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [2.049, 1.019]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.972, 1.370]). The trajectory involves 5 precise waypoints with total movement distance of 0.360." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5122, + "action": "close", + "object": "Laptop", + "frame_index": 253, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_5133", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s01_T1/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s01_T1/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s01_T1/align_rgb/00089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.593, 1.660]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.140, 1.618]). The trajectory involves 5 precise waypoints with total movement distance of 0.598." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5133, + "action": "carry", + "object": "Laptop", + "frame_index": 89, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_5142", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s01_T1/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s01_T1/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S374_s01_T1/align_rgb/00235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.879, 1.481]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.322, 1.371]). The trajectory involves 5 precise waypoints with total movement distance of 0.643." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5142, + "action": "carry", + "object": "Laptop", + "frame_index": 235, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_5152", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N54_S373_s04_T2/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S373_s04_T2/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S373_s04_T2/align_rgb/00096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.776, 1.520]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.767, 1.742]). The trajectory involves 5 precise waypoints with total movement distance of 0.223." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5152, + "action": "putdown", + "object": "Laptop", + "frame_index": 96, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_5159", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N54_S373_s04_T2/align_rgb/00168.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S373_s04_T2/align_rgb/00169.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S373_s04_T2/align_rgb/00170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.782, 1.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.820, 1.196]). The trajectory involves 5 precise waypoints with total movement distance of 0.375." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5159, + "action": "open", + "object": "Laptop", + "frame_index": 170, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_5176", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N54_S373_s04_T2/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S373_s04_T2/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S373_s04_T2/align_rgb/00227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.822, 0.896]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.852, 1.640]). The trajectory involves 5 precise waypoints with total movement distance of 0.746." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5176, + "action": "close", + "object": "Laptop", + "frame_index": 227, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_5190", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C3_N54_S373_s01_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S373_s01_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C3_N54_S373_s01_T1/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [2.017, 1.891]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.528, 1.549]). The trajectory involves 5 precise waypoints with total movement distance of 0.664." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 5190, + "action": "carry", + "object": "Laptop", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_6054", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N48_S16_s02_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N48_S16_s02_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N48_S16_s02_T1/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.677, 0.997]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.710, 1.255]). The trajectory involves 5 precise waypoints with total movement distance of 0.268." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6054, + "action": "putdown", + "object": "Mug", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6066", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00045.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00046.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00047.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.518, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.573, 2.327]). The trajectory involves 5 precise waypoints with total movement distance of 1.374." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6066, + "action": "carry", + "object": "Mug", + "frame_index": 47, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6068", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00051.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.515, 1.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.717, 2.527]). The trajectory involves 5 precise waypoints with total movement distance of 1.590." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6068, + "action": "carry", + "object": "Mug", + "frame_index": 51, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6069", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00053.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.539, 1.588]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.807, 2.719]). The trajectory involves 5 precise waypoints with total movement distance of 1.728." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6069, + "action": "carry", + "object": "Mug", + "frame_index": 53, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6096", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00143.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00144.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.856, 1.671]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.784, 1.760]). The trajectory involves 5 precise waypoints with total movement distance of 1.131." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6096, + "action": "carry", + "object": "Mug", + "frame_index": 145, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6097", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00145.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00146.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.858, 1.682]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.756, 1.867]). The trajectory involves 5 precise waypoints with total movement distance of 1.165." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6097, + "action": "carry", + "object": "Mug", + "frame_index": 147, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6100", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00151.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00152.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T5/align_rgb/00153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.758, 1.572]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.592, 1.705]). The trajectory involves 5 precise waypoints with total movement distance of 1.200." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6100, + "action": "carry", + "object": "Mug", + "frame_index": 153, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6115", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.566, 1.288]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.582, 1.162]). The trajectory involves 5 precise waypoints with total movement distance of 0.141." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6115, + "action": "pickup", + "object": "Mug", + "frame_index": 64, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6117", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.567, 1.296]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.574, 1.132]). The trajectory involves 5 precise waypoints with total movement distance of 0.165." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6117, + "action": "pickup", + "object": "Mug", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6118", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.584, 1.305]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.590, 1.141]). The trajectory involves 5 precise waypoints with total movement distance of 0.164." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6118, + "action": "pickup", + "object": "Mug", + "frame_index": 70, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6120", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.581, 1.160]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.584, 1.297]). The trajectory involves 5 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6120, + "action": "putdown", + "object": "Mug", + "frame_index": 94, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6124", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N45_S5_s01_T1/align_rgb/00102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.588, 1.223]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.597, 1.338]). The trajectory involves 5 precise waypoints with total movement distance of 0.117." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6124, + "action": "putdown", + "object": "Mug", + "frame_index": 102, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6156", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.538, 1.417]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.428, 2.625]). The trajectory involves 5 precise waypoints with total movement distance of 2.300." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6156, + "action": "carry", + "object": "Mug", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6161", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.847, 1.477]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.775, 1.472]). The trajectory involves 5 precise waypoints with total movement distance of 1.155." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6161, + "action": "carry", + "object": "Mug", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6163", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.853, 1.471]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.749, 1.617]). The trajectory involves 5 precise waypoints with total movement distance of 1.167." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6163, + "action": "carry", + "object": "Mug", + "frame_index": 217, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6164", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.877, 1.461]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.716, 1.646]). The trajectory involves 5 precise waypoints with total movement distance of 1.199." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6164, + "action": "carry", + "object": "Mug", + "frame_index": 219, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6166", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.840, 1.444]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.691, 1.613]). The trajectory involves 5 precise waypoints with total movement distance of 1.177." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6166, + "action": "carry", + "object": "Mug", + "frame_index": 223, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6167", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.851, 1.404]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.636, 1.490]). The trajectory involves 5 precise waypoints with total movement distance of 1.234." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6167, + "action": "carry", + "object": "Mug", + "frame_index": 225, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6168", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N44_S364_s05_T6/align_rgb/00227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.852, 1.398]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.700, 1.444]). The trajectory involves 5 precise waypoints with total movement distance of 1.162." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6168, + "action": "carry", + "object": "Mug", + "frame_index": 227, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6231", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N40_S10_s05_T1/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N40_S10_s05_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N40_S10_s05_T1/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.670, 1.277]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.704, 1.452]). The trajectory involves 5 precise waypoints with total movement distance of 0.179." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6231, + "action": "putdown", + "object": "Mug", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6232", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N40_S10_s05_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N40_S10_s05_T1/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N40_S10_s05_T1/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.673, 1.283]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.703, 1.454]). The trajectory involves 5 precise waypoints with total movement distance of 0.176." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6232, + "action": "putdown", + "object": "Mug", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6261", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.505, 1.268]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.705, 1.890]). The trajectory involves 5 precise waypoints with total movement distance of 1.402." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6261, + "action": "carry", + "object": "Mug", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6262", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.488, 1.250]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.745, 1.965]). The trajectory involves 5 precise waypoints with total movement distance of 1.502." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6262, + "action": "carry", + "object": "Mug", + "frame_index": 70, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6263", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.441, 1.212]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.633, 1.923]). The trajectory involves 5 precise waypoints with total movement distance of 1.448." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6263, + "action": "carry", + "object": "Mug", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6264", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.450, 1.246]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.586, 1.959]). The trajectory involves 5 precise waypoints with total movement distance of 1.397." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6264, + "action": "carry", + "object": "Mug", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6265", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.451, 1.243]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.514, 1.909]). The trajectory involves 5 precise waypoints with total movement distance of 1.301." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6265, + "action": "carry", + "object": "Mug", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6266", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.452, 1.246]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.411, 1.841]). The trajectory involves 5 precise waypoints with total movement distance of 1.183." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6266, + "action": "carry", + "object": "Mug", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6267", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N39_S364_s05_T4/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.437, 1.235]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.267, 1.713]). The trajectory involves 5 precise waypoints with total movement distance of 1.006." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6267, + "action": "carry", + "object": "Mug", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6325", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N39_S10_s05_T1/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N39_S10_s05_T1/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N39_S10_s05_T1/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.500, 1.482]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.521, 1.547]). The trajectory involves 5 precise waypoints with total movement distance of 0.071." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6325, + "action": "putdown", + "object": "Mug", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6346", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.389, 1.040]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.206, 1.343]). The trajectory involves 5 precise waypoints with total movement distance of 0.902." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6346, + "action": "carry", + "object": "Mug", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6349", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.406, 0.919]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.403, 1.115]). The trajectory involves 5 precise waypoints with total movement distance of 0.205." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6349, + "action": "putdown", + "object": "Mug", + "frame_index": 96, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6359", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.391, 1.167]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.316, 1.657]). The trajectory involves 5 precise waypoints with total movement distance of 1.067." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6359, + "action": "carry", + "object": "Mug", + "frame_index": 220, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6360", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.413, 1.147]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.229, 1.580]). The trajectory involves 5 precise waypoints with total movement distance of 0.962." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6360, + "action": "carry", + "object": "Mug", + "frame_index": 222, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6362", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00243.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00244.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N36_S364_s05_T3/align_rgb/00245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.514, 1.206]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.541, 1.282]). The trajectory involves 5 precise waypoints with total movement distance of 0.110." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6362, + "action": "putdown", + "object": "Mug", + "frame_index": 245, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6431", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N33_S10_s03_T1/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N33_S10_s03_T1/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N33_S10_s03_T1/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.563, 1.411]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.559, 1.302]). The trajectory involves 5 precise waypoints with total movement distance of 0.110." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6431, + "action": "pickup", + "object": "Mug", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6441", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N33_S10_s03_T1/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N33_S10_s03_T1/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N33_S10_s03_T1/align_rgb/00108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.547, 1.317]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.570, 1.421]). The trajectory involves 5 precise waypoints with total movement distance of 0.107." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6441, + "action": "putdown", + "object": "Mug", + "frame_index": 108, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6527", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N30_S14_s01_T1/align_rgb/00172.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N30_S14_s01_T1/align_rgb/00173.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N30_S14_s01_T1/align_rgb/00174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.587, 1.114]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.595, 1.013]). The trajectory involves 5 precise waypoints with total movement distance of 0.103." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6527, + "action": "pickup", + "object": "Mug", + "frame_index": 174, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6529", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N30_S14_s01_T1/align_rgb/00176.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N30_S14_s01_T1/align_rgb/00177.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N30_S14_s01_T1/align_rgb/00178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.565, 1.114]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.550, 0.997]). The trajectory involves 5 precise waypoints with total movement distance of 0.118." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6529, + "action": "pickup", + "object": "Mug", + "frame_index": 178, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6530", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N30_S14_s01_T1/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N30_S14_s01_T1/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N30_S14_s01_T1/align_rgb/00180.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.617, 1.122]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.618, 1.019]). The trajectory involves 5 precise waypoints with total movement distance of 0.105." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6530, + "action": "pickup", + "object": "Mug", + "frame_index": 180, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6636", + "task": "carry the mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry the mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry the mug to the right, execute the following phases: 1) Initial approach phase (start at [1.554, 1.600]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.982, 1.611]). The trajectory involves 5 precise waypoints with total movement distance of 0.435." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6636, + "action": "putdown", + "object": "Mug", + "frame_index": 97, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6640", + "task": "carry the mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00103.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry the mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry the mug to the right, execute the following phases: 1) Initial approach phase (start at [1.556, 1.621]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.107, 1.592]). The trajectory involves 5 precise waypoints with total movement distance of 0.552." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6640, + "action": "putdown", + "object": "Mug", + "frame_index": 105, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6644", + "task": "carry the mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry the mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry the mug to the right, execute the following phases: 1) Initial approach phase (start at [1.584, 1.445]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.702, 1.508]). The trajectory involves 5 precise waypoints with total movement distance of 1.124." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6644, + "action": "putdown", + "object": "Mug", + "frame_index": 198, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6645", + "task": "carry the mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry the mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry the mug to the right, execute the following phases: 1) Initial approach phase (start at [1.578, 1.456]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.661, 1.522]). The trajectory involves 5 precise waypoints with total movement distance of 1.087." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6645, + "action": "putdown", + "object": "Mug", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6646", + "task": "carry the mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry the mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry the mug to the right, execute the following phases: 1) Initial approach phase (start at [1.555, 1.484]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.548, 1.533]). The trajectory involves 5 precise waypoints with total movement distance of 1.000." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6646, + "action": "putdown", + "object": "Mug", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6647", + "task": "carry the mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry the mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry the mug to the right, execute the following phases: 1) Initial approach phase (start at [1.541, 1.564]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.449, 1.582]). The trajectory involves 5 precise waypoints with total movement distance of 0.913." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6647, + "action": "putdown", + "object": "Mug", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6649", + "task": "carry the mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry the mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry the mug to the right, execute the following phases: 1) Initial approach phase (start at [1.538, 1.542]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.380, 1.548]). The trajectory involves 5 precise waypoints with total movement distance of 0.843." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6649, + "action": "putdown", + "object": "Mug", + "frame_index": 208, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6650", + "task": "carry the mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry the mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry the mug to the right, execute the following phases: 1) Initial approach phase (start at [1.531, 1.553]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.375, 1.524]). The trajectory involves 5 precise waypoints with total movement distance of 0.845." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6650, + "action": "putdown", + "object": "Mug", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6655", + "task": "carry the mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry the mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry the mug to the right, execute the following phases: 1) Initial approach phase (start at [1.553, 1.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.109, 1.528]). The trajectory involves 5 precise waypoints with total movement distance of 0.557." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6655, + "action": "putdown", + "object": "Mug", + "frame_index": 220, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6656", + "task": "carry the mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry the mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry the mug to the right, execute the following phases: 1) Initial approach phase (start at [1.568, 1.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.132, 1.526]). The trajectory involves 5 precise waypoints with total movement distance of 0.566." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6656, + "action": "putdown", + "object": "Mug", + "frame_index": 222, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6658", + "task": "carry the mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry the mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry the mug to the right, execute the following phases: 1) Initial approach phase (start at [1.547, 1.551]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.167, 1.524]). The trajectory involves 5 precise waypoints with total movement distance of 0.621." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6658, + "action": "putdown", + "object": "Mug", + "frame_index": 226, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6659", + "task": "carry the mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry the mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry the mug to the right, execute the following phases: 1) Initial approach phase (start at [1.553, 1.562]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.148, 1.540]). The trajectory involves 5 precise waypoints with total movement distance of 0.597." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6659, + "action": "putdown", + "object": "Mug", + "frame_index": 228, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6660", + "task": "carry the mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry the mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry the mug to the right, execute the following phases: 1) Initial approach phase (start at [1.534, 1.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.067, 1.551]). The trajectory involves 5 precise waypoints with total movement distance of 0.536." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6660, + "action": "putdown", + "object": "Mug", + "frame_index": 230, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6662", + "task": "carry the mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N27_S13_s05_T1/align_rgb/00234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry the mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry the mug to the right, execute the following phases: 1) Initial approach phase (start at [1.549, 1.572]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.981, 1.567]). The trajectory involves 5 precise waypoints with total movement distance of 0.449." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6662, + "action": "putdown", + "object": "Mug", + "frame_index": 234, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6816", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N17_S364_s04_T2/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N17_S364_s04_T2/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N17_S364_s04_T2/align_rgb/00100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.575, 1.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.492, 1.744]). The trajectory involves 5 precise waypoints with total movement distance of 0.303." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6816, + "action": "putdown", + "object": "Mug", + "frame_index": 100, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6817", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N17_S364_s04_T2/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N17_S364_s04_T2/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N17_S364_s04_T2/align_rgb/00190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.534, 1.758]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.509, 1.529]). The trajectory involves 5 precise waypoints with total movement distance of 0.232." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6817, + "action": "pickup", + "object": "Mug", + "frame_index": 190, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6819", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N17_S364_s04_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N17_S364_s04_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N17_S364_s04_T2/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.605, 1.625]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.070, 1.207]). The trajectory involves 5 precise waypoints with total movement distance of 0.751." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6819, + "action": "carry", + "object": "Mug", + "frame_index": 201, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6826", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N16_S11_s04_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N16_S11_s04_T1/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N16_S11_s04_T1/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.686, 1.342]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.686, 1.496]). The trajectory involves 5 precise waypoints with total movement distance of 0.159." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6826, + "action": "putdown", + "object": "Mug", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6847", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C2_N16_S11_s04_T1/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N16_S11_s04_T1/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800004_H4_C2_N16_S11_s04_T1/align_rgb/00229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.678, 1.359]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.654, 1.460]). The trajectory involves 5 precise waypoints with total movement distance of 0.105." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6847, + "action": "putdown", + "object": "Mug", + "frame_index": 229, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_6905", + "task": "pick up the stapler", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N50_S364_s03_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N50_S364_s03_T2/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N50_S364_s03_T2/align_rgb/00059.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the stapler?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the stapler, execute the following phases: 1) Initial approach phase (start at [1.738, 1.268]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.486, 1.150]). The trajectory involves 5 precise waypoints with total movement distance of 0.279." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6905, + "action": "pickup", + "object": "Stapler", + "frame_index": 59, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_6906", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N50_S364_s03_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N50_S364_s03_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N50_S364_s03_T2/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.791, 1.272]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.590, 1.206]). The trajectory involves 5 precise waypoints with total movement distance of 1.212." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6906, + "action": "carry", + "object": "Stapler", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_6926", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N48_S364_s03_T2/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N48_S364_s03_T2/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N48_S364_s03_T2/align_rgb/00065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.832, 1.565]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.493, 1.644]). The trajectory involves 5 precise waypoints with total movement distance of 1.401." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6926, + "action": "carry", + "object": "Stapler", + "frame_index": 65, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_6947", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N47_S364_s03_T2/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N47_S364_s03_T2/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N47_S364_s03_T2/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.653, 1.178]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.517, 1.364]). The trajectory involves 5 precise waypoints with total movement distance of 1.167." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6947, + "action": "carry", + "object": "Stapler", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_6948", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N47_S364_s03_T2/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N47_S364_s03_T2/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N47_S364_s03_T2/align_rgb/00075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.669, 1.206]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.489, 1.406]). The trajectory involves 5 precise waypoints with total movement distance of 1.209." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6948, + "action": "carry", + "object": "Stapler", + "frame_index": 75, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_6963", + "task": "put down the stapler", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N46_S162_s03_T1/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N46_S162_s03_T1/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N46_S162_s03_T1/align_rgb/00091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the stapler?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the stapler, execute the following phases: 1) Initial approach phase (start at [1.408, 1.471]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.395, 1.565]). The trajectory involves 5 precise waypoints with total movement distance of 0.095." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6963, + "action": "putdown", + "object": "Stapler", + "frame_index": 91, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_6978", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N36_S181_s03_T2/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N36_S181_s03_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N36_S181_s03_T2/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.475, 1.442]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.254, 1.828]). The trajectory involves 5 precise waypoints with total movement distance of 1.799." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6978, + "action": "carry", + "object": "Stapler", + "frame_index": 66, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_6993", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N36_S162_s03_T1/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N36_S162_s03_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N36_S162_s03_T1/align_rgb/00077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.302, 1.419]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.575, 1.491]). The trajectory involves 5 precise waypoints with total movement distance of 0.321." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6993, + "action": "carry", + "object": "Stapler", + "frame_index": 77, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_6995", + "task": "pick up the stapler", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N36_S162_s03_T1/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N36_S162_s03_T1/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N36_S162_s03_T1/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the stapler?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the stapler, execute the following phases: 1) Initial approach phase (start at [1.674, 1.631]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.647, 1.518]). The trajectory involves 5 precise waypoints with total movement distance of 0.160." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6995, + "action": "pickup", + "object": "Stapler", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_6996", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N36_S162_s03_T1/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N36_S162_s03_T1/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N36_S162_s03_T1/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.621, 1.414]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.281, 1.355]). The trajectory involves 5 precise waypoints with total movement distance of 0.363." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 6996, + "action": "carry", + "object": "Stapler", + "frame_index": 207, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_7001", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.233, 1.187]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.558, 1.921]). The trajectory involves 5 precise waypoints with total movement distance of 2.012." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7001, + "action": "carry", + "object": "Stapler", + "frame_index": 64, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_7004", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.179, 1.202]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.750, 2.099]). The trajectory involves 5 precise waypoints with total movement distance of 2.188." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7004, + "action": "carry", + "object": "Stapler", + "frame_index": 70, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_7007", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.122, 1.267]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.751, 1.920]). The trajectory involves 5 precise waypoints with total movement distance of 2.000." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7007, + "action": "carry", + "object": "Stapler", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Base", + "Lid" + ] + } + }, + { + "id": "hoi4d_7008", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.145, 1.280]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.593, 1.775]). The trajectory involves 5 precise waypoints with total movement distance of 1.821." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7008, + "action": "carry", + "object": "Stapler", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Base", + "Lid" + ] + } + }, + { + "id": "hoi4d_7010", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N34_S181_s03_T2/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.107, 1.298]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.316, 1.548]). The trajectory involves 5 precise waypoints with total movement distance of 1.446." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7010, + "action": "carry", + "object": "Stapler", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_7016", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N34_S162_s03_T1/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N34_S162_s03_T1/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N34_S162_s03_T1/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.323, 1.331]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.556, 1.328]). The trajectory involves 5 precise waypoints with total movement distance of 0.254." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7016, + "action": "carry", + "object": "Stapler", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_7020", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N34_S162_s03_T1/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N34_S162_s03_T1/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N34_S162_s03_T1/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.608, 1.457]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.296, 1.354]). The trajectory involves 5 precise waypoints with total movement distance of 0.363." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7020, + "action": "carry", + "object": "Stapler", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Base" + ] + } + }, + { + "id": "hoi4d_7028", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N32_S364_s02_T1/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N32_S364_s02_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N32_S364_s02_T1/align_rgb/00077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.508, 1.220]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.037, 1.242]). The trajectory involves 5 precise waypoints with total movement distance of 0.544." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7028, + "action": "carry", + "object": "Stapler", + "frame_index": 77, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_7029", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N32_S364_s02_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N32_S364_s02_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N32_S364_s02_T1/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.529, 1.212]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.048, 1.228]). The trajectory involves 5 precise waypoints with total movement distance of 0.520." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7029, + "action": "carry", + "object": "Stapler", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_7030", + "task": "put down the stapler", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N32_S364_s02_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N32_S364_s02_T1/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N32_S364_s02_T1/align_rgb/00100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the stapler?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the stapler, execute the following phases: 1) Initial approach phase (start at [2.046, 1.184]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.037, 1.598]). The trajectory involves 5 precise waypoints with total movement distance of 0.415." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7030, + "action": "putdown", + "object": "Stapler", + "frame_index": 100, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Base" + ] + } + }, + { + "id": "hoi4d_7033", + "task": "put down the stapler", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N32_S364_s02_T1/align_rgb/00247.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N32_S364_s02_T1/align_rgb/00248.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N32_S364_s02_T1/align_rgb/00249.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the stapler?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the stapler, execute the following phases: 1) Initial approach phase (start at [1.366, 1.143]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.312, 1.439]). The trajectory involves 5 precise waypoints with total movement distance of 0.302." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7033, + "action": "putdown", + "object": "Stapler", + "frame_index": 249, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_7050", + "task": "pick up the stapler", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N32_S162_s03_T1/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N32_S162_s03_T1/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N32_S162_s03_T1/align_rgb/00061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the stapler?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the stapler, execute the following phases: 1) Initial approach phase (start at [1.281, 1.471]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.338, 1.378]). The trajectory involves 5 precise waypoints with total movement distance of 0.109." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7050, + "action": "pickup", + "object": "Stapler", + "frame_index": 61, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_7054", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N32_S162_s03_T1/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N32_S162_s03_T1/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N32_S162_s03_T1/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.727, 1.372]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.217, 1.336]). The trajectory involves 5 precise waypoints with total movement distance of 0.539." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7054, + "action": "carry", + "object": "Stapler", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_7077", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N30_S162_s02_T1/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N30_S162_s02_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N30_S162_s02_T1/align_rgb/00077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.310, 1.375]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.626, 1.290]). The trajectory involves 5 precise waypoints with total movement distance of 0.329." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7077, + "action": "carry", + "object": "Stapler", + "frame_index": 77, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_7086", + "task": "put down the stapler", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N30_S162_s02_T1/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N30_S162_s02_T1/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N30_S162_s02_T1/align_rgb/00231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the stapler?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the stapler, execute the following phases: 1) Initial approach phase (start at [1.121, 1.334]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.167, 1.517]). The trajectory involves 5 precise waypoints with total movement distance of 0.193." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7086, + "action": "putdown", + "object": "Stapler", + "frame_index": 231, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Base", + "Lid" + ] + } + }, + { + "id": "hoi4d_7114", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N26_S181_s02_T2/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N26_S181_s02_T2/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N26_S181_s02_T2/align_rgb/00062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.492, 1.389]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.068, 1.548]). The trajectory involves 5 precise waypoints with total movement distance of 1.468." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7114, + "action": "carry", + "object": "Stapler", + "frame_index": 62, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_7115", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N26_S181_s02_T2/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N26_S181_s02_T2/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N26_S181_s02_T2/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.484, 1.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.149, 1.713]). The trajectory involves 5 precise waypoints with total movement distance of 1.687." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7115, + "action": "carry", + "object": "Stapler", + "frame_index": 64, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_7135", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N26_S162_s02_T1/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N26_S162_s02_T1/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N26_S162_s02_T1/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.794, 1.451]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.360, 1.228]). The trajectory involves 5 precise waypoints with total movement distance of 0.524." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7135, + "action": "carry", + "object": "Stapler", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_7137", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N26_S162_s02_T1/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N26_S162_s02_T1/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N26_S162_s02_T1/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.772, 1.383]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.296, 1.270]). The trajectory involves 5 precise waypoints with total movement distance of 0.547." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7137, + "action": "carry", + "object": "Stapler", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_7167", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N24_S181_s01_T2/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N24_S181_s01_T2/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N24_S181_s01_T2/align_rgb/00060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.527, 1.426]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.571, 1.351]). The trajectory involves 5 precise waypoints with total movement distance of 0.981." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7167, + "action": "carry", + "object": "Stapler", + "frame_index": 60, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_7169", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N24_S181_s01_T2/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N24_S181_s01_T2/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N24_S181_s01_T2/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.543, 1.503]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.343, 1.597]). The trajectory involves 5 precise waypoints with total movement distance of 1.232." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7169, + "action": "carry", + "object": "Stapler", + "frame_index": 64, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_7170", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N24_S181_s01_T2/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N24_S181_s01_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N24_S181_s01_T2/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.544, 1.505]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.255, 1.658]). The trajectory involves 5 precise waypoints with total movement distance of 1.335." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7170, + "action": "carry", + "object": "Stapler", + "frame_index": 66, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_7189", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N23_S181_s01_T2/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N23_S181_s01_T2/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N23_S181_s01_T2/align_rgb/00056.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.577, 1.409]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.600, 1.245]). The trajectory involves 5 precise waypoints with total movement distance of 1.026." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7189, + "action": "carry", + "object": "Stapler", + "frame_index": 56, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_7192", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N23_S181_s01_T2/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N23_S181_s01_T2/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N23_S181_s01_T2/align_rgb/00062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.566, 1.377]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.289, 1.377]). The trajectory involves 5 precise waypoints with total movement distance of 1.305." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7192, + "action": "carry", + "object": "Stapler", + "frame_index": 62, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_7193", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N23_S181_s01_T2/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N23_S181_s01_T2/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N23_S181_s01_T2/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.573, 1.384]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.246, 1.430]). The trajectory involves 5 precise waypoints with total movement distance of 1.357." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7193, + "action": "carry", + "object": "Stapler", + "frame_index": 64, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_7252", + "task": "put down the stapler", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N21_S162_s01_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N21_S162_s01_T1/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N21_S162_s01_T1/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the stapler?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the stapler, execute the following phases: 1) Initial approach phase (start at [1.388, 1.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.407, 1.579]). The trajectory involves 5 precise waypoints with total movement distance of 0.093." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7252, + "action": "putdown", + "object": "Stapler", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_7316", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N17_S178_s05_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N17_S178_s05_T2/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N17_S178_s05_T2/align_rgb/00059.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.521, 1.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.328, 1.628]). The trajectory involves 5 precise waypoints with total movement distance of 1.225." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7316, + "action": "carry", + "object": "Stapler", + "frame_index": 59, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_7317", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N17_S178_s05_T2/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N17_S178_s05_T2/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N17_S178_s05_T2/align_rgb/00061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.509, 1.538]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.179, 1.680]). The trajectory involves 5 precise waypoints with total movement distance of 1.362." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7317, + "action": "carry", + "object": "Stapler", + "frame_index": 61, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_7422", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N13_S178_s04_T2/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N13_S178_s04_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N13_S178_s04_T2/align_rgb/00084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.419, 1.421]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.246, 1.510]). The trajectory involves 5 precise waypoints with total movement distance of 1.196." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7422, + "action": "carry", + "object": "Stapler", + "frame_index": 84, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Base" + ] + } + }, + { + "id": "hoi4d_7423", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N13_S178_s04_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N13_S178_s04_T2/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N13_S178_s04_T2/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.416, 1.433]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.295, 1.516]). The trajectory involves 5 precise waypoints with total movement distance of 1.140." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7423, + "action": "carry", + "object": "Stapler", + "frame_index": 85, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Base" + ] + } + }, + { + "id": "hoi4d_7465", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C18_N11_S178_s03_T2/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N11_S178_s03_T2/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800004_H4_C18_N11_S178_s03_T2/align_rgb/00083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.464, 1.375]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.115, 1.543]). The trajectory involves 5 precise waypoints with total movement distance of 1.620." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 7465, + "action": "carry", + "object": "Stapler", + "frame_index": 83, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_8477", + "task": "carry Trash Can to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N36_S335_s02_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N36_S335_s02_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N36_S335_s02_T2/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Trash Can to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.512, 1.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.476, 1.685]). The trajectory involves 5 precise waypoints with total movement distance of 1.006." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8477, + "action": "carry", + "object": "Trash Can", + "frame_index": 207, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_8478", + "task": "carry Trash Can to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N36_S335_s02_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N36_S335_s02_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N36_S335_s02_T2/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Trash Can to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.434, 1.259]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.580, 1.436]). The trajectory involves 5 precise waypoints with total movement distance of 1.201." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8478, + "action": "carry", + "object": "Trash Can", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_8483", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N36_S335_s01_T1/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N36_S335_s01_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N36_S335_s01_T1/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.575, 1.302]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.539, 1.424]). The trajectory involves 5 precise waypoints with total movement distance of 0.135." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8483, + "action": "open", + "object": "Trash Can", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_8531", + "task": "carry Trash Can to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N32_S211_s03_T2/align_rgb/00155.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N32_S211_s03_T2/align_rgb/00156.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N32_S211_s03_T2/align_rgb/00157.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Trash Can to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.106, 1.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.552, 1.926]). The trajectory involves 5 precise waypoints with total movement distance of 1.512." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8531, + "action": "carry", + "object": "Trash Can", + "frame_index": 157, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_8546", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N32_S177_s03_T1/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N32_S177_s03_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N32_S177_s03_T1/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.317, 1.360]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.274, 1.536]). The trajectory involves 5 precise waypoints with total movement distance of 0.181." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8546, + "action": "close", + "object": "Trash Can", + "frame_index": 92, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_8553", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N32_S177_s03_T1/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N32_S177_s03_T1/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N32_S177_s03_T1/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.379, 1.371]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.359, 1.466]). The trajectory involves 5 precise waypoints with total movement distance of 0.097." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8553, + "action": "close", + "object": "Trash Can", + "frame_index": 199, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_8567", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00000.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.530, 1.358]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.531, 1.250]). The trajectory involves 5 precise waypoints with total movement distance of 0.109." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8567, + "action": "open", + "object": "Trash Can", + "frame_index": 0, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_8569", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00025.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00026.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00027.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.526, 1.427]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.527, 1.327]). The trajectory involves 5 precise waypoints with total movement distance of 0.101." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8569, + "action": "open", + "object": "Trash Can", + "frame_index": 27, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_8576", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00142.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00143.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00144.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.496, 1.345]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.498, 1.179]). The trajectory involves 5 precise waypoints with total movement distance of 0.166." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8576, + "action": "open", + "object": "Trash Can", + "frame_index": 144, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_8577", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00157.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00158.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00159.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.500, 1.366]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.502, 1.198]). The trajectory involves 5 precise waypoints with total movement distance of 0.168." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8577, + "action": "open", + "object": "Trash Can", + "frame_index": 159, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_8579", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.462, 1.347]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.464, 1.201]). The trajectory involves 5 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8579, + "action": "open", + "object": "Trash Can", + "frame_index": 189, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_8582", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N30_S335_s01_T1/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.524, 1.236]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.522, 1.362]). The trajectory involves 5 precise waypoints with total movement distance of 0.125." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8582, + "action": "close", + "object": "Trash Can", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_8597", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N28_S211_s02_T2/align_rgb/00138.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N28_S211_s02_T2/align_rgb/00139.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N28_S211_s02_T2/align_rgb/00140.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.149, 1.560]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.166, 1.036]). The trajectory involves 5 precise waypoints with total movement distance of 0.526." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8597, + "action": "open", + "object": "Trash Can", + "frame_index": 140, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_8599", + "task": "carry Trash Can to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N28_S211_s02_T2/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N28_S211_s02_T2/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N28_S211_s02_T2/align_rgb/00180.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Trash Can to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.223, 1.103]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.627, 1.471]). The trajectory involves 5 precise waypoints with total movement distance of 1.482." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8599, + "action": "carry", + "object": "Trash Can", + "frame_index": 180, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_8601", + "task": "carry Trash Can to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N28_S211_s02_T2/align_rgb/00182.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N28_S211_s02_T2/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N28_S211_s02_T2/align_rgb/00184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Trash Can to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.161, 1.633]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.492, 2.021]). The trajectory involves 5 precise waypoints with total movement distance of 1.434." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8601, + "action": "carry", + "object": "Trash Can", + "frame_index": 184, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_8602", + "task": "carry Trash Can to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N28_S211_s02_T2/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N28_S211_s02_T2/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N28_S211_s02_T2/align_rgb/00185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Trash Can to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.171, 1.639]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.460, 2.023]). The trajectory involves 5 precise waypoints with total movement distance of 1.393." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8602, + "action": "carry", + "object": "Trash Can", + "frame_index": 185, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_8613", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N28_S177_s02_T1/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N28_S177_s02_T1/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N28_S177_s02_T1/align_rgb/00192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.259, 1.580]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.290, 1.244]). The trajectory involves 5 precise waypoints with total movement distance of 0.337." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8613, + "action": "open", + "object": "Trash Can", + "frame_index": 192, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_8616", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N28_S177_s02_T1/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N28_S177_s02_T1/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N28_S177_s02_T1/align_rgb/00216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.415, 1.266]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.386, 1.574]). The trajectory involves 5 precise waypoints with total movement distance of 0.309." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8616, + "action": "close", + "object": "Trash Can", + "frame_index": 216, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_8617", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N26_S335_s02_T2/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N26_S335_s02_T2/align_rgb/00053.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N26_S335_s02_T2/align_rgb/00054.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.500, 1.517]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.507, 1.130]). The trajectory involves 5 precise waypoints with total movement distance of 0.386." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8617, + "action": "open", + "object": "Trash Can", + "frame_index": 54, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_8618", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N26_S335_s02_T2/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N26_S335_s02_T2/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N26_S335_s02_T2/align_rgb/00056.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.511, 1.477]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.511, 1.244]). The trajectory involves 5 precise waypoints with total movement distance of 0.235." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8618, + "action": "open", + "object": "Trash Can", + "frame_index": 56, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_8622", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N26_S335_s02_T2/align_rgb/00174.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N26_S335_s02_T2/align_rgb/00175.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N26_S335_s02_T2/align_rgb/00176.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.485, 1.486]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.484, 1.319]). The trajectory involves 5 precise waypoints with total movement distance of 0.167." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8622, + "action": "open", + "object": "Trash Can", + "frame_index": 176, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_8624", + "task": "carry Trash Can to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N26_S335_s02_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N26_S335_s02_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N26_S335_s02_T2/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Trash Can to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.531, 1.354]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.516, 1.591]). The trajectory involves 5 precise waypoints with total movement distance of 1.024." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8624, + "action": "carry", + "object": "Trash Can", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_8673", + "task": "carry Trash Can to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N24_S211_s01_T2/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N24_S211_s01_T2/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N24_S211_s01_T2/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Trash Can to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.195, 1.539]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.415, 1.792]). The trajectory involves 5 precise waypoints with total movement distance of 1.252." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8673, + "action": "carry", + "object": "Trash Can", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_8674", + "task": "carry Trash Can to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N24_S211_s01_T2/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N24_S211_s01_T2/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N24_S211_s01_T2/align_rgb/00197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Trash Can to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.310, 1.463]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.460, 1.690]). The trajectory involves 5 precise waypoints with total movement distance of 1.180." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8674, + "action": "carry", + "object": "Trash Can", + "frame_index": 197, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_8712", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.169, 1.142]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.173, 1.695]). The trajectory involves 5 precise waypoints with total movement distance of 0.554." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8712, + "action": "close", + "object": "Trash Can", + "frame_index": 62, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_8714", + "task": "carry Trash Can to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00150.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00151.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Trash Can to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.331, 1.424]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.756, 2.033]). The trajectory involves 5 precise waypoints with total movement distance of 1.565." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8714, + "action": "carry", + "object": "Trash Can", + "frame_index": 152, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_8715", + "task": "carry Trash Can to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00152.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00153.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00154.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Trash Can to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.304, 1.411]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.711, 1.939]). The trajectory involves 5 precise waypoints with total movement distance of 1.527." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8715, + "action": "carry", + "object": "Trash Can", + "frame_index": 154, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_8716", + "task": "carry Trash Can to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00154.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00155.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00156.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Trash Can to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.159, 1.383]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.575, 1.833]). The trajectory involves 5 precise waypoints with total movement distance of 1.508." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8716, + "action": "carry", + "object": "Trash Can", + "frame_index": 156, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_8726", + "task": "put down the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N22_S211_s01_T2/align_rgb/00242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the trash can?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the trash can, execute the following phases: 1) Initial approach phase (start at [1.103, 1.782]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.107, 1.786]). The trajectory involves 5 precise waypoints with total movement distance of 0.006." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8726, + "action": "putdown", + "object": "Trash Can", + "frame_index": 242, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_8727", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N22_S174_s01_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N22_S174_s01_T1/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N22_S174_s01_T1/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.364, 1.618]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.397, 1.092]). The trajectory involves 5 precise waypoints with total movement distance of 0.527." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8727, + "action": "open", + "object": "Trash Can", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_8728", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N22_S174_s01_T1/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N22_S174_s01_T1/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N22_S174_s01_T1/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.341, 1.539]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.365, 1.140]). The trajectory involves 5 precise waypoints with total movement distance of 0.399." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8728, + "action": "open", + "object": "Trash Can", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_8737", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N22_S174_s01_T1/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N22_S174_s01_T1/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N22_S174_s01_T1/align_rgb/00218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.288, 1.623]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.321, 1.130]). The trajectory involves 5 precise waypoints with total movement distance of 0.494." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8737, + "action": "open", + "object": "Trash Can", + "frame_index": 218, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_8805", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N20_S174_s02_T1/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N20_S174_s02_T1/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N20_S174_s02_T1/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.382, 1.538]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.435, 1.180]). The trajectory involves 5 precise waypoints with total movement distance of 0.363." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8805, + "action": "open", + "object": "Trash Can", + "frame_index": 198, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_8810", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N20_S174_s02_T1/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N20_S174_s02_T1/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N20_S174_s02_T1/align_rgb/00228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.450, 1.337]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.424, 1.504]). The trajectory involves 5 precise waypoints with total movement distance of 0.183." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8810, + "action": "close", + "object": "Trash Can", + "frame_index": 228, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_8814", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N19_S210_s05_T2/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N19_S210_s05_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N19_S210_s05_T2/align_rgb/00084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.316, 1.122]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.263, 1.608]). The trajectory involves 5 precise waypoints with total movement distance of 0.489." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8814, + "action": "close", + "object": "Trash Can", + "frame_index": 84, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_8820", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N19_S210_s05_T2/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N19_S210_s05_T2/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N19_S210_s05_T2/align_rgb/00221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.148, 1.700]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.202, 1.337]). The trajectory involves 5 precise waypoints with total movement distance of 0.370." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8820, + "action": "open", + "object": "Trash Can", + "frame_index": 221, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_8821", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N19_S210_s05_T2/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N19_S210_s05_T2/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N19_S210_s05_T2/align_rgb/00222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.111, 1.712]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.160, 1.308]). The trajectory involves 5 precise waypoints with total movement distance of 0.407." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8821, + "action": "open", + "object": "Trash Can", + "frame_index": 222, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_8886", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N18_S174_s02_T1/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N18_S174_s02_T1/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N18_S174_s02_T1/align_rgb/00234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.366, 1.354]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.326, 1.491]). The trajectory involves 5 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8886, + "action": "close", + "object": "Trash Can", + "frame_index": 234, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_8890", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N18_S174_s02_T1/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N18_S174_s02_T1/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N18_S174_s02_T1/align_rgb/00242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.320, 1.453]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.295, 1.620]). The trajectory involves 5 precise waypoints with total movement distance of 0.169." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8890, + "action": "close", + "object": "Trash Can", + "frame_index": 242, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_8907", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N17_S210_s05_T2/align_rgb/00155.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N17_S210_s05_T2/align_rgb/00156.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N17_S210_s05_T2/align_rgb/00157.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.233, 1.757]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.247, 1.507]). The trajectory involves 5 precise waypoints with total movement distance of 0.252." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8907, + "action": "open", + "object": "Trash Can", + "frame_index": 157, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_8914", + "task": "carry Trash Can to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N17_S210_s05_T2/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N17_S210_s05_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N17_S210_s05_T2/align_rgb/00205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Trash Can to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.261, 1.694]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.551, 1.997]). The trajectory involves 5 precise waypoints with total movement distance of 1.350." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8914, + "action": "carry", + "object": "Trash Can", + "frame_index": 205, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_8919", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00059.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.479, 1.170]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.496, 1.027]). The trajectory involves 5 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8919, + "action": "open", + "object": "Trash Can", + "frame_index": 59, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_8920", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.488, 1.105]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.506, 0.965]). The trajectory involves 5 precise waypoints with total movement distance of 0.142." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8920, + "action": "open", + "object": "Trash Can", + "frame_index": 61, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_8921", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.486, 1.087]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.499, 0.985]). The trajectory involves 5 precise waypoints with total movement distance of 0.102." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8921, + "action": "open", + "object": "Trash Can", + "frame_index": 63, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_8929", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.384, 1.212]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.422, 1.032]). The trajectory involves 5 precise waypoints with total movement distance of 0.185." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8929, + "action": "open", + "object": "Trash Can", + "frame_index": 191, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_8930", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N17_S174_s03_T1/align_rgb/00193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.395, 1.217]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.427, 1.045]). The trajectory involves 5 precise waypoints with total movement distance of 0.176." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8930, + "action": "open", + "object": "Trash Can", + "frame_index": 193, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_8971", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N15_S210_s04_T2/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N15_S210_s04_T2/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N15_S210_s04_T2/align_rgb/00063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.317, 1.250]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.129, 1.507]). The trajectory involves 5 precise waypoints with total movement distance of 0.322." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8971, + "action": "close", + "object": "Trash Can", + "frame_index": 63, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_8973", + "task": "carry Trash Can to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N15_S210_s04_T2/align_rgb/00158.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N15_S210_s04_T2/align_rgb/00159.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N15_S210_s04_T2/align_rgb/00160.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Trash Can to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.389, 1.328]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.941, 2.105]). The trajectory involves 5 precise waypoints with total movement distance of 1.745." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8973, + "action": "carry", + "object": "Trash Can", + "frame_index": 160, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_8986", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.370, 1.135]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.319, 1.570]). The trajectory involves 5 precise waypoints with total movement distance of 0.438." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8986, + "action": "close", + "object": "Trash Can", + "frame_index": 90, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_8987", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.367, 1.150]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.322, 1.540]). The trajectory involves 5 precise waypoints with total movement distance of 0.393." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8987, + "action": "close", + "object": "Trash Can", + "frame_index": 92, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_8988", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.366, 1.176]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.327, 1.522]). The trajectory involves 5 precise waypoints with total movement distance of 0.348." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8988, + "action": "close", + "object": "Trash Can", + "frame_index": 94, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_8998", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.320, 1.530]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.351, 1.148]). The trajectory involves 5 precise waypoints with total movement distance of 0.384." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8998, + "action": "open", + "object": "Trash Can", + "frame_index": 208, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_8999", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.299, 1.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.327, 1.164]). The trajectory involves 5 precise waypoints with total movement distance of 0.345." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 8999, + "action": "open", + "object": "Trash Can", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_9003", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.324, 1.306]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.332, 1.052]). The trajectory involves 5 precise waypoints with total movement distance of 0.254." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9003, + "action": "close", + "object": "Trash Can", + "frame_index": 238, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_9006", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00242.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00243.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N15_S174_s03_T1/align_rgb/00244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.293, 1.471]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.288, 1.564]). The trajectory involves 5 precise waypoints with total movement distance of 0.116." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9006, + "action": "close", + "object": "Trash Can", + "frame_index": 244, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_9012", + "task": "carry Trash Can to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N14_S210_s04_T2/align_rgb/00171.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N14_S210_s04_T2/align_rgb/00172.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N14_S210_s04_T2/align_rgb/00173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Trash Can to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.343, 1.410]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.592, 1.763]). The trajectory involves 5 precise waypoints with total movement distance of 1.299." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9012, + "action": "carry", + "object": "Trash Can", + "frame_index": 173, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_9013", + "task": "carry Trash Can to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N14_S210_s04_T2/align_rgb/00172.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N14_S210_s04_T2/align_rgb/00173.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N14_S210_s04_T2/align_rgb/00174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Trash Can to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.323, 1.406]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.535, 1.715]). The trajectory involves 5 precise waypoints with total movement distance of 1.252." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9013, + "action": "carry", + "object": "Trash Can", + "frame_index": 174, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_9017", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N14_S174_s03_T1/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N14_S174_s03_T1/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N14_S174_s03_T1/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.368, 1.571]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.371, 1.467]). The trajectory involves 5 precise waypoints with total movement distance of 0.107." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9017, + "action": "open", + "object": "Trash Can", + "frame_index": 88, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_9021", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N14_S174_s03_T1/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N14_S174_s03_T1/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N14_S174_s03_T1/align_rgb/00096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.408, 1.298]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.395, 1.410]). The trajectory involves 5 precise waypoints with total movement distance of 0.180." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9021, + "action": "open", + "object": "Trash Can", + "frame_index": 96, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_9023", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N14_S174_s03_T1/align_rgb/00117.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N14_S174_s03_T1/align_rgb/00118.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N14_S174_s03_T1/align_rgb/00119.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.495, 1.146]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.467, 1.442]). The trajectory involves 5 precise waypoints with total movement distance of 0.302." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9023, + "action": "close", + "object": "Trash Can", + "frame_index": 119, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_9026", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N14_S174_s03_T1/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N14_S174_s03_T1/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N14_S174_s03_T1/align_rgb/00240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.466, 1.243]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.430, 1.470]). The trajectory involves 5 precise waypoints with total movement distance of 0.237." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9026, + "action": "close", + "object": "Trash Can", + "frame_index": 240, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_9027", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N13_S210_s04_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N13_S210_s04_T2/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N13_S210_s04_T2/align_rgb/00059.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.365, 1.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.392, 1.176]). The trajectory involves 5 precise waypoints with total movement distance of 0.299." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9027, + "action": "open", + "object": "Trash Can", + "frame_index": 59, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_9030", + "task": "carry the trash can to the right desk", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N13_S210_s04_T2/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N13_S210_s04_T2/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N13_S210_s04_T2/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry the trash can to the right desk?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry the trash can to the right desk, execute the following phases: 1) Initial approach phase (start at [1.454, 1.683]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.776, 1.791]). The trajectory involves 5 precise waypoints with total movement distance of 0.343." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9030, + "action": "pickup", + "object": "Trash Can", + "frame_index": 198, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_9035", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.325, 1.307]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.378, 0.800]). The trajectory involves 5 precise waypoints with total movement distance of 0.511." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9035, + "action": "open", + "object": "Trash Can", + "frame_index": 58, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_9039", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.480, 1.039]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.408, 1.455]). The trajectory involves 5 precise waypoints with total movement distance of 0.423." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9039, + "action": "open", + "object": "Trash Can", + "frame_index": 66, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_9040", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.462, 1.050]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.530, 0.690]). The trajectory involves 5 precise waypoints with total movement distance of 0.370." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9040, + "action": "open", + "object": "Trash Can", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_9050", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.300, 1.345]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.362, 0.868]). The trajectory involves 5 precise waypoints with total movement distance of 0.483." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9050, + "action": "open", + "object": "Trash Can", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_9051", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.267, 1.376]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.328, 0.884]). The trajectory involves 5 precise waypoints with total movement distance of 0.499." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9051, + "action": "open", + "object": "Trash Can", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_9052", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N13_S174_s04_T1/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.290, 1.323]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.376, 0.792]). The trajectory involves 5 precise waypoints with total movement distance of 0.540." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9052, + "action": "open", + "object": "Trash Can", + "frame_index": 208, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_9063", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00056.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.329, 1.756]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.381, 1.088]). The trajectory involves 5 precise waypoints with total movement distance of 0.671." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9063, + "action": "open", + "object": "Trash Can", + "frame_index": 56, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_9064", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.327, 1.724]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.371, 1.134]). The trajectory involves 5 precise waypoints with total movement distance of 0.592." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9064, + "action": "open", + "object": "Trash Can", + "frame_index": 58, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_9065", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.402, 1.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.430, 1.248]). The trajectory involves 5 precise waypoints with total movement distance of 0.367." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9065, + "action": "open", + "object": "Trash Can", + "frame_index": 60, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_9066", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.347, 1.677]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.377, 1.249]). The trajectory involves 5 precise waypoints with total movement distance of 0.508." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9066, + "action": "open", + "object": "Trash Can", + "frame_index": 61, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_9067", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.293, 1.210]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.264, 1.534]). The trajectory involves 5 precise waypoints with total movement distance of 0.326." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9067, + "action": "close", + "object": "Trash Can", + "frame_index": 83, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_9070", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00168.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00169.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N12_S210_s03_T2/align_rgb/00170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.547, 1.648]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.586, 1.239]). The trajectory involves 5 precise waypoints with total movement distance of 0.411." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9070, + "action": "open", + "object": "Trash Can", + "frame_index": 170, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_9077", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N12_S174_s04_T1/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N12_S174_s04_T1/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N12_S174_s04_T1/align_rgb/00061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.318, 1.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.387, 0.888]). The trajectory involves 5 precise waypoints with total movement distance of 0.629." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9077, + "action": "open", + "object": "Trash Can", + "frame_index": 61, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_9083", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N12_S174_s04_T1/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N12_S174_s04_T1/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N12_S174_s04_T1/align_rgb/00188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.248, 1.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.292, 0.928]). The trajectory involves 5 precise waypoints with total movement distance of 0.575." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9083, + "action": "open", + "object": "Trash Can", + "frame_index": 188, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_9084", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N12_S174_s04_T1/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N12_S174_s04_T1/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N12_S174_s04_T1/align_rgb/00190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.283, 1.517]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.326, 0.913]). The trajectory involves 5 precise waypoints with total movement distance of 0.606." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9084, + "action": "open", + "object": "Trash Can", + "frame_index": 190, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_9089", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N12_S174_s04_T1/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N12_S174_s04_T1/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N12_S174_s04_T1/align_rgb/00219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.495, 1.120]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.486, 1.206]). The trajectory involves 5 precise waypoints with total movement distance of 0.120." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9089, + "action": "close", + "object": "Trash Can", + "frame_index": 219, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_9097", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.243, 1.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.330, 0.758]). The trajectory involves 5 precise waypoints with total movement distance of 0.767." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9097, + "action": "open", + "object": "Trash Can", + "frame_index": 208, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_9098", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.243, 1.476]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.314, 0.855]). The trajectory involves 5 precise waypoints with total movement distance of 0.625." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9098, + "action": "open", + "object": "Trash Can", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_9099", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.486, 0.868]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.429, 1.364]). The trajectory involves 5 precise waypoints with total movement distance of 0.499." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9099, + "action": "close", + "object": "Trash Can", + "frame_index": 232, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_9100", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.490, 0.908]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.445, 1.326]). The trajectory involves 5 precise waypoints with total movement distance of 0.420." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9100, + "action": "close", + "object": "Trash Can", + "frame_index": 234, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_9102", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800004_H4_C14_N11_S174_s04_T1/align_rgb/00238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.354, 1.036]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.306, 1.489]). The trajectory involves 5 precise waypoints with total movement distance of 0.466." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9102, + "action": "close", + "object": "Trash Can", + "frame_index": 238, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_9111", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N50_S234_s02_T1/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N50_S234_s02_T1/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N50_S234_s02_T1/align_rgb/00218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.982, 1.182]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.469, 1.034]). The trajectory involves 5 precise waypoints with total movement distance of 0.582." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9111, + "action": "carry", + "object": "Knife", + "frame_index": 218, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9126", + "task": "pick up the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.433, 1.304]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.489, 1.055]). The trajectory involves 5 precise waypoints with total movement distance of 0.258." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9126, + "action": "pickup", + "object": "Knife", + "frame_index": 58, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9127", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.460, 1.135]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.001, 1.084]). The trajectory involves 5 precise waypoints with total movement distance of 0.589." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9127, + "action": "carry", + "object": "Knife", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9128", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.468, 1.117]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.024, 1.084]). The trajectory involves 5 precise waypoints with total movement distance of 0.588." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9128, + "action": "carry", + "object": "Knife", + "frame_index": 77, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9129", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [2.018, 1.109]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.020, 1.467]). The trajectory involves 5 precise waypoints with total movement distance of 0.369." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9129, + "action": "putdown", + "object": "Knife", + "frame_index": 99, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9133", + "task": "pick up the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [2.063, 1.388]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.114, 1.188]). The trajectory involves 5 precise waypoints with total movement distance of 0.216." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9133, + "action": "pickup", + "object": "Knife", + "frame_index": 199, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9134", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [2.051, 1.327]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.617, 1.124]). The trajectory involves 5 precise waypoints with total movement distance of 0.516." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9134, + "action": "carry", + "object": "Knife", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9136", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N49_S234_s01_T1/align_rgb/00237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.511, 1.158]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.477, 1.452]). The trajectory involves 5 precise waypoints with total movement distance of 0.304." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9136, + "action": "putdown", + "object": "Knife", + "frame_index": 237, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9145", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N49_S186_s01_T3/align_rgb/00173.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N49_S186_s01_T3/align_rgb/00174.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N49_S186_s01_T3/align_rgb/00175.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.404, 1.600]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.390, 2.448]). The trajectory involves 5 precise waypoints with total movement distance of 1.304." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9145, + "action": "carry", + "object": "Knife", + "frame_index": 175, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9147", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N49_S186_s01_T3/align_rgb/00177.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N49_S186_s01_T3/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N49_S186_s01_T3/align_rgb/00179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.358, 1.627]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.383, 2.324]). The trajectory involves 5 precise waypoints with total movement distance of 1.243." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9147, + "action": "carry", + "object": "Knife", + "frame_index": 179, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9148", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N49_S186_s01_T3/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N49_S186_s01_T3/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N49_S186_s01_T3/align_rgb/00181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.331, 1.629]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.249, 2.188]). The trajectory involves 5 precise waypoints with total movement distance of 1.080." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9148, + "action": "carry", + "object": "Knife", + "frame_index": 181, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9155", + "task": "pick up the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N48_S234_s01_T1/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N48_S234_s01_T1/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N48_S234_s01_T1/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.506, 1.338]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.538, 1.148]). The trajectory involves 5 precise waypoints with total movement distance of 0.206." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9155, + "action": "pickup", + "object": "Knife", + "frame_index": 58, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9156", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N48_S234_s01_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N48_S234_s01_T1/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N48_S234_s01_T1/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.438, 1.158]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.851, 1.163]). The trajectory involves 5 precise waypoints with total movement distance of 0.467." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9156, + "action": "carry", + "object": "Knife", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9163", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N48_S234_s01_T1/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N48_S234_s01_T1/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N48_S234_s01_T1/align_rgb/00229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.475, 0.909]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.415, 1.299]). The trajectory involves 5 precise waypoints with total movement distance of 0.419." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9163, + "action": "putdown", + "object": "Knife", + "frame_index": 229, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9166", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N48_S234_s01_T1/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N48_S234_s01_T1/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N48_S234_s01_T1/align_rgb/00235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.370, 1.133]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.381, 1.460]). The trajectory involves 5 precise waypoints with total movement distance of 0.329." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9166, + "action": "putdown", + "object": "Knife", + "frame_index": 235, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9167", + "task": "pick up the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.291, 1.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.341, 1.428]). The trajectory involves 5 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9167, + "action": "pickup", + "object": "Knife", + "frame_index": 60, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9168", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.317, 1.393]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.327, 1.586]). The trajectory involves 5 precise waypoints with total movement distance of 0.195." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9168, + "action": "putdown", + "object": "Knife", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9169", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.319, 1.423]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.328, 1.625]). The trajectory involves 5 precise waypoints with total movement distance of 0.206." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9169, + "action": "putdown", + "object": "Knife", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9170", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.321, 1.445]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.325, 1.610]). The trajectory involves 5 precise waypoints with total movement distance of 0.167." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9170, + "action": "putdown", + "object": "Knife", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9172", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00180.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.354, 1.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.236, 1.903]). The trajectory involves 5 precise waypoints with total movement distance of 0.945." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9172, + "action": "carry", + "object": "Knife", + "frame_index": 180, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9173", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N48_S186_s01_T3/align_rgb/00181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.328, 1.568]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.199, 1.892]). The trajectory involves 5 precise waypoints with total movement distance of 0.934." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9173, + "action": "carry", + "object": "Knife", + "frame_index": 181, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9243", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N44_S233_s05_T1/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N44_S233_s05_T1/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N44_S233_s05_T1/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.318, 1.358]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.739, 1.299]). The trajectory involves 5 precise waypoints with total movement distance of 0.489." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9243, + "action": "carry", + "object": "Knife", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9246", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N44_S233_s05_T1/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N44_S233_s05_T1/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N44_S233_s05_T1/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.908, 1.277]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.458, 1.217]). The trajectory involves 5 precise waypoints with total movement distance of 0.491." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9246, + "action": "carry", + "object": "Knife", + "frame_index": 198, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9252", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N44_S233_s05_T1/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N44_S233_s05_T1/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N44_S233_s05_T1/align_rgb/00228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.251, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.316, 1.572]). The trajectory involves 5 precise waypoints with total movement distance of 0.221." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9252, + "action": "putdown", + "object": "Knife", + "frame_index": 228, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9256", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N44_S184_s05_T4/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N44_S184_s05_T4/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N44_S184_s05_T4/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.582, 1.450]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.562, 0.744]). The trajectory involves 5 precise waypoints with total movement distance of 1.256." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9256, + "action": "carry", + "object": "Knife", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9258", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N44_S184_s05_T4/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N44_S184_s05_T4/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N44_S184_s05_T4/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.590, 1.440]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.671, 0.892]). The trajectory involves 5 precise waypoints with total movement distance of 1.081." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9258, + "action": "carry", + "object": "Knife", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9268", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N43_S233_s05_T1/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N43_S233_s05_T1/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N43_S233_s05_T1/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.313, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.845, 1.367]). The trajectory involves 5 precise waypoints with total movement distance of 0.563." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9268, + "action": "carry", + "object": "Knife", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9274", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N43_S233_s05_T1/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N43_S233_s05_T1/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N43_S233_s05_T1/align_rgb/00217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.832, 1.254]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.359, 1.178]). The trajectory involves 5 precise waypoints with total movement distance of 0.516." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9274, + "action": "carry", + "object": "Knife", + "frame_index": 217, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9275", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N43_S233_s05_T1/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N43_S233_s05_T1/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N43_S233_s05_T1/align_rgb/00218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.827, 1.231]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.332, 1.170]). The trajectory involves 5 precise waypoints with total movement distance of 0.528." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9275, + "action": "carry", + "object": "Knife", + "frame_index": 218, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9278", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N43_S184_s05_T4/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N43_S184_s05_T4/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N43_S184_s05_T4/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.588, 1.310]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.107, 0.924]). The trajectory involves 5 precise waypoints with total movement distance of 0.627." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9278, + "action": "carry", + "object": "Knife", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9279", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N43_S184_s05_T4/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N43_S184_s05_T4/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N43_S184_s05_T4/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.684, 1.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.183, 1.040]). The trajectory involves 5 precise waypoints with total movement distance of 0.672." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9279, + "action": "carry", + "object": "Knife", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9291", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N42_S233_s05_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N42_S233_s05_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N42_S233_s05_T1/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.439, 1.426]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.867, 1.510]). The trajectory involves 5 precise waypoints with total movement distance of 0.444." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9291, + "action": "carry", + "object": "Knife", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9295", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N42_S233_s05_T1/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N42_S233_s05_T1/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N42_S233_s05_T1/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.873, 1.265]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.418, 1.234]). The trajectory involves 5 precise waypoints with total movement distance of 0.491." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9295, + "action": "carry", + "object": "Knife", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9297", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N42_S233_s05_T1/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N42_S233_s05_T1/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N42_S233_s05_T1/align_rgb/00227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.251, 1.189]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.246, 1.494]). The trajectory involves 5 precise waypoints with total movement distance of 0.314." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9297, + "action": "putdown", + "object": "Knife", + "frame_index": 227, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9303", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N42_S184_s05_T4/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N42_S184_s05_T4/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N42_S184_s05_T4/align_rgb/00077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.548, 1.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.833, 0.799]). The trajectory involves 5 precise waypoints with total movement distance of 0.996." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9303, + "action": "carry", + "object": "Knife", + "frame_index": 77, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9304", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N42_S184_s05_T4/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N42_S184_s05_T4/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N42_S184_s05_T4/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.556, 1.480]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.923, 0.882]). The trajectory involves 5 precise waypoints with total movement distance of 0.884." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9304, + "action": "carry", + "object": "Knife", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9341", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N40_S233_s04_T1/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N40_S233_s04_T1/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N40_S233_s04_T1/align_rgb/00094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.930, 1.388]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.940, 1.640]). The trajectory involves 5 precise waypoints with total movement distance of 0.258." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9341, + "action": "putdown", + "object": "Knife", + "frame_index": 94, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9349", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N40_S233_s04_T1/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N40_S233_s04_T1/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N40_S233_s04_T1/align_rgb/00237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.340, 1.396]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.395, 1.619]). The trajectory involves 5 precise waypoints with total movement distance of 0.233." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9349, + "action": "putdown", + "object": "Knife", + "frame_index": 237, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9352", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.479, 1.398]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.504, 0.722]). The trajectory involves 5 precise waypoints with total movement distance of 1.217." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9352, + "action": "carry", + "object": "Knife", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9353", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.459, 1.380]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.421, 0.640]). The trajectory involves 5 precise waypoints with total movement distance of 1.302." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9353, + "action": "carry", + "object": "Knife", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9354", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.411, 1.343]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.448, 0.638]). The trajectory involves 5 precise waypoints with total movement distance of 1.207." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9354, + "action": "carry", + "object": "Knife", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9355", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.445, 1.371]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.388, 0.627]). The trajectory involves 5 precise waypoints with total movement distance of 1.298." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9355, + "action": "carry", + "object": "Knife", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9356", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.405, 1.334]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.375, 0.616]). The trajectory involves 5 precise waypoints with total movement distance of 1.264." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9356, + "action": "carry", + "object": "Knife", + "frame_index": 84, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9357", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N40_S184_s04_T4/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.412, 1.327]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.406, 0.626]). The trajectory involves 5 precise waypoints with total movement distance of 1.234." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9357, + "action": "carry", + "object": "Knife", + "frame_index": 85, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9401", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N38_S233_s04_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N38_S233_s04_T1/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N38_S233_s04_T1/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.380, 1.311]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.856, 1.259]). The trajectory involves 5 precise waypoints with total movement distance of 0.521." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9401, + "action": "carry", + "object": "Knife", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9405", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N38_S233_s04_T1/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N38_S233_s04_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N38_S233_s04_T1/align_rgb/00098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [2.056, 1.518]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.013, 1.769]). The trajectory involves 5 precise waypoints with total movement distance of 0.258." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9405, + "action": "putdown", + "object": "Knife", + "frame_index": 98, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9409", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N38_S233_s04_T1/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N38_S233_s04_T1/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N38_S233_s04_T1/align_rgb/00226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [2.053, 1.460]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.609, 1.232]). The trajectory involves 5 precise waypoints with total movement distance of 0.579." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9409, + "action": "carry", + "object": "Knife", + "frame_index": 226, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9414", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.542, 1.527]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.747, 0.684]). The trajectory involves 5 precise waypoints with total movement distance of 1.169." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9414, + "action": "carry", + "object": "Knife", + "frame_index": 62, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9415", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.514, 1.527]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.620, 0.579]). The trajectory involves 5 precise waypoints with total movement distance of 1.315." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9415, + "action": "carry", + "object": "Knife", + "frame_index": 64, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9417", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.439, 1.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.594, 0.616]). The trajectory involves 5 precise waypoints with total movement distance of 1.229." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9417, + "action": "carry", + "object": "Knife", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9418", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.438, 1.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.696, 0.703]). The trajectory involves 5 precise waypoints with total movement distance of 1.080." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9418, + "action": "carry", + "object": "Knife", + "frame_index": 70, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9419", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.411, 1.481]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.686, 0.742]). The trajectory involves 5 precise waypoints with total movement distance of 1.050." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9419, + "action": "carry", + "object": "Knife", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9420", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N38_S184_s04_T4/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.411, 1.487]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.704, 0.782]). The trajectory involves 5 precise waypoints with total movement distance of 1.015." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9420, + "action": "carry", + "object": "Knife", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9443", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.445, 1.314]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.841, 1.099]). The trajectory involves 5 precise waypoints with total movement distance of 0.491." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9443, + "action": "carry", + "object": "Knife", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9447", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [2.005, 1.247]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.038, 1.584]). The trajectory involves 5 precise waypoints with total movement distance of 0.354." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9447, + "action": "putdown", + "object": "Knife", + "frame_index": 95, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9449", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [2.070, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.012, 1.603]). The trajectory involves 5 precise waypoints with total movement distance of 0.255." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9449, + "action": "putdown", + "object": "Knife", + "frame_index": 99, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9450", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [2.082, 1.405]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.013, 1.626]). The trajectory involves 5 precise waypoints with total movement distance of 0.241." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9450, + "action": "putdown", + "object": "Knife", + "frame_index": 100, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9452", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [2.089, 1.421]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.600, 1.022]). The trajectory involves 5 precise waypoints with total movement distance of 0.645." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9452, + "action": "carry", + "object": "Knife", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9454", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [2.060, 1.314]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.468, 0.929]). The trajectory involves 5 precise waypoints with total movement distance of 0.742." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9454, + "action": "carry", + "object": "Knife", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9459", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N37_S233_s03_T1/align_rgb/00240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.341, 1.319]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.445, 1.663]). The trajectory involves 5 precise waypoints with total movement distance of 0.360." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9459, + "action": "putdown", + "object": "Knife", + "frame_index": 240, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9465", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N37_S184_s03_T4/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N37_S184_s03_T4/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N37_S184_s03_T4/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.639, 1.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.816, 0.806]). The trajectory involves 5 precise waypoints with total movement distance of 1.095." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9465, + "action": "carry", + "object": "Knife", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9466", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N37_S184_s03_T4/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N37_S184_s03_T4/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N37_S184_s03_T4/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.620, 1.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.786, 0.736]). The trajectory involves 5 precise waypoints with total movement distance of 1.136." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9466, + "action": "carry", + "object": "Knife", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9467", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N37_S184_s03_T4/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N37_S184_s03_T4/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N37_S184_s03_T4/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.600, 1.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.766, 0.741]). The trajectory involves 5 precise waypoints with total movement distance of 1.121." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9467, + "action": "carry", + "object": "Knife", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9468", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N37_S184_s03_T4/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N37_S184_s03_T4/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N37_S184_s03_T4/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.587, 1.432]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.834, 0.792]). The trajectory involves 5 precise waypoints with total movement distance of 1.023." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9468, + "action": "carry", + "object": "Knife", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9483", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.570, 1.312]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.085, 1.190]). The trajectory involves 5 precise waypoints with total movement distance of 0.586." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9483, + "action": "carry", + "object": "Knife", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9484", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.600, 1.369]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.148, 1.376]). The trajectory involves 5 precise waypoints with total movement distance of 0.616." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9484, + "action": "carry", + "object": "Knife", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9487", + "task": "pick up the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [2.099, 1.480]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.134, 1.201]). The trajectory involves 5 precise waypoints with total movement distance of 0.294." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9487, + "action": "pickup", + "object": "Knife", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9488", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [2.065, 1.287]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.591, 1.110]). The trajectory involves 5 precise waypoints with total movement distance of 0.572." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9488, + "action": "carry", + "object": "Knife", + "frame_index": 215, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9489", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [2.019, 1.245]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.496, 1.142]). The trajectory involves 5 precise waypoints with total movement distance of 0.579." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9489, + "action": "carry", + "object": "Knife", + "frame_index": 217, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9491", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00241.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.438, 1.116]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.440, 1.457]). The trajectory involves 5 precise waypoints with total movement distance of 0.356." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9491, + "action": "putdown", + "object": "Knife", + "frame_index": 241, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9492", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00242.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N36_S233_s03_T1/align_rgb/00243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.425, 1.173]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.446, 1.485]). The trajectory involves 5 precise waypoints with total movement distance of 0.324." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9492, + "action": "putdown", + "object": "Knife", + "frame_index": 243, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9501", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N36_S184_s03_T4/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N36_S184_s03_T4/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N36_S184_s03_T4/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.629, 1.528]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.752, 0.750]). The trajectory involves 5 precise waypoints with total movement distance of 1.176." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9501, + "action": "carry", + "object": "Knife", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9502", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N36_S184_s03_T4/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N36_S184_s03_T4/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N36_S184_s03_T4/align_rgb/00084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.612, 1.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.756, 0.789]). The trajectory involves 5 precise waypoints with total movement distance of 1.122." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9502, + "action": "carry", + "object": "Knife", + "frame_index": 84, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9503", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N36_S184_s03_T4/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N36_S184_s03_T4/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N36_S184_s03_T4/align_rgb/00086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.607, 1.511]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.787, 0.853]). The trajectory involves 5 precise waypoints with total movement distance of 1.059." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9503, + "action": "carry", + "object": "Knife", + "frame_index": 86, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9517", + "task": "pick up the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N35_S233_s03_T1/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N35_S233_s03_T1/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N35_S233_s03_T1/align_rgb/00060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.545, 1.192]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.599, 0.905]). The trajectory involves 5 precise waypoints with total movement distance of 0.299." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9517, + "action": "pickup", + "object": "Knife", + "frame_index": 60, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9518", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N35_S233_s03_T1/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N35_S233_s03_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N35_S233_s03_T1/align_rgb/00077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.540, 0.897]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.928, 0.801]). The trajectory involves 5 precise waypoints with total movement distance of 0.428." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9518, + "action": "carry", + "object": "Knife", + "frame_index": 77, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9555", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N34_S233_s03_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N34_S233_s03_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N34_S233_s03_T1/align_rgb/00099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [2.101, 1.333]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.098, 1.613]). The trajectory involves 5 precise waypoints with total movement distance of 0.281." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9555, + "action": "putdown", + "object": "Knife", + "frame_index": 99, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9556", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N34_S233_s03_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N34_S233_s03_T1/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N34_S233_s03_T1/align_rgb/00100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [2.108, 1.311]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.085, 1.575]). The trajectory involves 5 precise waypoints with total movement distance of 0.265." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9556, + "action": "putdown", + "object": "Knife", + "frame_index": 100, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9558", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N34_S233_s03_T1/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N34_S233_s03_T1/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N34_S233_s03_T1/align_rgb/00222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [2.044, 1.265]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.550, 1.126]). The trajectory involves 5 precise waypoints with total movement distance of 0.592." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9558, + "action": "carry", + "object": "Knife", + "frame_index": 222, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9577", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N33_S233_s02_T1/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N33_S233_s02_T1/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N33_S233_s02_T1/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.409, 1.351]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.971, 1.331]). The trajectory involves 5 precise waypoints with total movement distance of 0.601." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9577, + "action": "carry", + "object": "Knife", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9580", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N33_S233_s02_T1/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N33_S233_s02_T1/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N33_S233_s02_T1/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [2.003, 1.435]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.467, 1.264]). The trajectory involves 5 precise waypoints with total movement distance of 0.608." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9580, + "action": "carry", + "object": "Knife", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9581", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N33_S233_s02_T1/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N33_S233_s02_T1/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N33_S233_s02_T1/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.994, 1.405]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.415, 1.266]). The trajectory involves 5 precise waypoints with total movement distance of 0.637." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9581, + "action": "carry", + "object": "Knife", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9589", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N33_S184_s02_T4/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N33_S184_s02_T4/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N33_S184_s02_T4/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.492, 1.466]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.661, 0.630]). The trajectory involves 5 precise waypoints with total movement distance of 1.190." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9589, + "action": "carry", + "object": "Knife", + "frame_index": 66, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9592", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N33_S184_s02_T4/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N33_S184_s02_T4/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N33_S184_s02_T4/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.483, 1.505]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.785, 0.614]). The trajectory involves 5 precise waypoints with total movement distance of 1.151." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9592, + "action": "carry", + "object": "Knife", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9593", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N33_S184_s02_T4/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N33_S184_s02_T4/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N33_S184_s02_T4/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.478, 1.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.840, 0.631]). The trajectory involves 5 precise waypoints with total movement distance of 1.126." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9593, + "action": "carry", + "object": "Knife", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9594", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N33_S184_s02_T4/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N33_S184_s02_T4/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N33_S184_s02_T4/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.457, 1.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.830, 0.701]). The trajectory involves 5 precise waypoints with total movement distance of 1.059." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9594, + "action": "carry", + "object": "Knife", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9605", + "task": "pick up the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00052.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.397, 1.438]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.356, 1.117]). The trajectory involves 5 precise waypoints with total movement distance of 0.326." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9605, + "action": "pickup", + "object": "Knife", + "frame_index": 52, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9606", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.367, 1.249]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.855, 1.262]). The trajectory involves 5 precise waypoints with total movement distance of 0.546." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9606, + "action": "carry", + "object": "Knife", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9610", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.920, 1.380]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.495, 1.228]). The trajectory involves 5 precise waypoints with total movement distance of 0.468." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9610, + "action": "carry", + "object": "Knife", + "frame_index": 197, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9611", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.402, 1.094]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.358, 1.438]). The trajectory involves 5 precise waypoints with total movement distance of 0.352." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9611, + "action": "putdown", + "object": "Knife", + "frame_index": 219, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9612", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.367, 1.089]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.351, 1.421]). The trajectory involves 5 precise waypoints with total movement distance of 0.335." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9612, + "action": "putdown", + "object": "Knife", + "frame_index": 221, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9613", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.352, 1.145]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.347, 1.463]). The trajectory involves 5 precise waypoints with total movement distance of 0.322." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9613, + "action": "putdown", + "object": "Knife", + "frame_index": 223, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9615", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N32_S233_s02_T1/align_rgb/00227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.364, 1.288]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.392, 1.595]). The trajectory involves 5 precise waypoints with total movement distance of 0.312." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9615, + "action": "putdown", + "object": "Knife", + "frame_index": 227, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9629", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N32_S184_s02_T4/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N32_S184_s02_T4/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N32_S184_s02_T4/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.473, 1.381]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.105, 0.828]). The trajectory involves 5 precise waypoints with total movement distance of 0.686." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9629, + "action": "carry", + "object": "Knife", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9639", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N31_S233_s02_T1/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N31_S233_s02_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N31_S233_s02_T1/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.460, 1.330]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.864, 1.383]). The trajectory involves 5 precise waypoints with total movement distance of 0.445." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9639, + "action": "carry", + "object": "Knife", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9642", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N31_S233_s02_T1/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N31_S233_s02_T1/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N31_S233_s02_T1/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.914, 1.271]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.452, 1.085]). The trajectory involves 5 precise waypoints with total movement distance of 0.540." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9642, + "action": "carry", + "object": "Knife", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9643", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N31_S233_s02_T1/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N31_S233_s02_T1/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N31_S233_s02_T1/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.913, 1.250]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.420, 1.088]). The trajectory involves 5 precise waypoints with total movement distance of 0.550." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9643, + "action": "carry", + "object": "Knife", + "frame_index": 207, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9648", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N31_S233_s02_T1/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N31_S233_s02_T1/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N31_S233_s02_T1/align_rgb/00237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.299, 1.190]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.314, 1.423]). The trajectory involves 5 precise waypoints with total movement distance of 0.235." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9648, + "action": "putdown", + "object": "Knife", + "frame_index": 237, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9654", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N31_S184_s02_T4/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N31_S184_s02_T4/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N31_S184_s02_T4/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.617, 1.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.950, 0.810]). The trajectory involves 5 precise waypoints with total movement distance of 1.035." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9654, + "action": "carry", + "object": "Knife", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9656", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N31_S184_s02_T4/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N31_S184_s02_T4/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N31_S184_s02_T4/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.570, 1.482]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.947, 0.802]). The trajectory involves 5 precise waypoints with total movement distance of 0.943." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9656, + "action": "carry", + "object": "Knife", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9657", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N31_S184_s02_T4/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N31_S184_s02_T4/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N31_S184_s02_T4/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.565, 1.476]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.967, 0.832]). The trajectory involves 5 precise waypoints with total movement distance of 0.934." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9657, + "action": "carry", + "object": "Knife", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9668", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N30_S365_s01_T3/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N30_S365_s01_T3/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N30_S365_s01_T3/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.660, 1.300]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.512, 1.213]). The trajectory involves 5 precise waypoints with total movement distance of 1.214." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9668, + "action": "carry", + "object": "Knife", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9669", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N30_S365_s01_T3/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N30_S365_s01_T3/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N30_S365_s01_T3/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.675, 1.289]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.522, 1.257]). The trajectory involves 5 precise waypoints with total movement distance of 1.223." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9669, + "action": "carry", + "object": "Knife", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9682", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N30_S233_s02_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N30_S233_s02_T1/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N30_S233_s02_T1/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.426, 1.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.808, 1.426]). The trajectory involves 5 precise waypoints with total movement distance of 0.435." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9682, + "action": "carry", + "object": "Knife", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9687", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N30_S233_s02_T1/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N30_S233_s02_T1/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N30_S233_s02_T1/align_rgb/00101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.957, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.914, 1.783]). The trajectory involves 5 precise waypoints with total movement distance of 0.275." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9687, + "action": "putdown", + "object": "Knife", + "frame_index": 101, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9691", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N30_S233_s02_T1/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N30_S233_s02_T1/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N30_S233_s02_T1/align_rgb/00224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [2.028, 1.241]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.598, 1.200]). The trajectory involves 5 precise waypoints with total movement distance of 0.480." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9691, + "action": "carry", + "object": "Knife", + "frame_index": 224, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9738", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.402, 1.350]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.825, 1.167]). The trajectory involves 5 precise waypoints with total movement distance of 0.504." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9738, + "action": "carry", + "object": "Knife", + "frame_index": 64, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9748", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [2.111, 1.484]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.631, 1.214]). The trajectory involves 5 precise waypoints with total movement distance of 0.590." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9748, + "action": "carry", + "object": "Knife", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9754", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.299, 1.440]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.310, 1.855]). The trajectory involves 5 precise waypoints with total movement distance of 0.427." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9754, + "action": "putdown", + "object": "Knife", + "frame_index": 236, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9756", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.285, 1.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.350, 1.849]). The trajectory involves 5 precise waypoints with total movement distance of 0.358." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9756, + "action": "putdown", + "object": "Knife", + "frame_index": 240, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9757", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N28_S233_s01_T1/align_rgb/00242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.287, 1.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.329, 1.874]). The trajectory involves 5 precise waypoints with total movement distance of 0.321." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9757, + "action": "putdown", + "object": "Knife", + "frame_index": 242, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9763", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N28_S184_s01_T4/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N28_S184_s01_T4/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N28_S184_s01_T4/align_rgb/00065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.589, 1.611]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.872, 0.905]). The trajectory involves 5 precise waypoints with total movement distance of 1.015." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9763, + "action": "carry", + "object": "Knife", + "frame_index": 65, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9764", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N28_S184_s01_T4/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N28_S184_s01_T4/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N28_S184_s01_T4/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.619, 1.657]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.964, 0.963]). The trajectory involves 5 precise waypoints with total movement distance of 0.960." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9764, + "action": "carry", + "object": "Knife", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9766", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N28_S184_s01_T4/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N28_S184_s01_T4/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N28_S184_s01_T4/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.607, 1.650]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.099, 0.960]). The trajectory involves 5 precise waypoints with total movement distance of 0.870." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9766, + "action": "carry", + "object": "Knife", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9819", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N26_S233_s01_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N26_S233_s01_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N26_S233_s01_T1/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.467, 1.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.828, 1.383]). The trajectory involves 5 precise waypoints with total movement distance of 0.387." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9819, + "action": "carry", + "object": "Knife", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9823", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N26_S233_s01_T1/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N26_S233_s01_T1/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N26_S233_s01_T1/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.941, 1.402]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.378, 1.277]). The trajectory involves 5 precise waypoints with total movement distance of 0.591." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9823, + "action": "carry", + "object": "Knife", + "frame_index": 212, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9835", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.636, 1.571]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.145, 1.215]). The trajectory involves 5 precise waypoints with total movement distance of 0.632." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9835, + "action": "carry", + "object": "Knife", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9836", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.622, 1.560]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.057, 1.150]). The trajectory involves 5 precise waypoints with total movement distance of 0.731." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9836, + "action": "carry", + "object": "Knife", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9837", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.623, 1.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.976, 1.134]). The trajectory involves 5 precise waypoints with total movement distance of 0.806." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9837, + "action": "carry", + "object": "Knife", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9838", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.622, 1.579]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.934, 1.098]). The trajectory involves 5 precise waypoints with total movement distance of 0.854." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9838, + "action": "carry", + "object": "Knife", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9839", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.604, 1.575]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.908, 1.115]). The trajectory involves 5 precise waypoints with total movement distance of 0.841." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9839, + "action": "carry", + "object": "Knife", + "frame_index": 75, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9840", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.579, 1.575]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.901, 1.115]). The trajectory involves 5 precise waypoints with total movement distance of 0.821." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9840, + "action": "carry", + "object": "Knife", + "frame_index": 77, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9841", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.585, 1.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.976, 1.110]). The trajectory involves 5 precise waypoints with total movement distance of 0.764." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9841, + "action": "carry", + "object": "Knife", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9843", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.558, 1.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.066, 1.131]). The trajectory involves 5 precise waypoints with total movement distance of 0.680." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9843, + "action": "carry", + "object": "Knife", + "frame_index": 83, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9844", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.530, 1.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.116, 1.122]). The trajectory involves 5 precise waypoints with total movement distance of 0.650." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9844, + "action": "carry", + "object": "Knife", + "frame_index": 85, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9847", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N26_S184_s01_T4/align_rgb/00091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.531, 1.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.288, 1.174]). The trajectory involves 5 precise waypoints with total movement distance of 0.465." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9847, + "action": "carry", + "object": "Knife", + "frame_index": 91, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9868", + "task": "pick up the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00053.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.410, 1.332]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.448, 1.169]). The trajectory involves 5 precise waypoints with total movement distance of 0.170." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9868, + "action": "pickup", + "object": "Knife", + "frame_index": 53, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9869", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.386, 1.181]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.915, 1.141]). The trajectory involves 5 precise waypoints with total movement distance of 0.560." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9869, + "action": "carry", + "object": "Knife", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9870", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.395, 1.167]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.956, 1.158]). The trajectory involves 5 precise waypoints with total movement distance of 0.588." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9870, + "action": "carry", + "object": "Knife", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9872", + "task": "pick up the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00177.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.956, 1.468]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.945, 1.199]). The trajectory involves 5 precise waypoints with total movement distance of 0.272." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9872, + "action": "pickup", + "object": "Knife", + "frame_index": 179, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9873", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.968, 1.233]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.461, 1.047]). The trajectory involves 5 precise waypoints with total movement distance of 0.562." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9873, + "action": "carry", + "object": "Knife", + "frame_index": 198, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9874", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N25_S234_s03_T1/align_rgb/00220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.429, 0.984]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.420, 1.332]). The trajectory involves 5 precise waypoints with total movement distance of 0.361." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9874, + "action": "putdown", + "object": "Knife", + "frame_index": 220, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9886", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N25_S186_s03_T2/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N25_S186_s03_T2/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N25_S186_s03_T2/align_rgb/00083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.303, 1.661]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.541, 1.196]). The trajectory involves 5 precise waypoints with total movement distance of 0.900." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9886, + "action": "carry", + "object": "Knife", + "frame_index": 83, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9897", + "task": "pick up the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00053.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.480, 1.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.474, 1.237]). The trajectory involves 5 precise waypoints with total movement distance of 0.157." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9897, + "action": "pickup", + "object": "Knife", + "frame_index": 53, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9898", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.431, 1.269]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.885, 1.178]). The trajectory involves 5 precise waypoints with total movement distance of 0.483." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9898, + "action": "carry", + "object": "Knife", + "frame_index": 70, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9900", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.424, 1.141]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.937, 1.142]). The trajectory involves 5 precise waypoints with total movement distance of 0.547." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9900, + "action": "carry", + "object": "Knife", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9902", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.970, 1.163]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.987, 1.450]). The trajectory involves 5 precise waypoints with total movement distance of 0.294." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9902, + "action": "putdown", + "object": "Knife", + "frame_index": 98, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9903", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [2.007, 1.188]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.996, 1.461]). The trajectory involves 5 precise waypoints with total movement distance of 0.276." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9903, + "action": "putdown", + "object": "Knife", + "frame_index": 99, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9905", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.982, 1.307]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.494, 1.121]). The trajectory involves 5 precise waypoints with total movement distance of 0.594." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9905, + "action": "carry", + "object": "Knife", + "frame_index": 221, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9906", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00242.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N23_S234_s03_T1/align_rgb/00243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.393, 1.025]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.318, 1.393]). The trajectory involves 5 precise waypoints with total movement distance of 0.397." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9906, + "action": "putdown", + "object": "Knife", + "frame_index": 243, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9914", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N23_S186_s03_T2/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N23_S186_s03_T2/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N23_S186_s03_T2/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [0.870, 1.361]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.061, 1.015]). The trajectory involves 5 precise waypoints with total movement distance of 0.882." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9914, + "action": "carry", + "object": "Knife", + "frame_index": 92, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9930", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N21_S234_s03_T1/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N21_S234_s03_T1/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N21_S234_s03_T1/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [2.044, 1.355]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.613, 1.192]). The trajectory involves 5 precise waypoints with total movement distance of 0.504." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9930, + "action": "carry", + "object": "Knife", + "frame_index": 203, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9931", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N21_S234_s03_T1/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N21_S234_s03_T1/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N21_S234_s03_T1/align_rgb/00205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [2.015, 1.329]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.580, 1.207]). The trajectory involves 5 precise waypoints with total movement distance of 0.500." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9931, + "action": "carry", + "object": "Knife", + "frame_index": 205, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9932", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N21_S234_s03_T1/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N21_S234_s03_T1/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N21_S234_s03_T1/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.969, 1.301]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.537, 1.240]). The trajectory involves 5 precise waypoints with total movement distance of 0.475." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9932, + "action": "carry", + "object": "Knife", + "frame_index": 207, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9934", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N21_S234_s03_T1/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N21_S234_s03_T1/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N21_S234_s03_T1/align_rgb/00231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.477, 1.291]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.427, 1.596]). The trajectory involves 5 precise waypoints with total movement distance of 0.313." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9934, + "action": "putdown", + "object": "Knife", + "frame_index": 231, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9938", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N21_S186_s02_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N21_S186_s02_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N21_S186_s02_T2/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.396, 1.777]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.522, 1.226]). The trajectory involves 5 precise waypoints with total movement distance of 1.036." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9938, + "action": "carry", + "object": "Knife", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9939", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N21_S186_s02_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N21_S186_s02_T2/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N21_S186_s02_T2/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.381, 1.791]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.505, 1.168]). The trajectory involves 5 precise waypoints with total movement distance of 1.080." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9939, + "action": "carry", + "object": "Knife", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_9943", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N21_S186_s02_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N21_S186_s02_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N21_S186_s02_T2/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.295, 1.488]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.249, 1.622]). The trajectory involves 5 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 9943, + "action": "putdown", + "object": "Knife", + "frame_index": 212, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_10012", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N15_S186_s02_T2/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N15_S186_s02_T2/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N15_S186_s02_T2/align_rgb/00215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.283, 1.315]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.294, 1.519]). The trajectory involves 5 precise waypoints with total movement distance of 0.219." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10012, + "action": "putdown", + "object": "Knife", + "frame_index": 215, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_10015", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C13_N15_S186_s02_T2/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N15_S186_s02_T2/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C13_N15_S186_s02_T2/align_rgb/00221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.304, 1.445]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.288, 1.581]). The trajectory involves 5 precise waypoints with total movement distance of 0.171." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10015, + "action": "putdown", + "object": "Knife", + "frame_index": 221, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_10026", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N50_S236_s02_T1/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N50_S236_s02_T1/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N50_S236_s02_T1/align_rgb/00075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.408, 1.154]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.938, 1.092]). The trajectory involves 5 precise waypoints with total movement distance of 0.587." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10026, + "action": "carry", + "object": "Kettle", + "frame_index": 75, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10033", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N50_S236_s02_T1/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N50_S236_s02_T1/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N50_S236_s02_T1/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.995, 1.259]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.537, 1.141]). The trajectory involves 5 precise waypoints with total movement distance of 0.501." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10033, + "action": "carry", + "object": "Kettle", + "frame_index": 207, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10034", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N50_S236_s02_T1/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N50_S236_s02_T1/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N50_S236_s02_T1/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.977, 1.246]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.507, 1.153]). The trajectory involves 5 precise waypoints with total movement distance of 0.500." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10034, + "action": "carry", + "object": "Kettle", + "frame_index": 208, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10065", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N50_S186_s02_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N50_S186_s02_T2/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N50_S186_s02_T2/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.673, 1.381]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.011, 1.380]). The trajectory involves 5 precise waypoints with total movement distance of 1.711." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10065, + "action": "carry", + "object": "Kettle", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10066", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N50_S186_s02_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N50_S186_s02_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N50_S186_s02_T2/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.673, 1.345]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.014, 1.398]). The trajectory involves 5 precise waypoints with total movement distance of 1.725." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10066, + "action": "carry", + "object": "Kettle", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10067", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N50_S186_s02_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N50_S186_s02_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N50_S186_s02_T2/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.643, 1.349]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.051, 1.399]). The trajectory involves 5 precise waypoints with total movement distance of 1.726." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10067, + "action": "carry", + "object": "Kettle", + "frame_index": 208, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10068", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N50_S186_s02_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N50_S186_s02_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N50_S186_s02_T2/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.626, 1.332]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.037, 1.386]). The trajectory involves 5 precise waypoints with total movement distance of 1.610." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10068, + "action": "carry", + "object": "Kettle", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10073", + "task": "pick up the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00053.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00054.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the kettle, execute the following phases: 1) Initial approach phase (start at [1.496, 1.411]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.531, 1.234]). The trajectory involves 5 precise waypoints with total movement distance of 0.213." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10073, + "action": "pickup", + "object": "Kettle", + "frame_index": 54, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10074", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.469, 1.117]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.035, 1.171]). The trajectory involves 5 precise waypoints with total movement distance of 0.597." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10074, + "action": "carry", + "object": "Kettle", + "frame_index": 75, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10075", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.480, 1.089]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.077, 1.179]). The trajectory involves 5 precise waypoints with total movement distance of 0.616." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10075, + "action": "carry", + "object": "Kettle", + "frame_index": 77, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10076", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.502, 1.087]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.112, 1.198]). The trajectory involves 5 precise waypoints with total movement distance of 0.629." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10076, + "action": "carry", + "object": "Kettle", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10077", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [2.074, 1.206]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.122, 1.563]). The trajectory involves 5 precise waypoints with total movement distance of 0.361." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10077, + "action": "putdown", + "object": "Kettle", + "frame_index": 100, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10079", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N49_S236_s02_T1/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.125, 1.180]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.669, 1.049]). The trajectory involves 5 precise waypoints with total movement distance of 0.498." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10079, + "action": "carry", + "object": "Kettle", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10089", + "task": "pour water from the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00043.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00044.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00045.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pour water from the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pour water from the kettle, execute the following phases: 1) Initial approach phase (start at [1.438, 1.479]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.021, 1.521]). The trajectory involves 5 precise waypoints with total movement distance of 0.467." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10089, + "action": "dump", + "object": "Kettle", + "frame_index": 45, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10090", + "task": "pour water from the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00045.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00046.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00047.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pour water from the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pour water from the kettle, execute the following phases: 1) Initial approach phase (start at [1.415, 1.488]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.015, 1.587]). The trajectory involves 5 precise waypoints with total movement distance of 0.480." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10090, + "action": "dump", + "object": "Kettle", + "frame_index": 47, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10091", + "task": "pour water from the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00047.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00049.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pour water from the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pour water from the kettle, execute the following phases: 1) Initial approach phase (start at [1.347, 1.458]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.032, 1.629]). The trajectory involves 5 precise waypoints with total movement distance of 0.414." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10091, + "action": "dump", + "object": "Kettle", + "frame_index": 49, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10092", + "task": "pour water from the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00051.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pour water from the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pour water from the kettle, execute the following phases: 1) Initial approach phase (start at [1.263, 1.429]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.071, 1.570]). The trajectory involves 5 precise waypoints with total movement distance of 0.272." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10092, + "action": "dump", + "object": "Kettle", + "frame_index": 51, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10126", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00136.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00137.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00138.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.419, 1.265]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.681, 1.608]). The trajectory involves 5 precise waypoints with total movement distance of 0.441." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10126, + "action": "putdown", + "object": "Kettle", + "frame_index": 138, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10128", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N49_S186_s01_T2/align_rgb/00224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.635, 1.541]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.209, 2.225]). The trajectory involves 5 precise waypoints with total movement distance of 1.760." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10128, + "action": "carry", + "object": "Kettle", + "frame_index": 224, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10181", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.451, 1.329]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.032, 1.351]). The trajectory involves 5 precise waypoints with total movement distance of 0.611." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10181, + "action": "carry", + "object": "Kettle", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10184", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.113, 1.530]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.715, 1.309]). The trajectory involves 5 precise waypoints with total movement distance of 0.481." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10184, + "action": "carry", + "object": "Kettle", + "frame_index": 203, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10185", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.120, 1.523]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.712, 1.322]). The trajectory involves 5 precise waypoints with total movement distance of 0.480." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10185, + "action": "carry", + "object": "Kettle", + "frame_index": 205, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10187", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.045, 1.404]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.587, 1.287]). The trajectory involves 5 precise waypoints with total movement distance of 0.488." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10187, + "action": "carry", + "object": "Kettle", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10188", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.002, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.553, 1.312]). The trajectory involves 5 precise waypoints with total movement distance of 0.471." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10188, + "action": "carry", + "object": "Kettle", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10189", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.003, 1.363]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.566, 1.333]). The trajectory involves 5 precise waypoints with total movement distance of 0.462." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10189, + "action": "carry", + "object": "Kettle", + "frame_index": 212, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10193", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N47_S236_s01_T1/align_rgb/00240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.412, 1.361]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.393, 1.641]). The trajectory involves 5 precise waypoints with total movement distance of 0.300." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10193, + "action": "putdown", + "object": "Kettle", + "frame_index": 240, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10197", + "task": "pour water from the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N47_S186_s01_T2/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N47_S186_s01_T2/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N47_S186_s01_T2/align_rgb/00053.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pour water from the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pour water from the kettle, execute the following phases: 1) Initial approach phase (start at [1.577, 1.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.223, 1.358]). The trajectory involves 5 precise waypoints with total movement distance of 0.379." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10197, + "action": "dump", + "object": "Kettle", + "frame_index": 53, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10213", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N47_S186_s01_T2/align_rgb/00102.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N47_S186_s01_T2/align_rgb/00103.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N47_S186_s01_T2/align_rgb/00104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.531, 1.228]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.687, 1.560]). The trajectory involves 5 precise waypoints with total movement distance of 0.378." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10213, + "action": "putdown", + "object": "Kettle", + "frame_index": 104, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10220", + "task": "pick up the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N47_S186_s01_T2/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N47_S186_s01_T2/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N47_S186_s01_T2/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the kettle, execute the following phases: 1) Initial approach phase (start at [1.657, 1.488]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.576, 1.298]). The trajectory involves 5 precise waypoints with total movement distance of 0.208." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10220, + "action": "pickup", + "object": "Kettle", + "frame_index": 198, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10221", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N47_S186_s01_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N47_S186_s01_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N47_S186_s01_T2/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.642, 1.397]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.158, 1.808]). The trajectory involves 5 precise waypoints with total movement distance of 1.968." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10221, + "action": "carry", + "object": "Kettle", + "frame_index": 208, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10230", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.082, 1.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.674, 1.232]). The trajectory involves 5 precise waypoints with total movement distance of 0.474." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10230, + "action": "carry", + "object": "Kettle", + "frame_index": 190, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10231", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.068, 1.410]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.644, 1.217]). The trajectory involves 5 precise waypoints with total movement distance of 0.484." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10231, + "action": "carry", + "object": "Kettle", + "frame_index": 192, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10233", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.990, 1.360]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.540, 1.244]). The trajectory involves 5 precise waypoints with total movement distance of 0.493." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10233, + "action": "carry", + "object": "Kettle", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10234", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.937, 1.340]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.479, 1.275]). The trajectory involves 5 precise waypoints with total movement distance of 0.483." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10234, + "action": "carry", + "object": "Kettle", + "frame_index": 198, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10235", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.902, 1.306]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.461, 1.300]). The trajectory involves 5 precise waypoints with total movement distance of 0.464." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10235, + "action": "carry", + "object": "Kettle", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10236", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.884, 1.255]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.443, 1.267]). The trajectory involves 5 precise waypoints with total movement distance of 0.472." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10236, + "action": "carry", + "object": "Kettle", + "frame_index": 201, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10237", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.395, 1.232]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.275, 1.523]). The trajectory involves 5 precise waypoints with total movement distance of 0.325." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10237, + "action": "putdown", + "object": "Kettle", + "frame_index": 223, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10241", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.356, 1.397]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.306, 1.617]). The trajectory involves 5 precise waypoints with total movement distance of 0.227." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10241, + "action": "putdown", + "object": "Kettle", + "frame_index": 231, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10242", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N46_S236_s01_T1/align_rgb/00233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.401, 1.484]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.356, 1.671]). The trajectory involves 5 precise waypoints with total movement distance of 0.194." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10242, + "action": "putdown", + "object": "Kettle", + "frame_index": 233, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10264", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N46_S186_s01_T2/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N46_S186_s01_T2/align_rgb/00110.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N46_S186_s01_T2/align_rgb/00111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.321, 1.263]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.772, 1.542]). The trajectory involves 5 precise waypoints with total movement distance of 0.563." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10264, + "action": "putdown", + "object": "Kettle", + "frame_index": 111, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10268", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N46_S186_s01_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N46_S186_s01_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N46_S186_s01_T2/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.594, 1.480]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.535, 1.868]). The trajectory involves 5 precise waypoints with total movement distance of 2.370." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10268, + "action": "carry", + "object": "Kettle", + "frame_index": 203, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10325", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.188, 1.310]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.693, 1.214]). The trajectory involves 5 precise waypoints with total movement distance of 0.527." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10325, + "action": "carry", + "object": "Kettle", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10326", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.206, 1.314]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.757, 1.243]). The trajectory involves 5 precise waypoints with total movement distance of 0.558." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10326, + "action": "carry", + "object": "Kettle", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10327", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.209, 1.329]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.763, 1.290]). The trajectory involves 5 precise waypoints with total movement distance of 0.558." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10327, + "action": "carry", + "object": "Kettle", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10328", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.219, 1.307]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.770, 1.274]). The trajectory involves 5 precise waypoints with total movement distance of 0.553." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10328, + "action": "carry", + "object": "Kettle", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10329", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.260, 1.299]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.805, 1.279]). The trajectory involves 5 precise waypoints with total movement distance of 0.548." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10329, + "action": "carry", + "object": "Kettle", + "frame_index": 75, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10330", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.322, 1.280]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.863, 1.266]). The trajectory involves 5 precise waypoints with total movement distance of 0.544." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10330, + "action": "carry", + "object": "Kettle", + "frame_index": 77, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10331", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.394, 1.262]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.909, 1.292]). The trajectory involves 5 precise waypoints with total movement distance of 0.520." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10331, + "action": "carry", + "object": "Kettle", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10332", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.434, 1.245]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.916, 1.317]). The trajectory involves 5 precise waypoints with total movement distance of 0.502." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10332, + "action": "carry", + "object": "Kettle", + "frame_index": 81, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10336", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [2.088, 1.429]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.073, 1.592]). The trajectory involves 5 precise waypoints with total movement distance of 0.164." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10336, + "action": "putdown", + "object": "Kettle", + "frame_index": 109, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10342", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.108, 1.366]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.386, 1.120]). The trajectory involves 5 precise waypoints with total movement distance of 0.787." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10342, + "action": "carry", + "object": "Kettle", + "frame_index": 217, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10343", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.022, 1.282]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.261, 1.112]). The trajectory involves 5 precise waypoints with total movement distance of 0.800." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10343, + "action": "carry", + "object": "Kettle", + "frame_index": 219, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10344", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N44_S235_s05_T1/align_rgb/00220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.028, 1.287]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.272, 1.152]). The trajectory involves 5 precise waypoints with total movement distance of 0.793." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10344, + "action": "carry", + "object": "Kettle", + "frame_index": 220, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10367", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N44_S184_s05_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N44_S184_s05_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N44_S184_s05_T2/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.531, 1.584]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.032, 1.801]). The trajectory involves 5 precise waypoints with total movement distance of 1.629." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10367, + "action": "carry", + "object": "Kettle", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10378", + "task": "pick up the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N43_S235_s05_T1/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N43_S235_s05_T1/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N43_S235_s05_T1/align_rgb/00187.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the kettle, execute the following phases: 1) Initial approach phase (start at [2.006, 1.383]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.012, 1.083]). The trajectory involves 5 precise waypoints with total movement distance of 0.302." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10378, + "action": "pickup", + "object": "Kettle", + "frame_index": 187, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10385", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N43_S235_s05_T1/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N43_S235_s05_T1/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N43_S235_s05_T1/align_rgb/00230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.297, 1.236]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.303, 1.462]). The trajectory involves 5 precise waypoints with total movement distance of 0.232." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10385, + "action": "putdown", + "object": "Kettle", + "frame_index": 230, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10393", + "task": "dump the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N43_S184_s05_T2/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N43_S184_s05_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N43_S184_s05_T2/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: dump the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: dump the kettle, execute the following phases: 1) Initial approach phase (start at [1.328, 1.317]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.136, 1.343]). The trajectory involves 5 precise waypoints with total movement distance of 0.219." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10393, + "action": "dump", + "object": "Kettle", + "frame_index": 58, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10425", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N43_S184_s05_T2/align_rgb/00139.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N43_S184_s05_T2/align_rgb/00140.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N43_S184_s05_T2/align_rgb/00141.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.466, 1.146]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.780, 1.600]). The trajectory involves 5 precise waypoints with total movement distance of 0.577." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10425, + "action": "putdown", + "object": "Kettle", + "frame_index": 141, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10488", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N41_S235_s05_T1/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N41_S235_s05_T1/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N41_S235_s05_T1/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.001, 1.386]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.606, 1.125]). The trajectory involves 5 precise waypoints with total movement distance of 0.489." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10488, + "action": "carry", + "object": "Kettle", + "frame_index": 207, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10489", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N41_S235_s05_T1/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N41_S235_s05_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N41_S235_s05_T1/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.986, 1.392]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.572, 1.185]). The trajectory involves 5 precise waypoints with total movement distance of 0.473." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10489, + "action": "carry", + "object": "Kettle", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10498", + "task": "pour water from the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N41_S184_s04_T2/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N41_S184_s04_T2/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N41_S184_s04_T2/align_rgb/00051.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pour water from the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pour water from the kettle, execute the following phases: 1) Initial approach phase (start at [1.622, 1.561]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.150, 1.490]). The trajectory involves 5 precise waypoints with total movement distance of 0.496." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10498, + "action": "dump", + "object": "Kettle", + "frame_index": 51, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10520", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N41_S184_s04_T2/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N41_S184_s04_T2/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N41_S184_s04_T2/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.607, 1.561]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.297, 1.780]). The trajectory involves 5 precise waypoints with total movement distance of 1.973." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10520, + "action": "carry", + "object": "Kettle", + "frame_index": 195, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10525", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N41_S184_s04_T2/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N41_S184_s04_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N41_S184_s04_T2/align_rgb/00205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.554, 1.510]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.069, 1.782]). The trajectory involves 5 precise waypoints with total movement distance of 1.588." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10525, + "action": "carry", + "object": "Kettle", + "frame_index": 205, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10541", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N40_S235_s04_T1/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N40_S235_s04_T1/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N40_S235_s04_T1/align_rgb/00193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.150, 1.217]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.598, 0.996]). The trajectory involves 5 precise waypoints with total movement distance of 0.682." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10541, + "action": "carry", + "object": "Kettle", + "frame_index": 193, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10562", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N40_S184_s04_T2/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N40_S184_s04_T2/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N40_S184_s04_T2/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.542, 1.318]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.692, 1.674]). The trajectory involves 5 precise waypoints with total movement distance of 0.387." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10562, + "action": "putdown", + "object": "Kettle", + "frame_index": 88, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10567", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N40_S184_s04_T2/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N40_S184_s04_T2/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N40_S184_s04_T2/align_rgb/00098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.328, 1.345]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.764, 1.662]). The trajectory involves 5 precise waypoints with total movement distance of 0.543." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10567, + "action": "putdown", + "object": "Kettle", + "frame_index": 98, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10575", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N40_S184_s04_T2/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N40_S184_s04_T2/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N40_S184_s04_T2/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.586, 1.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.224, 1.395]). The trajectory involves 5 precise waypoints with total movement distance of 1.443." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10575, + "action": "carry", + "object": "Kettle", + "frame_index": 198, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10581", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N40_S184_s04_T2/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N40_S184_s04_T2/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N40_S184_s04_T2/align_rgb/00230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.513, 1.480]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.182, 1.751]). The trajectory involves 5 precise waypoints with total movement distance of 0.450." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10581, + "action": "putdown", + "object": "Kettle", + "frame_index": 230, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10587", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N39_S235_s04_T1/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N39_S235_s04_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N39_S235_s04_T1/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.359, 1.167]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.902, 1.110]). The trajectory involves 5 precise waypoints with total movement distance of 0.598." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10587, + "action": "carry", + "object": "Kettle", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10592", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N39_S235_s04_T1/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N39_S235_s04_T1/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N39_S235_s04_T1/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.094, 1.144]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.677, 0.921]). The trajectory involves 5 precise waypoints with total movement distance of 0.498." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10592, + "action": "carry", + "object": "Kettle", + "frame_index": 198, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10594", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N39_S235_s04_T1/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N39_S235_s04_T1/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N39_S235_s04_T1/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.065, 1.076]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.626, 0.962]). The trajectory involves 5 precise waypoints with total movement distance of 0.476." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10594, + "action": "carry", + "object": "Kettle", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10599", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N39_S235_s04_T1/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N39_S235_s04_T1/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N39_S235_s04_T1/align_rgb/00232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.496, 1.091]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.412, 1.365]). The trajectory involves 5 precise waypoints with total movement distance of 0.288." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10599, + "action": "putdown", + "object": "Kettle", + "frame_index": 232, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10681", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N37_S235_s04_T1/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N37_S235_s04_T1/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N37_S235_s04_T1/align_rgb/00096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [2.149, 1.222]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.176, 1.524]). The trajectory involves 5 precise waypoints with total movement distance of 0.322." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10681, + "action": "putdown", + "object": "Kettle", + "frame_index": 96, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10682", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N37_S235_s04_T1/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N37_S235_s04_T1/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N37_S235_s04_T1/align_rgb/00097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [2.124, 1.289]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.141, 1.555]). The trajectory involves 5 precise waypoints with total movement distance of 0.272." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10682, + "action": "putdown", + "object": "Kettle", + "frame_index": 97, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10686", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N37_S235_s04_T1/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N37_S235_s04_T1/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N37_S235_s04_T1/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.088, 1.264]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.602, 1.124]). The trajectory involves 5 precise waypoints with total movement distance of 0.558." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10686, + "action": "carry", + "object": "Kettle", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10688", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N37_S235_s04_T1/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N37_S235_s04_T1/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N37_S235_s04_T1/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.036, 1.210]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.551, 1.196]). The trajectory involves 5 precise waypoints with total movement distance of 0.556." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10688, + "action": "carry", + "object": "Kettle", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10696", + "task": "dump the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N37_S184_s03_T2/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N37_S184_s03_T2/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N37_S184_s03_T2/align_rgb/00063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: dump the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: dump the kettle, execute the following phases: 1) Initial approach phase (start at [1.464, 1.545]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.106, 1.482]). The trajectory involves 5 precise waypoints with total movement distance of 0.380." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10696, + "action": "dump", + "object": "Kettle", + "frame_index": 63, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10716", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N37_S184_s03_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N37_S184_s03_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N37_S184_s03_T2/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.544, 1.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.112, 1.704]). The trajectory involves 5 precise waypoints with total movement distance of 1.733." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10716, + "action": "carry", + "object": "Kettle", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10718", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N37_S184_s03_T2/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N37_S184_s03_T2/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N37_S184_s03_T2/align_rgb/00215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.588, 1.481]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.023, 1.719]). The trajectory involves 5 precise waypoints with total movement distance of 1.687." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10718, + "action": "carry", + "object": "Kettle", + "frame_index": 215, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10719", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N37_S184_s03_T2/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N37_S184_s03_T2/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N37_S184_s03_T2/align_rgb/00216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.585, 1.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.023, 1.727]). The trajectory involves 5 precise waypoints with total movement distance of 1.634." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10719, + "action": "carry", + "object": "Kettle", + "frame_index": 216, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10768", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.172, 1.127]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.967, 1.076]). The trajectory involves 5 precise waypoints with total movement distance of 0.801." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10768, + "action": "carry", + "object": "Kettle", + "frame_index": 70, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10769", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.221, 1.123]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.004, 1.107]). The trajectory involves 5 precise waypoints with total movement distance of 0.788." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10769, + "action": "carry", + "object": "Kettle", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10771", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.322, 1.096]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.094, 1.119]). The trajectory involves 5 precise waypoints with total movement distance of 0.786." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10771, + "action": "carry", + "object": "Kettle", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10777", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [2.234, 1.302]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.116, 1.616]). The trajectory involves 5 precise waypoints with total movement distance of 0.345." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10777, + "action": "putdown", + "object": "Kettle", + "frame_index": 107, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10785", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.125, 1.362]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.337, 1.127]). The trajectory involves 5 precise waypoints with total movement distance of 0.953." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10785, + "action": "carry", + "object": "Kettle", + "frame_index": 201, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10789", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N35_S235_s03_T1/align_rgb/00229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.169, 1.375]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.149, 1.543]). The trajectory involves 5 precise waypoints with total movement distance of 0.256." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10789, + "action": "putdown", + "object": "Kettle", + "frame_index": 229, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10812", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N35_S184_s03_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N35_S184_s03_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N35_S184_s03_T2/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.553, 1.418]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.028, 1.670]). The trajectory involves 5 precise waypoints with total movement distance of 1.697." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10812, + "action": "carry", + "object": "Kettle", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10814", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N35_S184_s03_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N35_S184_s03_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N35_S184_s03_T2/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.551, 1.428]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.078, 1.781]). The trajectory involves 5 precise waypoints with total movement distance of 1.572." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10814, + "action": "carry", + "object": "Kettle", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10822", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.463, 1.367]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.020, 1.513]). The trajectory involves 5 precise waypoints with total movement distance of 0.590." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10822, + "action": "carry", + "object": "Kettle", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10830", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.847, 1.264]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.455, 1.136]). The trajectory involves 5 precise waypoints with total movement distance of 0.428." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10830, + "action": "carry", + "object": "Kettle", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10831", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.875, 1.252]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.495, 1.145]). The trajectory involves 5 precise waypoints with total movement distance of 0.415." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10831, + "action": "carry", + "object": "Kettle", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10832", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.842, 1.246]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.465, 1.177]). The trajectory involves 5 precise waypoints with total movement distance of 0.403." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10832, + "action": "carry", + "object": "Kettle", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10841", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.303, 1.435]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.388, 1.650]). The trajectory involves 5 precise waypoints with total movement distance of 0.232." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10841, + "action": "putdown", + "object": "Kettle", + "frame_index": 242, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10843", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00244.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00245.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N34_S235_s03_T1/align_rgb/00246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.289, 1.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.366, 1.651]). The trajectory involves 5 precise waypoints with total movement distance of 0.205." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10843, + "action": "putdown", + "object": "Kettle", + "frame_index": 246, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10869", + "task": "pick up the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N34_S184_s03_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N34_S184_s03_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N34_S184_s03_T2/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the kettle, execute the following phases: 1) Initial approach phase (start at [1.658, 1.583]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.626, 1.355]). The trajectory involves 5 precise waypoints with total movement distance of 0.238." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10869, + "action": "pickup", + "object": "Kettle", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10871", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N34_S184_s03_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N34_S184_s03_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N34_S184_s03_T2/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.734, 1.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.104, 1.595]). The trajectory involves 5 precise waypoints with total movement distance of 1.710." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10871, + "action": "carry", + "object": "Kettle", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10884", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N33_S235_s03_T1/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N33_S235_s03_T1/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N33_S235_s03_T1/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.020, 1.354]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.631, 1.098]). The trajectory involves 5 precise waypoints with total movement distance of 0.497." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10884, + "action": "carry", + "object": "Kettle", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10916", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N33_S184_s02_T2/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N33_S184_s02_T2/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N33_S184_s02_T2/align_rgb/00217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.643, 1.627]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.145, 1.741]). The trajectory involves 5 precise waypoints with total movement distance of 1.841." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10916, + "action": "carry", + "object": "Kettle", + "frame_index": 217, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10969", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N31_S235_s02_T1/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N31_S235_s02_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N31_S235_s02_T1/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.415, 1.219]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.905, 1.191]). The trajectory involves 5 precise waypoints with total movement distance of 0.530." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10969, + "action": "carry", + "object": "Kettle", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10976", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N31_S235_s02_T1/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N31_S235_s02_T1/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N31_S235_s02_T1/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.983, 1.241]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.598, 1.035]). The trajectory involves 5 precise waypoints with total movement distance of 0.449." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10976, + "action": "carry", + "object": "Kettle", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10981", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N31_S235_s02_T1/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N31_S235_s02_T1/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N31_S235_s02_T1/align_rgb/00222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.812, 1.107]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.370, 1.010]). The trajectory involves 5 precise waypoints with total movement distance of 0.458." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10981, + "action": "carry", + "object": "Kettle", + "frame_index": 222, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_10985", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N31_S235_s02_T1/align_rgb/00248.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N31_S235_s02_T1/align_rgb/00249.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N31_S235_s02_T1/align_rgb/00250.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.274, 1.170]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.290, 1.495]). The trajectory involves 5 precise waypoints with total movement distance of 0.326." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 10985, + "action": "putdown", + "object": "Kettle", + "frame_index": 250, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11009", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N31_S184_s02_T2/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N31_S184_s02_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N31_S184_s02_T2/align_rgb/00205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.540, 1.609]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.238, 1.554]). The trajectory involves 5 precise waypoints with total movement distance of 1.368." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11009, + "action": "carry", + "object": "Kettle", + "frame_index": 205, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11012", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N31_S184_s02_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N31_S184_s02_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N31_S184_s02_T2/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.594, 1.590]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.260, 1.665]). The trajectory involves 5 precise waypoints with total movement distance of 1.408." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11012, + "action": "carry", + "object": "Kettle", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11013", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N31_S184_s02_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N31_S184_s02_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N31_S184_s02_T2/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.581, 1.561]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.270, 1.665]). The trajectory involves 5 precise waypoints with total movement distance of 1.369." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11013, + "action": "carry", + "object": "Kettle", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11067", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N29_S235_s02_T1/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N29_S235_s02_T1/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N29_S235_s02_T1/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.947, 1.242]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.049, 1.551]). The trajectory involves 5 precise waypoints with total movement distance of 0.330." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11067, + "action": "putdown", + "object": "Kettle", + "frame_index": 90, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11069", + "task": "pick up the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N29_S235_s02_T1/align_rgb/00172.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N29_S235_s02_T1/align_rgb/00173.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N29_S235_s02_T1/align_rgb/00174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the kettle, execute the following phases: 1) Initial approach phase (start at [1.997, 1.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.983, 1.276]). The trajectory involves 5 precise waypoints with total movement distance of 0.253." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11069, + "action": "pickup", + "object": "Kettle", + "frame_index": 174, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11070", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N29_S235_s02_T1/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N29_S235_s02_T1/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N29_S235_s02_T1/align_rgb/00191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.976, 1.319]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.451, 1.124]). The trajectory involves 5 precise waypoints with total movement distance of 0.578." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11070, + "action": "carry", + "object": "Kettle", + "frame_index": 191, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11115", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N28_S235_s01_T1/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N28_S235_s01_T1/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N28_S235_s01_T1/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.515, 1.284]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.011, 1.335]). The trajectory involves 5 precise waypoints with total movement distance of 0.503." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11115, + "action": "carry", + "object": "Kettle", + "frame_index": 88, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11123", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N28_S235_s01_T1/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N28_S235_s01_T1/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N28_S235_s01_T1/align_rgb/00226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.059, 1.279]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.566, 1.050]). The trajectory involves 5 precise waypoints with total movement distance of 0.611." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11123, + "action": "carry", + "object": "Kettle", + "frame_index": 226, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11157", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N28_S184_s01_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N28_S184_s01_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N28_S184_s01_T2/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.577, 1.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.185, 1.666]). The trajectory involves 5 precise waypoints with total movement distance of 1.878." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11157, + "action": "carry", + "object": "Kettle", + "frame_index": 207, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11158", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N28_S184_s01_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N28_S184_s01_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N28_S184_s01_T2/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.592, 1.444]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.254, 1.710]). The trajectory involves 5 precise waypoints with total movement distance of 1.952." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11158, + "action": "carry", + "object": "Kettle", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11168", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N27_S235_s01_T1/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N27_S235_s01_T1/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N27_S235_s01_T1/align_rgb/00089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.789, 1.036]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.860, 1.393]). The trajectory involves 5 precise waypoints with total movement distance of 0.368." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11168, + "action": "putdown", + "object": "Kettle", + "frame_index": 89, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11173", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N27_S235_s01_T1/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N27_S235_s01_T1/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N27_S235_s01_T1/align_rgb/00187.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.966, 1.334]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.442, 1.160]). The trajectory involves 5 precise waypoints with total movement distance of 0.611." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11173, + "action": "carry", + "object": "Kettle", + "frame_index": 187, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11175", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N27_S235_s01_T1/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N27_S235_s01_T1/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N27_S235_s01_T1/align_rgb/00191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.882, 1.268]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.329, 1.269]). The trajectory involves 5 precise waypoints with total movement distance of 0.602." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11175, + "action": "carry", + "object": "Kettle", + "frame_index": 191, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11176", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N27_S235_s01_T1/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N27_S235_s01_T1/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N27_S235_s01_T1/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.245, 1.106]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.157, 1.429]). The trajectory involves 5 precise waypoints with total movement distance of 0.341." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11176, + "action": "putdown", + "object": "Kettle", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11220", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.608, 1.104]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.047, 1.204]). The trajectory involves 5 precise waypoints with total movement distance of 0.478." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11220, + "action": "carry", + "object": "Kettle", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11224", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.997, 1.308]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.591, 1.104]). The trajectory involves 5 precise waypoints with total movement distance of 0.473." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11224, + "action": "carry", + "object": "Kettle", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11227", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.936, 1.245]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.531, 1.166]). The trajectory involves 5 precise waypoints with total movement distance of 0.451." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11227, + "action": "carry", + "object": "Kettle", + "frame_index": 214, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11228", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.539, 1.101]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.449, 1.299]). The trajectory involves 5 precise waypoints with total movement distance of 0.231." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11228, + "action": "putdown", + "object": "Kettle", + "frame_index": 236, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11229", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N26_S235_s01_T1/align_rgb/00238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.553, 1.102]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.489, 1.299]). The trajectory involves 5 precise waypoints with total movement distance of 0.214." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11229, + "action": "putdown", + "object": "Kettle", + "frame_index": 238, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11259", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N26_S184_s01_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N26_S184_s01_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N26_S184_s01_T2/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.610, 1.665]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.191, 1.802]). The trajectory involves 5 precise waypoints with total movement distance of 1.903." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11259, + "action": "carry", + "object": "Kettle", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11260", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N26_S184_s01_T2/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N26_S184_s01_T2/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N26_S184_s01_T2/align_rgb/00215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.635, 1.570]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.194, 1.715]). The trajectory involves 5 precise waypoints with total movement distance of 1.928." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11260, + "action": "carry", + "object": "Kettle", + "frame_index": 215, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11270", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N25_S235_s01_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N25_S235_s01_T1/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N25_S235_s01_T1/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.326, 1.102]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.931, 1.057]). The trajectory involves 5 precise waypoints with total movement distance of 0.651." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11270, + "action": "carry", + "object": "Kettle", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11277", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N25_S235_s01_T1/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N25_S235_s01_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N25_S235_s01_T1/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.002, 1.153]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.526, 1.028]). The trajectory involves 5 precise waypoints with total movement distance of 0.497." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11277, + "action": "carry", + "object": "Kettle", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11322", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.348, 1.135]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.935, 1.070]). The trajectory involves 5 precise waypoints with total movement distance of 0.609." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11322, + "action": "carry", + "object": "Kettle", + "frame_index": 81, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11324", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.363, 1.077]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.969, 1.063]). The trajectory involves 5 precise waypoints with total movement distance of 0.619." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11324, + "action": "carry", + "object": "Kettle", + "frame_index": 85, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11329", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.018, 1.325]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.756, 1.068]). The trajectory involves 5 precise waypoints with total movement distance of 0.383." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11329, + "action": "carry", + "object": "Kettle", + "frame_index": 214, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11335", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.930, 1.191]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.537, 1.071]). The trajectory involves 5 precise waypoints with total movement distance of 0.450." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11335, + "action": "carry", + "object": "Kettle", + "frame_index": 226, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11336", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.894, 1.168]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.478, 1.081]). The trajectory involves 5 precise waypoints with total movement distance of 0.458." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11336, + "action": "carry", + "object": "Kettle", + "frame_index": 228, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11340", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N23_S236_s03_T1/align_rgb/00235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.741, 1.078]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.361, 1.162]). The trajectory involves 5 precise waypoints with total movement distance of 0.443." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11340, + "action": "carry", + "object": "Kettle", + "frame_index": 235, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11359", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N23_S186_s02_T2/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N23_S186_s02_T2/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N23_S186_s02_T2/align_rgb/00108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.203, 1.253]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.608, 1.636]). The trajectory involves 5 precise waypoints with total movement distance of 0.634." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11359, + "action": "putdown", + "object": "Kettle", + "frame_index": 108, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11361", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N23_S186_s02_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N23_S186_s02_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N23_S186_s02_T2/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.501, 1.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.250, 1.299]). The trajectory involves 5 precise waypoints with total movement distance of 1.315." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11361, + "action": "carry", + "object": "Kettle", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11365", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N23_S186_s02_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N23_S186_s02_T2/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N23_S186_s02_T2/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.501, 1.462]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.077, 1.581]). The trajectory involves 5 precise waypoints with total movement distance of 1.652." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11365, + "action": "carry", + "object": "Kettle", + "frame_index": 214, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11366", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N23_S186_s02_T2/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N23_S186_s02_T2/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N23_S186_s02_T2/align_rgb/00216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.504, 1.463]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.017, 1.632]). The trajectory involves 5 precise waypoints with total movement distance of 1.620." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11366, + "action": "carry", + "object": "Kettle", + "frame_index": 216, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11374", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N21_S236_s03_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N21_S236_s03_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N21_S236_s03_T1/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.443, 1.197]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.899, 1.077]). The trajectory involves 5 precise waypoints with total movement distance of 0.483." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11374, + "action": "carry", + "object": "Kettle", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11375", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N21_S236_s03_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N21_S236_s03_T1/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N21_S236_s03_T1/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.457, 1.225]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.905, 1.143]). The trajectory involves 5 precise waypoints with total movement distance of 0.467." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11375, + "action": "carry", + "object": "Kettle", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11383", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N21_S236_s03_T1/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N21_S236_s03_T1/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N21_S236_s03_T1/align_rgb/00221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.027, 1.220]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.533, 1.034]). The trajectory involves 5 precise waypoints with total movement distance of 0.539." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11383, + "action": "carry", + "object": "Kettle", + "frame_index": 221, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11410", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N21_S186_s02_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N21_S186_s02_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N21_S186_s02_T2/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.508, 1.379]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.210, 1.236]). The trajectory involves 5 precise waypoints with total movement distance of 1.365." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11410, + "action": "carry", + "object": "Kettle", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11411", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N21_S186_s02_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N21_S186_s02_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N21_S186_s02_T2/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.519, 1.387]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.054, 1.308]). The trajectory involves 5 precise waypoints with total movement distance of 1.641." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11411, + "action": "carry", + "object": "Kettle", + "frame_index": 208, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11414", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N21_S186_s02_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N21_S186_s02_T2/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N21_S186_s02_T2/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.562, 1.385]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.051, 1.388]). The trajectory involves 5 precise waypoints with total movement distance of 1.679." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11414, + "action": "carry", + "object": "Kettle", + "frame_index": 214, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11415", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N21_S186_s02_T2/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N21_S186_s02_T2/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N21_S186_s02_T2/align_rgb/00216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.579, 1.340]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.153, 1.357]). The trajectory involves 5 precise waypoints with total movement distance of 1.477." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11415, + "action": "carry", + "object": "Kettle", + "frame_index": 216, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11421", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.047, 1.410]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.675, 1.197]). The trajectory involves 5 precise waypoints with total movement distance of 0.670." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11421, + "action": "carry", + "object": "Kettle", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11425", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.140, 1.280]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.773, 1.130]). The trajectory involves 5 precise waypoints with total movement distance of 0.657." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11425, + "action": "carry", + "object": "Kettle", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11426", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.189, 1.297]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.796, 1.194]). The trajectory involves 5 precise waypoints with total movement distance of 0.624." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11426, + "action": "carry", + "object": "Kettle", + "frame_index": 81, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11427", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.305, 1.207]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.907, 1.186]). The trajectory involves 5 precise waypoints with total movement distance of 0.617." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11427, + "action": "carry", + "object": "Kettle", + "frame_index": 83, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11433", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00113.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00114.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [2.003, 1.386]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.981, 1.603]). The trajectory involves 5 precise waypoints with total movement distance of 0.218." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11433, + "action": "putdown", + "object": "Kettle", + "frame_index": 115, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11439", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N19_S236_s03_T1/align_rgb/00219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.758, 1.190]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.104, 1.110]). The trajectory involves 5 precise waypoints with total movement distance of 0.683." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11439, + "action": "carry", + "object": "Kettle", + "frame_index": 219, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11446", + "task": "dump the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N19_S186_s02_T2/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N19_S186_s02_T2/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N19_S186_s02_T2/align_rgb/00061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: dump the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: dump the kettle, execute the following phases: 1) Initial approach phase (start at [1.355, 1.292]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.032, 1.277]). The trajectory involves 5 precise waypoints with total movement distance of 0.330." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11446, + "action": "dump", + "object": "Kettle", + "frame_index": 61, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11541", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s05_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s05_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s05_T2/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.858, 1.428]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.386, 1.599]). The trajectory involves 5 precise waypoints with total movement distance of 1.547." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11541, + "action": "carry", + "object": "Kettle", + "frame_index": 203, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11545", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s05_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s05_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s05_T2/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.885, 1.366]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.507, 1.607]). The trajectory involves 5 precise waypoints with total movement distance of 1.446." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11545, + "action": "carry", + "object": "Kettle", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11550", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s05_T2/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s05_T2/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s05_T2/align_rgb/00220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.864, 1.381]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.816, 1.621]). The trajectory involves 5 precise waypoints with total movement distance of 1.105." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11550, + "action": "carry", + "object": "Kettle", + "frame_index": 220, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11561", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s02_T1/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s02_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s02_T1/align_rgb/00098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.593, 1.236]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.020, 1.287]). The trajectory involves 5 precise waypoints with total movement distance of 0.439." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11561, + "action": "carry", + "object": "Kettle", + "frame_index": 98, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11562", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s02_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s02_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s02_T1/align_rgb/00099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.615, 1.209]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.031, 1.280]). The trajectory involves 5 precise waypoints with total movement distance of 0.431." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11562, + "action": "carry", + "object": "Kettle", + "frame_index": 99, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11566", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s02_T1/align_rgb/00244.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s02_T1/align_rgb/00245.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N15_S236_s02_T1/align_rgb/00246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.492, 1.269]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.341, 1.550]). The trajectory involves 5 precise waypoints with total movement distance of 0.323." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11566, + "action": "putdown", + "object": "Kettle", + "frame_index": 246, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11587", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N15_S186_s02_T2/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N15_S186_s02_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N15_S186_s02_T2/align_rgb/00205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.588, 1.396]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.003, 1.525]). The trajectory involves 5 precise waypoints with total movement distance of 1.649." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11587, + "action": "carry", + "object": "Kettle", + "frame_index": 205, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11591", + "task": "pick up the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N13_S236_s03_T1/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N13_S236_s03_T1/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N13_S236_s03_T1/align_rgb/00053.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the kettle, execute the following phases: 1) Initial approach phase (start at [1.313, 1.286]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.290, 1.145]). The trajectory involves 5 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11591, + "action": "pickup", + "object": "Kettle", + "frame_index": 53, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11627", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N13_S186_s02_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N13_S186_s02_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N13_S186_s02_T2/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.601, 1.404]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.062, 1.541]). The trajectory involves 5 precise waypoints with total movement distance of 1.747." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11627, + "action": "carry", + "object": "Kettle", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11628", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N13_S186_s02_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N13_S186_s02_T2/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N13_S186_s02_T2/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.612, 1.396]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.080, 1.607]). The trajectory involves 5 precise waypoints with total movement distance of 1.778." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11628, + "action": "carry", + "object": "Kettle", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11630", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C12_N13_S186_s02_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N13_S186_s02_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C12_N13_S186_s02_T2/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.612, 1.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.023, 1.655]). The trajectory involves 5 precise waypoints with total movement distance of 1.681." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11630, + "action": "carry", + "object": "Kettle", + "frame_index": 208, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_11784", + "task": "put down the pliers", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C11_N56_S368_s05_T2/align_rgb/00243.jpg", + "hoi4d_frame/ZY20210800004_H4_C11_N56_S368_s05_T2/align_rgb/00244.jpg", + "hoi4d_frame/ZY20210800004_H4_C11_N56_S368_s05_T2/align_rgb/00245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the pliers?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the pliers, execute the following phases: 1) Initial approach phase (start at [1.484, 1.424]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.435, 1.632]). The trajectory involves 5 precise waypoints with total movement distance of 0.216." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11784, + "action": "putdown", + "object": "Pliers", + "frame_index": 245, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Left Part of the Pliers", + "Right Part of the Pliers" + ] + } + }, + { + "id": "hoi4d_11785", + "task": "put down the pliers", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C11_N56_S368_s05_T2/align_rgb/00245.jpg", + "hoi4d_frame/ZY20210800004_H4_C11_N56_S368_s05_T2/align_rgb/00246.jpg", + "hoi4d_frame/ZY20210800004_H4_C11_N56_S368_s05_T2/align_rgb/00247.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the pliers?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the pliers, execute the following phases: 1) Initial approach phase (start at [1.453, 1.403]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.403, 1.595]). The trajectory involves 5 precise waypoints with total movement distance of 0.202." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11785, + "action": "putdown", + "object": "Pliers", + "frame_index": 247, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Left Part of the Pliers", + "Right Part of the Pliers" + ] + } + }, + { + "id": "hoi4d_11799", + "task": "put down the pliers", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C11_N56_S368_s04_T4/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800004_H4_C11_N56_S368_s04_T4/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800004_H4_C11_N56_S368_s04_T4/align_rgb/00107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the pliers?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the pliers, execute the following phases: 1) Initial approach phase (start at [1.540, 1.331]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.439, 1.601]). The trajectory involves 5 precise waypoints with total movement distance of 0.298." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11799, + "action": "putdown", + "object": "Pliers", + "frame_index": 107, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Left Part of the Pliers", + "Right Part of the Pliers" + ] + } + }, + { + "id": "hoi4d_11902", + "task": "carry Pliers to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C11_N55_S368_s01_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C11_N55_S368_s01_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C11_N55_S368_s01_T1/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Pliers to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Pliers to the left, execute the following phases: 1) Initial approach phase (start at [1.875, 0.995]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.421, 0.956]). The trajectory involves 5 precise waypoints with total movement distance of 0.491." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 11902, + "action": "carry", + "object": "Pliers", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Left Part of the Pliers", + "Right Part of the Pliers" + ] + } + }, + { + "id": "hoi4d_12106", + "task": "carry Pliers to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C11_N41_S243_s04_T4/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800004_H4_C11_N41_S243_s04_T4/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800004_H4_C11_N41_S243_s04_T4/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Pliers to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Pliers to the left, execute the following phases: 1) Initial approach phase (start at [1.760, 1.510]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.655, 1.321]). The trajectory involves 5 precise waypoints with total movement distance of 1.152." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12106, + "action": "carry", + "object": "Pliers", + "frame_index": 64, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Left Part of the Pliers", + "Right Part of the Pliers" + ] + } + }, + { + "id": "hoi4d_12125", + "task": "carry Pliers to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C11_N40_S243_s04_T4/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C11_N40_S243_s04_T4/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C11_N40_S243_s04_T4/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Pliers to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Pliers to the left, execute the following phases: 1) Initial approach phase (start at [1.852, 1.538]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.787, 1.316]). The trajectory involves 5 precise waypoints with total movement distance of 1.113." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12125, + "action": "carry", + "object": "Pliers", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Left Part of the Pliers", + "Right Part of the Pliers" + ] + } + }, + { + "id": "hoi4d_12228", + "task": "pickup the pliers", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C11_N19_S193_s02_T3/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800004_H4_C11_N19_S193_s02_T3/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C11_N19_S193_s02_T3/align_rgb/00077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pickup the pliers?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pickup the pliers, execute the following phases: 1) Initial approach phase (start at [1.486, 1.728]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.466, 1.350]). The trajectory involves 5 precise waypoints with total movement distance of 0.382." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12228, + "action": "carry", + "object": "Pliers", + "frame_index": 77, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Left Part of the Pliers", + "Right Part of the Pliers" + ] + } + }, + { + "id": "hoi4d_12236", + "task": "carry Pliers to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C11_N19_S193_s02_T3/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C11_N19_S193_s02_T3/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C11_N19_S193_s02_T3/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Pliers to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Pliers to the left, execute the following phases: 1) Initial approach phase (start at [1.739, 1.589]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.794, 1.637]). The trajectory involves 5 precise waypoints with total movement distance of 0.968." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12236, + "action": "carry", + "object": "Pliers", + "frame_index": 212, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Left Part of the Pliers", + "Right Part of the Pliers" + ] + } + }, + { + "id": "hoi4d_12289", + "task": "pick up the pliers", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C11_N15_S193_s02_T3/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800004_H4_C11_N15_S193_s02_T3/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800004_H4_C11_N15_S193_s02_T3/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the pliers?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the pliers, execute the following phases: 1) Initial approach phase (start at [1.470, 1.579]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.427, 1.209]). The trajectory involves 5 precise waypoints with total movement distance of 0.373." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12289, + "action": "putdown", + "object": "Pliers", + "frame_index": 85, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Left Part of the Pliers", + "Right Part of the Pliers" + ] + } + }, + { + "id": "hoi4d_12290", + "task": "pick up the pliers", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C11_N15_S193_s02_T3/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800004_H4_C11_N15_S193_s02_T3/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800004_H4_C11_N15_S193_s02_T3/align_rgb/00087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the pliers?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the pliers, execute the following phases: 1) Initial approach phase (start at [1.509, 1.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.459, 1.199]). The trajectory involves 5 precise waypoints with total movement distance of 0.331." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12290, + "action": "putdown", + "object": "Pliers", + "frame_index": 87, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Left Part of the Pliers", + "Right Part of the Pliers" + ] + } + }, + { + "id": "hoi4d_12292", + "task": "pick up the pliers", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C11_N15_S193_s02_T3/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800004_H4_C11_N15_S193_s02_T3/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C11_N15_S193_s02_T3/align_rgb/00091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the pliers?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the pliers, execute the following phases: 1) Initial approach phase (start at [1.469, 1.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.438, 1.300]). The trajectory involves 5 precise waypoints with total movement distance of 0.244." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12292, + "action": "putdown", + "object": "Pliers", + "frame_index": 91, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Left Part of the Pliers", + "Right Part of the Pliers" + ] + } + }, + { + "id": "hoi4d_12367", + "task": "push Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N50_S240_s03_T2/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N50_S240_s03_T2/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N50_S240_s03_T2/align_rgb/00060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.488, 1.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.507, 1.239]). The trajectory involves 5 precise waypoints with total movement distance of 0.309." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12367, + "action": "push", + "object": "Toy Car", + "frame_index": 60, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12380", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N50_S240_s03_T2/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N50_S240_s03_T2/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N50_S240_s03_T2/align_rgb/00225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.352, 1.549]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.900, 1.717]). The trajectory involves 5 precise waypoints with total movement distance of 0.573." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12380, + "action": "pull", + "object": "Toy Car", + "frame_index": 225, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12391", + "task": "push Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00053.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00054.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.532, 1.747]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.541, 1.464]). The trajectory involves 5 precise waypoints with total movement distance of 0.284." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12391, + "action": "push", + "object": "Toy Car", + "frame_index": 54, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12392", + "task": "push Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00056.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.528, 1.726]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.535, 1.437]). The trajectory involves 5 precise waypoints with total movement distance of 0.290." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12392, + "action": "push", + "object": "Toy Car", + "frame_index": 56, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12404", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.516, 1.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.822, 1.586]). The trajectory involves 5 precise waypoints with total movement distance of 0.318." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12404, + "action": "pull", + "object": "Toy Car", + "frame_index": 230, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12405", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.539, 1.421]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.899, 1.513]). The trajectory involves 5 precise waypoints with total movement distance of 0.372." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12405, + "action": "pull", + "object": "Toy Car", + "frame_index": 232, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12410", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.592, 1.520]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.099, 1.645]). The trajectory involves 5 precise waypoints with total movement distance of 0.523." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12410, + "action": "pull", + "object": "Toy Car", + "frame_index": 242, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12411", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00242.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00243.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.622, 1.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.111, 1.622]). The trajectory involves 5 precise waypoints with total movement distance of 0.504." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12411, + "action": "pull", + "object": "Toy Car", + "frame_index": 244, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12413", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00246.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00247.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N49_S240_s03_T2/align_rgb/00248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.665, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.124, 1.608]). The trajectory involves 5 precise waypoints with total movement distance of 0.468." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12413, + "action": "pull", + "object": "Toy Car", + "frame_index": 248, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12544", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N45_S240_s02_T2/align_rgb/00247.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N45_S240_s02_T2/align_rgb/00248.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N45_S240_s02_T2/align_rgb/00249.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.477, 1.539]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.855, 1.634]). The trajectory involves 5 precise waypoints with total movement distance of 0.390." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12544, + "action": "pull", + "object": "Toy Car", + "frame_index": 249, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12549", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N45_S240_s02_T2/align_rgb/00257.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N45_S240_s02_T2/align_rgb/00258.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N45_S240_s02_T2/align_rgb/00259.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.637, 1.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.929, 1.535]). The trajectory involves 5 precise waypoints with total movement distance of 0.296." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12549, + "action": "pull", + "object": "Toy Car", + "frame_index": 259, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12551", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N45_S17_s02_T3/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N45_S17_s02_T3/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N45_S17_s02_T3/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.648, 1.285]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.651, 1.214]). The trajectory involves 5 precise waypoints with total movement distance of 0.071." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12551, + "action": "pickup", + "object": "Toy Car", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12562", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N45_S17_s02_T3/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N45_S17_s02_T3/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N45_S17_s02_T3/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.611, 1.865]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.623, 2.073]). The trajectory involves 5 precise waypoints with total movement distance of 0.211." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12562, + "action": "putdown", + "object": "Toy Car", + "frame_index": 214, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12615", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N44_S240_s01_T2/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N44_S240_s01_T2/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N44_S240_s01_T2/align_rgb/00091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.659, 1.263]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.663, 1.550]). The trajectory involves 5 precise waypoints with total movement distance of 0.287." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12615, + "action": "pull", + "object": "Toy Car", + "frame_index": 91, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12643", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N43_S240_s01_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N43_S240_s01_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N43_S240_s01_T2/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.406, 1.436]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.818, 1.534]). The trajectory involves 5 precise waypoints with total movement distance of 0.424." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12643, + "action": "pull", + "object": "Toy Car", + "frame_index": 208, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12649", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N43_S240_s01_T2/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N43_S240_s01_T2/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N43_S240_s01_T2/align_rgb/00220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.555, 1.442]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.795, 1.477]). The trajectory involves 5 precise waypoints with total movement distance of 0.244." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12649, + "action": "pull", + "object": "Toy Car", + "frame_index": 220, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12726", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N41_S240_s01_T2/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N41_S240_s01_T2/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N41_S240_s01_T2/align_rgb/00226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.806, 1.344]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.157, 1.412]). The trajectory involves 5 precise waypoints with total movement distance of 0.359." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12726, + "action": "pull", + "object": "Toy Car", + "frame_index": 226, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12741", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N41_S190_s03_T3/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N41_S190_s03_T3/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N41_S190_s03_T3/align_rgb/00087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.617, 1.578]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.639, 1.936]). The trajectory involves 5 precise waypoints with total movement distance of 1.097." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12741, + "action": "carry", + "object": "Toy Car", + "frame_index": 87, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12744", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N41_S190_s03_T3/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N41_S190_s03_T3/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N41_S190_s03_T3/align_rgb/00093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.682, 1.578]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.477, 1.777]). The trajectory involves 5 precise waypoints with total movement distance of 0.828." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12744, + "action": "carry", + "object": "Toy Car", + "frame_index": 93, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12764", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N41_S17_s01_T3/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N41_S17_s01_T3/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N41_S17_s01_T3/align_rgb/00241.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.675, 1.405]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.637, 1.593]). The trajectory involves 5 precise waypoints with total movement distance of 0.193." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12764, + "action": "putdown", + "object": "Toy Car", + "frame_index": 241, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12877", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N39_S244_s05_T4/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N39_S244_s05_T4/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N39_S244_s05_T4/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.522, 1.679]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.575, 1.273]). The trajectory involves 5 precise waypoints with total movement distance of 0.454." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12877, + "action": "pickup", + "object": "Toy Car", + "frame_index": 58, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12882", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N39_S244_s05_T4/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N39_S244_s05_T4/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N39_S244_s05_T4/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.677, 1.568]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.187, 2.098]). The trajectory involves 5 precise waypoints with total movement distance of 1.595." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12882, + "action": "carry", + "object": "Toy Car", + "frame_index": 201, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12887", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N39_S244_s05_T4/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N39_S244_s05_T4/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N39_S244_s05_T4/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.725, 1.697]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.443, 1.985]). The trajectory involves 5 precise waypoints with total movement distance of 1.333." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12887, + "action": "carry", + "object": "Toy Car", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12888", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N39_S244_s05_T4/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N39_S244_s05_T4/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N39_S244_s05_T4/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.651, 1.736]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.517, 1.981]). The trajectory involves 5 precise waypoints with total movement distance of 1.167." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12888, + "action": "carry", + "object": "Toy Car", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12898", + "task": "pull Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N39_S239_s05_T2/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N39_S239_s05_T2/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N39_S239_s05_T2/align_rgb/00077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.609, 1.303]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.590, 1.591]). The trajectory involves 5 precise waypoints with total movement distance of 0.289." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12898, + "action": "pull", + "object": "Toy Car", + "frame_index": 77, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12900", + "task": "pull Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N39_S239_s05_T2/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N39_S239_s05_T2/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N39_S239_s05_T2/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.603, 1.314]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.576, 1.595]). The trajectory involves 5 precise waypoints with total movement distance of 0.283." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12900, + "action": "pull", + "object": "Toy Car", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12905", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N39_S239_s05_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N39_S239_s05_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N39_S239_s05_T2/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.804, 1.379]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.470, 1.291]). The trajectory involves 5 precise waypoints with total movement distance of 0.345." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12905, + "action": "push", + "object": "Toy Car", + "frame_index": 203, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12911", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N39_S239_s05_T2/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N39_S239_s05_T2/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N39_S239_s05_T2/align_rgb/00235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.437, 1.340]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.958, 1.422]). The trajectory involves 5 precise waypoints with total movement distance of 0.527." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12911, + "action": "pull", + "object": "Toy Car", + "frame_index": 235, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12926", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N39_S190_s03_T3/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N39_S190_s03_T3/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N39_S190_s03_T3/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.576, 1.713]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.862, 2.303]). The trajectory involves 5 precise waypoints with total movement distance of 1.438." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12926, + "action": "carry", + "object": "Toy Car", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12929", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N39_S190_s03_T3/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N39_S190_s03_T3/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N39_S190_s03_T3/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.567, 1.675]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.735, 2.189]). The trajectory involves 5 precise waypoints with total movement distance of 1.313." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12929, + "action": "carry", + "object": "Toy Car", + "frame_index": 88, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12932", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N39_S190_s03_T3/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N39_S190_s03_T3/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N39_S190_s03_T3/align_rgb/00094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.565, 1.629]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.431, 1.890]). The trajectory involves 5 precise waypoints with total movement distance of 0.922." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12932, + "action": "carry", + "object": "Toy Car", + "frame_index": 94, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_12933", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N39_S190_s03_T3/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N39_S190_s03_T3/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N39_S190_s03_T3/align_rgb/00096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.538, 1.622]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.316, 1.814]). The trajectory involves 5 precise waypoints with total movement distance of 0.823." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 12933, + "action": "carry", + "object": "Toy Car", + "frame_index": 96, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13068", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N37_S244_s05_T4/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N37_S244_s05_T4/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N37_S244_s05_T4/align_rgb/00186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.549, 1.637]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.193, 2.140]). The trajectory involves 5 precise waypoints with total movement distance of 1.458." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13068, + "action": "carry", + "object": "Toy Car", + "frame_index": 186, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13072", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N37_S244_s05_T4/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N37_S244_s05_T4/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N37_S244_s05_T4/align_rgb/00194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.605, 1.489]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.364, 2.029]). The trajectory involves 5 precise waypoints with total movement distance of 1.402." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13072, + "action": "carry", + "object": "Toy Car", + "frame_index": 194, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13080", + "task": "push Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N37_S239_s05_T2/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N37_S239_s05_T2/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N37_S239_s05_T2/align_rgb/00052.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.537, 1.592]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.571, 1.332]). The trajectory involves 5 precise waypoints with total movement distance of 0.262." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13080, + "action": "push", + "object": "Toy Car", + "frame_index": 52, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13089", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N37_S239_s05_T2/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N37_S239_s05_T2/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N37_S239_s05_T2/align_rgb/00230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.285, 1.332]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.843, 1.437]). The trajectory involves 5 precise waypoints with total movement distance of 0.569." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13089, + "action": "pull", + "object": "Toy Car", + "frame_index": 230, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13093", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N37_S239_s05_T2/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N37_S239_s05_T2/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N37_S239_s05_T2/align_rgb/00238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.371, 1.456]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.752, 1.539]). The trajectory involves 5 precise waypoints with total movement distance of 0.391." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13093, + "action": "pull", + "object": "Toy Car", + "frame_index": 238, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13102", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N37_S190_s02_T3/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N37_S190_s02_T3/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N37_S190_s02_T3/align_rgb/00075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.536, 1.662]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.573, 2.068]). The trajectory involves 5 precise waypoints with total movement distance of 1.119." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13102, + "action": "carry", + "object": "Toy Car", + "frame_index": 75, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13122", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N37_S190_s02_T3/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N37_S190_s02_T3/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N37_S190_s02_T3/align_rgb/00221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.651, 1.509]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.610, 1.820]). The trajectory involves 5 precise waypoints with total movement distance of 0.316." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13122, + "action": "carry", + "object": "Toy Car", + "frame_index": 221, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13255", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N35_S244_s04_T4/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N35_S244_s04_T4/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N35_S244_s04_T4/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.478, 1.688]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.558, 1.263]). The trajectory involves 5 precise waypoints with total movement distance of 0.452." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13255, + "action": "carry", + "object": "Toy Car", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13266", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N35_S244_s04_T4/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N35_S244_s04_T4/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N35_S244_s04_T4/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.585, 1.696]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.186, 2.202]). The trajectory involves 5 precise waypoints with total movement distance of 1.519." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13266, + "action": "carry", + "object": "Toy Car", + "frame_index": 195, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13298", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N35_S190_s02_T3/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N35_S190_s02_T3/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N35_S190_s02_T3/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.555, 1.290]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.301, 1.386]). The trajectory involves 5 precise waypoints with total movement distance of 0.802." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13298, + "action": "carry", + "object": "Toy Car", + "frame_index": 88, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13303", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N35_S190_s02_T3/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N35_S190_s02_T3/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N35_S190_s02_T3/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.528, 1.060]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.454, 1.470]). The trajectory involves 5 precise waypoints with total movement distance of 0.417." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13303, + "action": "carry", + "object": "Toy Car", + "frame_index": 212, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13353", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00181.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.520, 1.588]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.064, 2.236]). The trajectory involves 5 precise waypoints with total movement distance of 1.742." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13353, + "action": "carry", + "object": "Toy Car", + "frame_index": 182, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13356", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.551, 1.675]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.152, 2.366]). The trajectory involves 5 precise waypoints with total movement distance of 1.844." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13356, + "action": "carry", + "object": "Toy Car", + "frame_index": 188, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13359", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.496, 1.701]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.106, 2.328]). The trajectory involves 5 precise waypoints with total movement distance of 1.730." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13359, + "action": "carry", + "object": "Toy Car", + "frame_index": 194, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13360", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.504, 1.700]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.022, 2.248]). The trajectory involves 5 precise waypoints with total movement distance of 1.599." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13360, + "action": "carry", + "object": "Toy Car", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13361", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.512, 1.690]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.136, 2.156]). The trajectory involves 5 precise waypoints with total movement distance of 1.482." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13361, + "action": "carry", + "object": "Toy Car", + "frame_index": 198, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13362", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.507, 1.666]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.204, 2.135]). The trajectory involves 5 precise waypoints with total movement distance of 1.423." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13362, + "action": "carry", + "object": "Toy Car", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13364", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.522, 1.640]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.401, 2.060]). The trajectory involves 5 precise waypoints with total movement distance of 1.263." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13364, + "action": "carry", + "object": "Toy Car", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13365", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N34_S244_s04_T4/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.544, 1.632]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.553, 1.974]). The trajectory involves 5 precise waypoints with total movement distance of 1.108." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13365, + "action": "carry", + "object": "Toy Car", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13377", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N34_S239_s04_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N34_S239_s04_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N34_S239_s04_T1/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [2.018, 1.289]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.484, 1.037]). The trajectory involves 5 precise waypoints with total movement distance of 0.608." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13377, + "action": "carry", + "object": "Toy Car", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13380", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N34_S239_s04_T1/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N34_S239_s04_T1/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N34_S239_s04_T1/align_rgb/00215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.918, 1.188]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.357, 1.068]). The trajectory involves 5 precise waypoints with total movement distance of 0.614." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13380, + "action": "carry", + "object": "Toy Car", + "frame_index": 215, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13383", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N34_S239_s04_T1/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N34_S239_s04_T1/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N34_S239_s04_T1/align_rgb/00241.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.231, 1.158]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.251, 1.513]). The trajectory involves 5 precise waypoints with total movement distance of 0.358." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13383, + "action": "putdown", + "object": "Toy Car", + "frame_index": 241, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13388", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N34_S190_s01_T3/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N34_S190_s01_T3/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N34_S190_s01_T3/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.441, 1.635]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.655, 2.129]). The trajectory involves 5 precise waypoints with total movement distance of 1.320." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13388, + "action": "carry", + "object": "Toy Car", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13404", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N34_S190_s01_T3/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N34_S190_s01_T3/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N34_S190_s01_T3/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.592, 1.215]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.621, 1.670]). The trajectory involves 5 precise waypoints with total movement distance of 0.456." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13404, + "action": "carry", + "object": "Toy Car", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13456", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N33_S244_s04_T4/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N33_S244_s04_T4/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N33_S244_s04_T4/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.612, 1.671]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.353, 1.888]). The trajectory involves 5 precise waypoints with total movement distance of 1.281." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13456, + "action": "carry", + "object": "Toy Car", + "frame_index": 212, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13458", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N33_S244_s04_T4/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N33_S244_s04_T4/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N33_S244_s04_T4/align_rgb/00216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.628, 1.673]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.391, 1.923]). The trajectory involves 5 precise waypoints with total movement distance of 1.272." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13458, + "action": "carry", + "object": "Toy Car", + "frame_index": 216, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13469", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N33_S239_s04_T1/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N33_S239_s04_T1/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N33_S239_s04_T1/align_rgb/00075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.487, 1.276]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.039, 1.203]). The trajectory involves 5 precise waypoints with total movement distance of 0.591." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13469, + "action": "carry", + "object": "Toy Car", + "frame_index": 75, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13478", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N33_S239_s04_T1/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N33_S239_s04_T1/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N33_S239_s04_T1/align_rgb/00224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.950, 1.197]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.422, 1.108]). The trajectory involves 5 precise waypoints with total movement distance of 0.581." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13478, + "action": "carry", + "object": "Toy Car", + "frame_index": 224, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13510", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N32_S244_s03_T4/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N32_S244_s03_T4/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N32_S244_s03_T4/align_rgb/00061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.513, 1.731]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.505, 1.538]). The trajectory involves 5 precise waypoints with total movement distance of 0.195." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13510, + "action": "pickup", + "object": "Toy Car", + "frame_index": 61, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13519", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N32_S244_s03_T4/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N32_S244_s03_T4/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N32_S244_s03_T4/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.574, 1.706]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.088, 2.484]). The trajectory involves 5 precise waypoints with total movement distance of 1.713." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13519, + "action": "carry", + "object": "Toy Car", + "frame_index": 214, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13530", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N32_S239_s03_T1/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N32_S239_s03_T1/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N32_S239_s03_T1/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [2.078, 1.411]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.679, 1.100]). The trajectory involves 5 precise waypoints with total movement distance of 0.531." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13530, + "action": "carry", + "object": "Toy Car", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13542", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.534, 1.565]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.481, 1.983]). The trajectory involves 5 precise waypoints with total movement distance of 1.047." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13542, + "action": "carry", + "object": "Toy Car", + "frame_index": 64, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13543", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.516, 1.555]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.532, 1.984]). The trajectory involves 5 precise waypoints with total movement distance of 1.116." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13543, + "action": "carry", + "object": "Toy Car", + "frame_index": 66, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13544", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.520, 1.549]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.579, 1.976]). The trajectory involves 5 precise waypoints with total movement distance of 1.154." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13544, + "action": "carry", + "object": "Toy Car", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13547", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.570, 1.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.739, 2.146]). The trajectory involves 5 precise waypoints with total movement distance of 1.331." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13547, + "action": "carry", + "object": "Toy Car", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13561", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N32_S190_s01_T3/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.498, 1.332]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.471, 1.706]). The trajectory involves 5 precise waypoints with total movement distance of 0.376." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13561, + "action": "carry", + "object": "Toy Car", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13580", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N31_S244_s03_T4/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N31_S244_s03_T4/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N31_S244_s03_T4/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.650, 1.654]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.075, 2.135]). The trajectory involves 5 precise waypoints with total movement distance of 1.662." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13580, + "action": "carry", + "object": "Toy Car", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13596", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N31_S239_s03_T1/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N31_S239_s03_T1/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N31_S239_s03_T1/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [2.034, 1.343]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.542, 1.141]). The trajectory involves 5 precise waypoints with total movement distance of 0.572." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13596, + "action": "carry", + "object": "Toy Car", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13608", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.490, 1.653]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.470, 2.034]). The trajectory involves 5 precise waypoints with total movement distance of 1.054." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13608, + "action": "carry", + "object": "Toy Car", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13609", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.467, 1.644]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.468, 1.999]). The trajectory involves 5 precise waypoints with total movement distance of 1.065." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13609, + "action": "carry", + "object": "Toy Car", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13613", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.492, 1.623]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.481, 1.882]). The trajectory involves 5 precise waypoints with total movement distance of 1.043." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13613, + "action": "carry", + "object": "Toy Car", + "frame_index": 90, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13615", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.454, 1.523]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.394, 1.773]). The trajectory involves 5 precise waypoints with total movement distance of 1.008." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13615, + "action": "carry", + "object": "Toy Car", + "frame_index": 94, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13619", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.459, 1.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.379, 1.665]). The trajectory involves 5 precise waypoints with total movement distance of 0.946." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13619, + "action": "carry", + "object": "Toy Car", + "frame_index": 102, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13625", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N31_S190_s01_T3/align_rgb/00221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.719, 1.244]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.708, 1.585]). The trajectory involves 5 precise waypoints with total movement distance of 0.342." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13625, + "action": "carry", + "object": "Toy Car", + "frame_index": 221, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13632", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N30_S244_s03_T4/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N30_S244_s03_T4/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N30_S244_s03_T4/align_rgb/00062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.463, 1.721]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.537, 1.408]). The trajectory involves 5 precise waypoints with total movement distance of 0.371." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13632, + "action": "pickup", + "object": "Toy Car", + "frame_index": 62, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13662", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N30_S242_s05_T3/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N30_S242_s05_T3/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N30_S242_s05_T3/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.425, 1.624]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.451, 1.793]). The trajectory involves 5 precise waypoints with total movement distance of 1.060." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13662, + "action": "carry", + "object": "Toy Car", + "frame_index": 92, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13827", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N28_S244_s02_T4/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N28_S244_s02_T4/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N28_S244_s02_T4/align_rgb/00224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.574, 1.707]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.059, 2.045]). The trajectory involves 5 precise waypoints with total movement distance of 1.619." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13827, + "action": "carry", + "object": "Toy Car", + "frame_index": 224, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13940", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N26_S242_s04_T3/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N26_S242_s04_T3/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N26_S242_s04_T3/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.511, 1.667]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.740, 2.204]). The trajectory involves 5 precise waypoints with total movement distance of 1.358." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13940, + "action": "carry", + "object": "Toy Car", + "frame_index": 70, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13941", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N26_S242_s04_T3/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N26_S242_s04_T3/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N26_S242_s04_T3/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.522, 1.621]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.738, 2.136]). The trajectory involves 5 precise waypoints with total movement distance of 1.338." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13941, + "action": "carry", + "object": "Toy Car", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13942", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N26_S242_s04_T3/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N26_S242_s04_T3/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N26_S242_s04_T3/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.498, 1.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.684, 2.080]). The trajectory involves 5 precise waypoints with total movement distance of 1.296." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13942, + "action": "carry", + "object": "Toy Car", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13964", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N26_S239_s02_T1/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N26_S239_s02_T1/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N26_S239_s02_T1/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.349, 1.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.896, 1.450]). The trajectory involves 5 precise waypoints with total movement distance of 0.579." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13964, + "action": "carry", + "object": "Toy Car", + "frame_index": 66, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13972", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N26_S239_s02_T1/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N26_S239_s02_T1/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N26_S239_s02_T1/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.891, 1.336]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.295, 1.180]). The trajectory involves 5 precise waypoints with total movement distance of 0.617." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13972, + "action": "carry", + "object": "Toy Car", + "frame_index": 208, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13973", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N26_S239_s02_T1/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N26_S239_s02_T1/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N26_S239_s02_T1/align_rgb/00230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.282, 1.259]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.274, 1.616]). The trajectory involves 5 precise waypoints with total movement distance of 0.382." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13973, + "action": "putdown", + "object": "Toy Car", + "frame_index": 230, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13987", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N25_S244_s02_T4/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N25_S244_s02_T4/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N25_S244_s02_T4/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.634, 1.467]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.088, 2.107]). The trajectory involves 5 precise waypoints with total movement distance of 1.683." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13987, + "action": "carry", + "object": "Toy Car", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13990", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N25_S244_s02_T4/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N25_S244_s02_T4/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N25_S244_s02_T4/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.592, 1.420]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.040, 2.038]). The trajectory involves 5 precise waypoints with total movement distance of 1.687." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13990, + "action": "carry", + "object": "Toy Car", + "frame_index": 212, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13994", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N25_S244_s02_T4/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N25_S244_s02_T4/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N25_S244_s02_T4/align_rgb/00220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.640, 1.423]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.405, 1.842]). The trajectory involves 5 precise waypoints with total movement distance of 1.346." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13994, + "action": "carry", + "object": "Toy Car", + "frame_index": 220, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_13998", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N25_S244_s02_T4/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N25_S244_s02_T4/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N25_S244_s02_T4/align_rgb/00228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.656, 1.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.714, 1.845]). The trajectory involves 5 precise waypoints with total movement distance of 1.033." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 13998, + "action": "carry", + "object": "Toy Car", + "frame_index": 228, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14003", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N25_S242_s04_T3/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N25_S242_s04_T3/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N25_S242_s04_T3/align_rgb/00061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.540, 1.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.491, 1.956]). The trajectory involves 5 precise waypoints with total movement distance of 1.042." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14003, + "action": "carry", + "object": "Toy Car", + "frame_index": 61, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14006", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N25_S242_s04_T3/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N25_S242_s04_T3/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N25_S242_s04_T3/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.498, 1.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.576, 1.943]). The trajectory involves 5 precise waypoints with total movement distance of 1.194." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14006, + "action": "carry", + "object": "Toy Car", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14028", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N25_S239_s02_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N25_S239_s02_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N25_S239_s02_T1/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.379, 1.253]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.938, 1.130]). The trajectory involves 5 precise waypoints with total movement distance of 0.628." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14028, + "action": "carry", + "object": "Toy Car", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14032", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N25_S239_s02_T1/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N25_S239_s02_T1/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N25_S239_s02_T1/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.968, 1.246]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.369, 1.136]). The trajectory involves 5 precise waypoints with total movement distance of 0.667." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14032, + "action": "carry", + "object": "Toy Car", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14036", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N25_S239_s02_T1/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N25_S239_s02_T1/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N25_S239_s02_T1/align_rgb/00230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.232, 1.337]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.283, 1.635]). The trajectory involves 5 precise waypoints with total movement distance of 0.310." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14036, + "action": "putdown", + "object": "Toy Car", + "frame_index": 230, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14049", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N24_S244_s01_T4/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N24_S244_s01_T4/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N24_S244_s01_T4/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.640, 1.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.137, 1.910]). The trajectory involves 5 precise waypoints with total movement distance of 1.558." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14049, + "action": "carry", + "object": "Toy Car", + "frame_index": 199, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14051", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N24_S244_s01_T4/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N24_S244_s01_T4/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N24_S244_s01_T4/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.701, 1.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.341, 1.855]). The trajectory involves 5 precise waypoints with total movement distance of 1.421." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14051, + "action": "carry", + "object": "Toy Car", + "frame_index": 203, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14064", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.586, 1.628]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.607, 2.083]). The trajectory involves 5 precise waypoints with total movement distance of 1.137." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14064, + "action": "carry", + "object": "Toy Car", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14065", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.573, 1.620]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.613, 2.077]). The trajectory involves 5 precise waypoints with total movement distance of 1.152." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14065, + "action": "carry", + "object": "Toy Car", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14066", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.540, 1.610]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.588, 2.042]). The trajectory involves 5 precise waypoints with total movement distance of 1.138." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14066, + "action": "carry", + "object": "Toy Car", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14071", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.562, 1.553]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.630, 1.800]). The trajectory involves 5 precise waypoints with total movement distance of 1.110." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14071, + "action": "carry", + "object": "Toy Car", + "frame_index": 86, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14073", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N24_S242_s04_T3/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.554, 1.533]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.618, 1.760]). The trajectory involves 5 precise waypoints with total movement distance of 1.114." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14073, + "action": "carry", + "object": "Toy Car", + "frame_index": 90, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14119", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N23_S244_s01_T4/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N23_S244_s01_T4/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N23_S244_s01_T4/align_rgb/00236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.616, 1.593]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.233, 2.134]). The trajectory involves 5 precise waypoints with total movement distance of 1.541." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14119, + "action": "carry", + "object": "Toy Car", + "frame_index": 236, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14123", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N23_S244_s01_T4/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N23_S244_s01_T4/align_rgb/00242.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N23_S244_s01_T4/align_rgb/00243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.589, 1.494]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.603, 1.850]). The trajectory involves 5 precise waypoints with total movement distance of 1.082." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14123, + "action": "carry", + "object": "Toy Car", + "frame_index": 243, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14127", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00053.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00054.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.538, 1.637]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.343, 1.835]). The trajectory involves 5 precise waypoints with total movement distance of 0.849." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14127, + "action": "carry", + "object": "Toy Car", + "frame_index": 54, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14137", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.459, 1.444]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.507, 1.748]). The trajectory involves 5 precise waypoints with total movement distance of 1.102." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14137, + "action": "carry", + "object": "Toy Car", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14144", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.453, 1.388]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.168, 1.608]). The trajectory involves 5 precise waypoints with total movement distance of 0.788." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14144, + "action": "carry", + "object": "Toy Car", + "frame_index": 88, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14145", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.456, 1.402]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.130, 1.631]). The trajectory involves 5 precise waypoints with total movement distance of 0.734." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14145, + "action": "carry", + "object": "Toy Car", + "frame_index": 90, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14146", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N23_S242_s04_T3/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.456, 1.395]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.093, 1.592]). The trajectory involves 5 precise waypoints with total movement distance of 0.672." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14146, + "action": "carry", + "object": "Toy Car", + "frame_index": 92, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14161", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N23_S239_s01_T1/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N23_S239_s01_T1/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N23_S239_s01_T1/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.520, 1.182]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.135, 1.204]). The trajectory involves 5 precise waypoints with total movement distance of 0.658." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14161, + "action": "carry", + "object": "Toy Car", + "frame_index": 85, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14170", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N23_S239_s01_T1/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N23_S239_s01_T1/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N23_S239_s01_T1/align_rgb/00231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.914, 1.162]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.279, 1.219]). The trajectory involves 5 precise waypoints with total movement distance of 0.694." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14170, + "action": "carry", + "object": "Toy Car", + "frame_index": 231, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14183", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N22_S242_s03_T3/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N22_S242_s03_T3/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N22_S242_s03_T3/align_rgb/00083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.403, 1.530]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.675, 1.985]). The trajectory involves 5 precise waypoints with total movement distance of 1.386." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14183, + "action": "carry", + "object": "Toy Car", + "frame_index": 83, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14185", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N22_S242_s03_T3/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N22_S242_s03_T3/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N22_S242_s03_T3/align_rgb/00087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.408, 1.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.588, 1.893]). The trajectory involves 5 precise waypoints with total movement distance of 1.278." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14185, + "action": "carry", + "object": "Toy Car", + "frame_index": 87, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14187", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N22_S242_s03_T3/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N22_S242_s03_T3/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N22_S242_s03_T3/align_rgb/00091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.434, 1.543]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.467, 1.871]). The trajectory involves 5 precise waypoints with total movement distance of 1.114." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14187, + "action": "carry", + "object": "Toy Car", + "frame_index": 91, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14192", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N22_S242_s03_T3/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N22_S242_s03_T3/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N22_S242_s03_T3/align_rgb/00101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.462, 1.560]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.093, 1.595]). The trajectory involves 5 precise waypoints with total movement distance of 0.635." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14192, + "action": "carry", + "object": "Toy Car", + "frame_index": 101, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14202", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N22_S239_s01_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N22_S239_s01_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N22_S239_s01_T1/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.326, 1.480]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.965, 1.364]). The trajectory involves 5 precise waypoints with total movement distance of 0.658." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14202, + "action": "carry", + "object": "Toy Car", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14203", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N22_S239_s01_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N22_S239_s01_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N22_S239_s01_T1/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.336, 1.456]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.973, 1.383]). The trajectory involves 5 precise waypoints with total movement distance of 0.651." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14203, + "action": "carry", + "object": "Toy Car", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14207", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N22_S239_s01_T1/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N22_S239_s01_T1/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N22_S239_s01_T1/align_rgb/00106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [2.014, 1.313]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.046, 1.502]). The trajectory involves 5 precise waypoints with total movement distance of 0.249." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14207, + "action": "putdown", + "object": "Toy Car", + "frame_index": 106, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14210", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N22_S239_s01_T1/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N22_S239_s01_T1/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N22_S239_s01_T1/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [2.001, 1.221]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.445, 1.113]). The trajectory involves 5 precise waypoints with total movement distance of 0.632." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14210, + "action": "carry", + "object": "Toy Car", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14230", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N21_S244_s01_T4/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N21_S244_s01_T4/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N21_S244_s01_T4/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.685, 1.520]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.553, 1.750]). The trajectory involves 5 precise waypoints with total movement distance of 1.250." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14230, + "action": "carry", + "object": "Toy Car", + "frame_index": 203, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14231", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N21_S244_s01_T4/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N21_S244_s01_T4/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N21_S244_s01_T4/align_rgb/00205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.686, 1.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.668, 1.735]). The trajectory involves 5 precise waypoints with total movement distance of 1.136." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14231, + "action": "carry", + "object": "Toy Car", + "frame_index": 205, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14248", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N21_S242_s03_T3/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N21_S242_s03_T3/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N21_S242_s03_T3/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.528, 1.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.594, 1.759]). The trajectory involves 5 precise waypoints with total movement distance of 1.093." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14248, + "action": "carry", + "object": "Toy Car", + "frame_index": 85, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14252", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N21_S242_s03_T3/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N21_S242_s03_T3/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N21_S242_s03_T3/align_rgb/00093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.566, 1.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.593, 1.726]). The trajectory involves 5 precise waypoints with total movement distance of 1.073." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14252, + "action": "carry", + "object": "Toy Car", + "frame_index": 93, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14265", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N21_S242_s03_T3/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N21_S242_s03_T3/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N21_S242_s03_T3/align_rgb/00233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.544, 1.404]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.566, 1.737]). The trajectory involves 5 precise waypoints with total movement distance of 0.335." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14265, + "action": "carry", + "object": "Toy Car", + "frame_index": 233, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14277", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N21_S239_s01_T1/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N21_S239_s01_T1/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N21_S239_s01_T1/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.985, 1.331]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.509, 1.152]). The trajectory involves 5 precise waypoints with total movement distance of 0.520." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14277, + "action": "carry", + "object": "Toy Car", + "frame_index": 198, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14290", + "task": "pull Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.608, 1.354]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.590, 1.660]). The trajectory involves 5 precise waypoints with total movement distance of 0.307." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14290, + "action": "pull", + "object": "Toy Car", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14295", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.741, 1.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.487, 1.515]). The trajectory involves 5 precise waypoints with total movement distance of 0.254." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14295, + "action": "push", + "object": "Toy Car", + "frame_index": 192, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14296", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.697, 1.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.466, 1.500]). The trajectory involves 5 precise waypoints with total movement distance of 0.233." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14296, + "action": "push", + "object": "Toy Car", + "frame_index": 194, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14298", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.449, 1.505]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.860, 1.547]). The trajectory involves 5 precise waypoints with total movement distance of 0.413." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14298, + "action": "pull", + "object": "Toy Car", + "frame_index": 218, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14299", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.455, 1.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.889, 1.562]). The trajectory involves 5 precise waypoints with total movement distance of 0.437." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14299, + "action": "pull", + "object": "Toy Car", + "frame_index": 220, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14301", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N20_S242_s03_T2/align_rgb/00224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.509, 1.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.907, 1.531]). The trajectory involves 5 precise waypoints with total movement distance of 0.400." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14301, + "action": "pull", + "object": "Toy Car", + "frame_index": 224, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14315", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N20_S237_s05_T1/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N20_S237_s05_T1/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N20_S237_s05_T1/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [2.103, 1.357]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.549, 1.046]). The trajectory involves 5 precise waypoints with total movement distance of 0.655." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14315, + "action": "carry", + "object": "Toy Car", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14336", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N20_S194_s05_T4/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N20_S194_s05_T4/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N20_S194_s05_T4/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.457, 1.467]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.121, 1.887]). The trajectory involves 5 precise waypoints with total movement distance of 1.714." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14336, + "action": "carry", + "object": "Toy Car", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14346", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N19_S9_s04_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N19_S9_s04_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N19_S9_s04_T1/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.525, 1.297]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.389, 1.305]). The trajectory involves 5 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14346, + "action": "carry", + "object": "Toy Car", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14354", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N19_S9_s04_T1/align_rgb/00113.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N19_S9_s04_T1/align_rgb/00114.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N19_S9_s04_T1/align_rgb/00115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.331, 1.318]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.282, 1.458]). The trajectory involves 5 precise waypoints with total movement distance of 0.152." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14354, + "action": "putdown", + "object": "Toy Car", + "frame_index": 115, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14377", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00050.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.561, 1.564]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.551, 1.287]). The trajectory involves 5 precise waypoints with total movement distance of 0.278." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14377, + "action": "push", + "object": "Toy Car", + "frame_index": 50, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14392", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.734, 1.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.398, 1.399]). The trajectory involves 5 precise waypoints with total movement distance of 0.351." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14392, + "action": "push", + "object": "Toy Car", + "frame_index": 186, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14398", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.521, 1.425]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.948, 1.546]). The trajectory involves 5 precise waypoints with total movement distance of 0.444." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14398, + "action": "pull", + "object": "Toy Car", + "frame_index": 218, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14399", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.518, 1.439]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.942, 1.552]). The trajectory involves 5 precise waypoints with total movement distance of 0.438." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14399, + "action": "pull", + "object": "Toy Car", + "frame_index": 220, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14401", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N19_S242_s03_T2/align_rgb/00224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.641, 1.459]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.027, 1.553]). The trajectory involves 5 precise waypoints with total movement distance of 0.398." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14401, + "action": "pull", + "object": "Toy Car", + "frame_index": 224, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14413", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N19_S237_s05_T1/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N19_S237_s05_T1/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N19_S237_s05_T1/align_rgb/00194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [2.070, 1.233]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.542, 1.035]). The trajectory involves 5 precise waypoints with total movement distance of 0.588." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14413, + "action": "carry", + "object": "Toy Car", + "frame_index": 194, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14435", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N19_S194_s05_T4/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N19_S194_s05_T4/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N19_S194_s05_T4/align_rgb/00226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.612, 1.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.082, 1.889]). The trajectory involves 5 precise waypoints with total movement distance of 1.640." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14435, + "action": "carry", + "object": "Toy Car", + "frame_index": 226, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14437", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N19_S194_s05_T4/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N19_S194_s05_T4/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N19_S194_s05_T4/align_rgb/00230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.600, 1.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.320, 1.809]). The trajectory involves 5 precise waypoints with total movement distance of 1.381." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14437, + "action": "carry", + "object": "Toy Car", + "frame_index": 230, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14439", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N19_S194_s05_T4/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N19_S194_s05_T4/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N19_S194_s05_T4/align_rgb/00234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.547, 1.571]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.442, 1.890]). The trajectory involves 5 precise waypoints with total movement distance of 1.199." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14439, + "action": "carry", + "object": "Toy Car", + "frame_index": 234, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14442", + "task": "push Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N14_S242_s01_T2/align_rgb/00046.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N14_S242_s01_T2/align_rgb/00047.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N14_S242_s01_T2/align_rgb/00048.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.669, 1.433]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.684, 1.218]). The trajectory involves 5 precise waypoints with total movement distance of 0.219." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14442, + "action": "push", + "object": "Toy Car", + "frame_index": 48, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14463", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N14_S242_s01_T2/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N14_S242_s01_T2/align_rgb/00242.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N14_S242_s01_T2/align_rgb/00243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.561, 1.470]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.890, 1.528]). The trajectory involves 5 precise waypoints with total movement distance of 0.334." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14463, + "action": "pull", + "object": "Toy Car", + "frame_index": 243, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14470", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N14_S237_s04_T1/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N14_S237_s04_T1/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N14_S237_s04_T1/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.473, 1.248]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.021, 1.223]). The trajectory involves 5 precise waypoints with total movement distance of 0.567." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14470, + "action": "carry", + "object": "Toy Car", + "frame_index": 90, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14480", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N14_S237_s04_T1/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N14_S237_s04_T1/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N14_S237_s04_T1/align_rgb/00235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [2.000, 1.257]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.498, 1.045]). The trajectory involves 5 precise waypoints with total movement distance of 0.590." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14480, + "action": "carry", + "object": "Toy Car", + "frame_index": 235, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14481", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N14_S237_s04_T1/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N14_S237_s04_T1/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N14_S237_s04_T1/align_rgb/00236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.977, 1.239]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.474, 1.063]). The trajectory involves 5 precise waypoints with total movement distance of 0.583." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14481, + "action": "carry", + "object": "Toy Car", + "frame_index": 236, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14483", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N14_S237_s04_T1/align_rgb/00257.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N14_S237_s04_T1/align_rgb/00258.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N14_S237_s04_T1/align_rgb/00259.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.453, 1.158]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.422, 1.476]). The trajectory involves 5 precise waypoints with total movement distance of 0.325." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14483, + "action": "putdown", + "object": "Toy Car", + "frame_index": 259, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14493", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N14_S194_s04_T4/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N14_S194_s04_T4/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N14_S194_s04_T4/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.707, 1.518]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.265, 1.442]). The trajectory involves 5 precise waypoints with total movement distance of 1.455." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14493, + "action": "carry", + "object": "Toy Car", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14502", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N14_S194_s04_T4/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N14_S194_s04_T4/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N14_S194_s04_T4/align_rgb/00224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.744, 1.451]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.667, 1.664]). The trajectory involves 5 precise waypoints with total movement distance of 1.148." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14502, + "action": "carry", + "object": "Toy Car", + "frame_index": 224, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14508", + "task": "push Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.550, 1.701]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.559, 1.450]). The trajectory involves 5 precise waypoints with total movement distance of 0.252." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14508, + "action": "push", + "object": "Toy Car", + "frame_index": 58, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14510", + "task": "push Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.559, 1.691]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.576, 1.455]). The trajectory involves 5 precise waypoints with total movement distance of 0.237." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14510, + "action": "push", + "object": "Toy Car", + "frame_index": 61, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14525", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.607, 1.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.834, 1.558]). The trajectory involves 5 precise waypoints with total movement distance of 0.233." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14525, + "action": "pull", + "object": "Toy Car", + "frame_index": 222, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14526", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.591, 1.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.809, 1.561]). The trajectory involves 5 precise waypoints with total movement distance of 0.223." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14526, + "action": "pull", + "object": "Toy Car", + "frame_index": 224, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14528", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N13_S242_s01_T2/align_rgb/00228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.682, 1.459]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.869, 1.493]). The trajectory involves 5 precise waypoints with total movement distance of 0.191." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14528, + "action": "pull", + "object": "Toy Car", + "frame_index": 228, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14536", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N13_S237_s04_T1/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N13_S237_s04_T1/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N13_S237_s04_T1/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.399, 1.144]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.119, 1.266]). The trajectory involves 5 precise waypoints with total movement distance of 0.744." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14536, + "action": "carry", + "object": "Toy Car", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14541", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N13_S237_s04_T1/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N13_S237_s04_T1/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N13_S237_s04_T1/align_rgb/00220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.382, 1.036]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.309, 1.382]). The trajectory involves 5 precise waypoints with total movement distance of 0.391." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14541, + "action": "putdown", + "object": "Toy Car", + "frame_index": 220, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14552", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N13_S194_s04_T4/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N13_S194_s04_T4/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N13_S194_s04_T4/align_rgb/00205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.630, 1.537]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.130, 1.977]). The trajectory involves 5 precise waypoints with total movement distance of 1.845." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14552, + "action": "carry", + "object": "Toy Car", + "frame_index": 205, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14556", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N13_S194_s04_T4/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N13_S194_s04_T4/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N13_S194_s04_T4/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.602, 1.589]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.183, 1.947]). The trajectory involves 5 precise waypoints with total movement distance of 1.508." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14556, + "action": "carry", + "object": "Toy Car", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14557", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N13_S194_s04_T4/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N13_S194_s04_T4/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N13_S194_s04_T4/align_rgb/00215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.605, 1.657]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.316, 2.010]). The trajectory involves 5 precise waypoints with total movement distance of 1.383." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14557, + "action": "carry", + "object": "Toy Car", + "frame_index": 215, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14560", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N13_S194_s04_T4/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N13_S194_s04_T4/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N13_S194_s04_T4/align_rgb/00220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.610, 1.678]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.625, 1.979]). The trajectory involves 5 precise waypoints with total movement distance of 1.090." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14560, + "action": "carry", + "object": "Toy Car", + "frame_index": 220, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14572", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N06_S237_s02_T1/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N06_S237_s02_T1/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N06_S237_s02_T1/align_rgb/00229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.938, 1.354]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.291, 1.242]). The trajectory involves 5 precise waypoints with total movement distance of 0.693." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14572, + "action": "carry", + "object": "Toy Car", + "frame_index": 229, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14581", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.502, 1.213]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.470, 1.217]). The trajectory involves 5 precise waypoints with total movement distance of 1.106." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14581, + "action": "carry", + "object": "Toy Car", + "frame_index": 185, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14589", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.511, 1.263]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.074, 1.591]). The trajectory involves 5 precise waypoints with total movement distance of 1.505." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14589, + "action": "carry", + "object": "Toy Car", + "frame_index": 201, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14590", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.524, 1.332]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.176, 1.662]). The trajectory involves 5 precise waypoints with total movement distance of 1.416." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14590, + "action": "carry", + "object": "Toy Car", + "frame_index": 203, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14591", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.555, 1.276]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.274, 1.583]). The trajectory involves 5 precise waypoints with total movement distance of 1.353." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14591, + "action": "carry", + "object": "Toy Car", + "frame_index": 205, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14593", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.526, 1.284]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.387, 1.596]). The trajectory involves 5 precise waypoints with total movement distance of 1.216." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14593, + "action": "carry", + "object": "Toy Car", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14595", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N06_S194_s02_T4/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.517, 1.336]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.566, 1.603]). The trajectory involves 5 precise waypoints with total movement distance of 1.021." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14595, + "action": "carry", + "object": "Toy Car", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14605", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N05_S237_s02_T1/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N05_S237_s02_T1/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N05_S237_s02_T1/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.950, 1.431]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.344, 1.312]). The trajectory involves 5 precise waypoints with total movement distance of 0.654." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14605, + "action": "carry", + "object": "Toy Car", + "frame_index": 214, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14632", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.309, 1.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.019, 1.419]). The trajectory involves 5 precise waypoints with total movement distance of 0.758." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14632, + "action": "carry", + "object": "Toy Car", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14633", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.333, 1.498]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.054, 1.482]). The trajectory involves 5 precise waypoints with total movement distance of 0.767." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14633, + "action": "carry", + "object": "Toy Car", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14634", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.363, 1.484]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.068, 1.501]). The trajectory involves 5 precise waypoints with total movement distance of 0.758." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14634, + "action": "carry", + "object": "Toy Car", + "frame_index": 81, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14636", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [2.063, 1.784]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.078, 1.588]). The trajectory involves 5 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14636, + "action": "pickup", + "object": "Toy Car", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14637", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [2.045, 1.611]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.337, 1.381]). The trajectory involves 5 precise waypoints with total movement distance of 0.767." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14637, + "action": "carry", + "object": "Toy Car", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14640", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N03_S237_s01_T1/align_rgb/00215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.924, 1.503]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.267, 1.442]). The trajectory involves 5 precise waypoints with total movement distance of 0.739." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14640, + "action": "carry", + "object": "Toy Car", + "frame_index": 215, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14663", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N02_S240_s03_T2/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N02_S240_s03_T2/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N02_S240_s03_T2/align_rgb/00231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.473, 1.420]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.939, 1.465]). The trajectory involves 5 precise waypoints with total movement distance of 0.468." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14663, + "action": "pull", + "object": "Toy Car", + "frame_index": 231, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14667", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N02_S240_s03_T2/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N02_S240_s03_T2/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N02_S240_s03_T2/align_rgb/00238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.605, 1.418]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.915, 1.452]). The trajectory involves 5 precise waypoints with total movement distance of 0.314." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14667, + "action": "pull", + "object": "Toy Car", + "frame_index": 238, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14671", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N02_S237_s01_T1/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N02_S237_s01_T1/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N02_S237_s01_T1/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.294, 1.365]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.051, 1.521]). The trajectory involves 5 precise waypoints with total movement distance of 0.804." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14671, + "action": "carry", + "object": "Toy Car", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14679", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N02_S237_s01_T1/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N02_S237_s01_T1/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N02_S237_s01_T1/align_rgb/00222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.233, 1.390]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.256, 1.673]). The trajectory involves 5 precise waypoints with total movement distance of 0.290." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14679, + "action": "putdown", + "object": "Toy Car", + "frame_index": 222, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14693", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N01_S240_s03_T2/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N01_S240_s03_T2/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N01_S240_s03_T2/align_rgb/00216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.653, 1.587]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.400, 1.531]). The trajectory involves 5 precise waypoints with total movement distance of 0.260." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14693, + "action": "push", + "object": "Toy Car", + "frame_index": 216, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14694", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N01_S240_s03_T2/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N01_S240_s03_T2/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N01_S240_s03_T2/align_rgb/00217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.633, 1.590]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.381, 1.536]). The trajectory involves 5 precise waypoints with total movement distance of 0.260." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14694, + "action": "push", + "object": "Toy Car", + "frame_index": 217, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14702", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N01_S240_s03_T2/align_rgb/00251.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N01_S240_s03_T2/align_rgb/00252.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N01_S240_s03_T2/align_rgb/00253.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.429, 1.566]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.838, 1.637]). The trajectory involves 5 precise waypoints with total movement distance of 0.416." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14702, + "action": "pull", + "object": "Toy Car", + "frame_index": 253, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_14708", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800004_H4_C1_N01_S237_s01_T1/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N01_S237_s01_T1/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800004_H4_C1_N01_S237_s01_T1/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [2.047, 1.472]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.520, 1.225]). The trajectory involves 5 precise waypoints with total movement distance of 0.628." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 14708, + "action": "carry", + "object": "Toy Car", + "frame_index": 195, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_16040", + "task": "carry Bucket to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C8_N42_S74_s04_T1/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800003_H3_C8_N42_S74_s04_T1/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800003_H3_C8_N42_S74_s04_T1/align_rgb/00051.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bucket to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.500, 1.134]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.613, 1.102]). The trajectory involves 5 precise waypoints with total movement distance of 0.122." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16040, + "action": "carry", + "object": "Bucket", + "frame_index": 51, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_16067", + "task": "carry Bucket to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C8_N42_S74_s04_T1/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800003_H3_C8_N42_S74_s04_T1/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800003_H3_C8_N42_S74_s04_T1/align_rgb/00237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bucket to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bucket to the left, execute the following phases: 1) Initial approach phase (start at [1.354, 1.106]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.140, 1.015]). The trajectory involves 5 precise waypoints with total movement distance of 0.235." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16067, + "action": "carry", + "object": "Bucket", + "frame_index": 237, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_16304", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00053.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.541, 1.172]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.876, 1.954]). The trajectory involves 5 precise waypoints with total movement distance of 0.897." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16304, + "action": "open", + "object": "Safe", + "frame_index": 53, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16310", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.660, 1.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.401, 1.115]). The trajectory involves 5 precise waypoints with total movement distance of 0.538." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16310, + "action": "close", + "object": "Safe", + "frame_index": 84, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16311", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.591, 1.619]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.451, 1.219]). The trajectory involves 5 precise waypoints with total movement distance of 0.445." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16311, + "action": "close", + "object": "Safe", + "frame_index": 86, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16312", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.571, 1.589]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.463, 1.221]). The trajectory involves 5 precise waypoints with total movement distance of 0.403." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16312, + "action": "close", + "object": "Safe", + "frame_index": 88, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16315", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.526, 1.230]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.980, 1.716]). The trajectory involves 5 precise waypoints with total movement distance of 0.720." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16315, + "action": "open", + "object": "Safe", + "frame_index": 188, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16328", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N50_S252_s05_T1/align_rgb/00234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.495, 1.430]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.432, 1.120]). The trajectory involves 5 precise waypoints with total movement distance of 0.325." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16328, + "action": "close", + "object": "Safe", + "frame_index": 234, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16335", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.780, 1.773]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.466, 1.300]). The trajectory involves 5 precise waypoints with total movement distance of 0.607." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16335, + "action": "close", + "object": "Safe", + "frame_index": 87, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16339", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.483, 1.261]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.835, 1.842]). The trajectory involves 5 precise waypoints with total movement distance of 0.721." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16339, + "action": "open", + "object": "Safe", + "frame_index": 185, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16341", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.464, 1.292]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.930, 1.903]). The trajectory involves 5 precise waypoints with total movement distance of 0.854." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16341, + "action": "open", + "object": "Safe", + "frame_index": 189, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16349", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.590, 1.487]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.543, 1.188]). The trajectory involves 5 precise waypoints with total movement distance of 0.325." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16349, + "action": "close", + "object": "Safe", + "frame_index": 224, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16350", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N47_S252_s04_T1/align_rgb/00225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.507, 1.566]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.464, 1.201]). The trajectory involves 5 precise waypoints with total movement distance of 0.384." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16350, + "action": "close", + "object": "Safe", + "frame_index": 225, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16381", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N43_S252_s03_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N43_S252_s03_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N43_S252_s03_T1/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.918, 1.719]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.526, 1.332]). The trajectory involves 5 precise waypoints with total movement distance of 0.591." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16381, + "action": "close", + "object": "Safe", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16384", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N43_S252_s03_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N43_S252_s03_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N43_S252_s03_T1/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.727, 1.603]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.492, 1.118]). The trajectory involves 5 precise waypoints with total movement distance of 0.542." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16384, + "action": "close", + "object": "Safe", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16398", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00053.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00055.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.554, 1.143]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.936, 1.675]). The trajectory involves 5 precise waypoints with total movement distance of 0.692." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16398, + "action": "open", + "object": "Safe", + "frame_index": 55, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16400", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00059.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.552, 1.196]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.028, 1.628]). The trajectory involves 5 precise waypoints with total movement distance of 0.683." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16400, + "action": "open", + "object": "Safe", + "frame_index": 59, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16401", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.548, 1.276]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.980, 1.696]). The trajectory involves 5 precise waypoints with total movement distance of 0.638." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16401, + "action": "open", + "object": "Safe", + "frame_index": 61, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16402", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.549, 1.307]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.000, 1.652]). The trajectory involves 5 precise waypoints with total movement distance of 0.594." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16402, + "action": "open", + "object": "Safe", + "frame_index": 63, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16403", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.574, 1.351]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.964, 1.647]). The trajectory involves 5 precise waypoints with total movement distance of 0.508." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16403, + "action": "open", + "object": "Safe", + "frame_index": 65, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16406", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.867, 1.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.419, 1.072]). The trajectory involves 5 precise waypoints with total movement distance of 0.698." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16406, + "action": "close", + "object": "Safe", + "frame_index": 90, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16415", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.656, 1.169]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.066, 1.698]). The trajectory involves 5 precise waypoints with total movement distance of 0.705." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16415, + "action": "open", + "object": "Safe", + "frame_index": 194, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16416", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.646, 1.197]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.113, 1.627]). The trajectory involves 5 precise waypoints with total movement distance of 0.663." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16416, + "action": "open", + "object": "Safe", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16419", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.912, 1.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.420, 1.041]). The trajectory involves 5 precise waypoints with total movement distance of 0.738." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16419, + "action": "close", + "object": "Safe", + "frame_index": 221, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16421", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N39_S252_s02_T1/align_rgb/00225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.803, 1.497]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.421, 1.018]). The trajectory involves 5 precise waypoints with total movement distance of 0.651." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16421, + "action": "close", + "object": "Safe", + "frame_index": 225, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16433", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00036.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00037.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00038.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.406, 1.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.770, 2.028]). The trajectory involves 5 precise waypoints with total movement distance of 0.648." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16433, + "action": "open", + "object": "Safe", + "frame_index": 38, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16434", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00038.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00040.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.373, 1.604]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.821, 2.112]). The trajectory involves 5 precise waypoints with total movement distance of 0.709." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16434, + "action": "open", + "object": "Safe", + "frame_index": 40, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16470", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.467, 1.752]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.794, 1.527]). The trajectory involves 5 precise waypoints with total movement distance of 0.741." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16470, + "action": "close", + "object": "Safe", + "frame_index": 224, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16475", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.365, 1.780]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.751, 1.375]). The trajectory involves 5 precise waypoints with total movement distance of 0.772." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16475, + "action": "close", + "object": "Safe", + "frame_index": 237, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16477", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00241.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.306, 1.743]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.838, 1.330]). The trajectory involves 5 precise waypoints with total movement distance of 0.665." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16477, + "action": "close", + "object": "Safe", + "frame_index": 241, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16479", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00243.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00244.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N28_S82_s05_T2/align_rgb/00245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.273, 1.737]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.060, 1.425]). The trajectory involves 5 precise waypoints with total movement distance of 0.401." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16479, + "action": "close", + "object": "Safe", + "frame_index": 245, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16536", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T2/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T2/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T2/align_rgb/00229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.574, 1.687]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.288, 1.536]). The trajectory involves 5 precise waypoints with total movement distance of 0.330." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16536, + "action": "close", + "object": "Safe", + "frame_index": 229, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16538", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T2/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T2/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T2/align_rgb/00239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.559, 1.649]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.314, 1.444]). The trajectory involves 5 precise waypoints with total movement distance of 0.325." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16538, + "action": "close", + "object": "Safe", + "frame_index": 239, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16541", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T2/align_rgb/00243.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T2/align_rgb/00244.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T2/align_rgb/00245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.575, 1.676]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.267, 1.372]). The trajectory involves 5 precise waypoints with total movement distance of 0.437." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16541, + "action": "close", + "object": "Safe", + "frame_index": 245, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16547", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T2/align_rgb/00255.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T2/align_rgb/00256.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T2/align_rgb/00257.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.480, 1.719]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.407, 1.414]). The trajectory involves 5 precise waypoints with total movement distance of 0.315." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16547, + "action": "close", + "object": "Safe", + "frame_index": 257, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16557", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00040.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00041.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.460, 1.789]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.650, 2.281]). The trajectory involves 5 precise waypoints with total movement distance of 0.543." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16557, + "action": "open", + "object": "Safe", + "frame_index": 41, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16563", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00053.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.415, 1.939]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.800, 2.216]). The trajectory involves 5 precise waypoints with total movement distance of 0.478." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16563, + "action": "open", + "object": "Safe", + "frame_index": 53, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16571", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.535, 1.915]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.280, 1.732]). The trajectory involves 5 precise waypoints with total movement distance of 0.328." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16571, + "action": "close", + "object": "Safe", + "frame_index": 88, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16583", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00110.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.414, 1.939]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.319, 1.608]). The trajectory involves 5 precise waypoints with total movement distance of 0.348." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16583, + "action": "close", + "object": "Safe", + "frame_index": 111, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16590", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00159.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00160.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00161.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.405, 1.564]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.434, 1.901]). The trajectory involves 5 precise waypoints with total movement distance of 0.344." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16590, + "action": "open", + "object": "Safe", + "frame_index": 161, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16602", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.347, 1.866]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.533, 2.161]). The trajectory involves 5 precise waypoints with total movement distance of 0.386." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16602, + "action": "open", + "object": "Safe", + "frame_index": 185, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16619", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N25_S82_s04_T1/align_rgb/00238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.334, 1.877]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.164, 1.544]). The trajectory involves 5 precise waypoints with total movement distance of 0.384." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16619, + "action": "close", + "object": "Safe", + "frame_index": 238, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16634", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00000.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.465, 0.985]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.656, 1.415]). The trajectory involves 5 precise waypoints with total movement distance of 0.482." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16634, + "action": "open", + "object": "Safe", + "frame_index": 0, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16635", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00005.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00006.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00007.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.452, 1.042]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.711, 1.416]). The trajectory involves 5 precise waypoints with total movement distance of 0.466." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16635, + "action": "open", + "object": "Safe", + "frame_index": 7, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16638", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00027.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00028.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00029.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.513, 1.085]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.684, 1.598]). The trajectory involves 5 precise waypoints with total movement distance of 0.551." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16638, + "action": "open", + "object": "Safe", + "frame_index": 29, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16639", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00029.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00030.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00031.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.499, 1.120]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.672, 1.666]). The trajectory involves 5 precise waypoints with total movement distance of 0.587." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16639, + "action": "open", + "object": "Safe", + "frame_index": 31, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16640", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00031.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00032.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00033.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.463, 1.186]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.650, 1.733]). The trajectory involves 5 precise waypoints with total movement distance of 0.595." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16640, + "action": "open", + "object": "Safe", + "frame_index": 33, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16642", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00035.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00036.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00037.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.471, 1.266]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.713, 1.706]). The trajectory involves 5 precise waypoints with total movement distance of 0.523." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16642, + "action": "open", + "object": "Safe", + "frame_index": 37, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16648", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.691, 1.350]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.424, 1.022]). The trajectory involves 5 precise waypoints with total movement distance of 0.437." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16648, + "action": "close", + "object": "Safe", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16658", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00113.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00114.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.478, 1.098]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.674, 1.427]). The trajectory involves 5 precise waypoints with total movement distance of 0.390." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16658, + "action": "open", + "object": "Safe", + "frame_index": 115, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16664", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00126.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00127.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00128.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.462, 1.242]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.714, 1.782]). The trajectory involves 5 precise waypoints with total movement distance of 0.608." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16664, + "action": "open", + "object": "Safe", + "frame_index": 128, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16667", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00132.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00133.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00134.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.505, 1.341]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.722, 1.672]). The trajectory involves 5 precise waypoints with total movement distance of 0.405." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16667, + "action": "open", + "object": "Safe", + "frame_index": 134, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16668", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00134.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00135.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00136.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.551, 1.284]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.806, 1.506]). The trajectory involves 5 precise waypoints with total movement distance of 0.363." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16668, + "action": "open", + "object": "Safe", + "frame_index": 136, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16677", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00172.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00173.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N24_S82_s03_T1/align_rgb/00174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.764, 1.511]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.577, 1.362]). The trajectory involves 5 precise waypoints with total movement distance of 0.242." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16677, + "action": "close", + "object": "Safe", + "frame_index": 174, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16703", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N24_S252_s01_T3/align_rgb/00118.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N24_S252_s01_T3/align_rgb/00119.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N24_S252_s01_T3/align_rgb/00120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.756, 1.593]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.502, 1.256]). The trajectory involves 5 precise waypoints with total movement distance of 0.440." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16703, + "action": "close", + "object": "Safe", + "frame_index": 120, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16711", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N24_S252_s01_T3/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N24_S252_s01_T3/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N24_S252_s01_T3/align_rgb/00238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.985, 1.608]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.476, 1.206]). The trajectory involves 5 precise waypoints with total movement distance of 0.701." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16711, + "action": "close", + "object": "Safe", + "frame_index": 238, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16715", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N24_S252_s01_T3/align_rgb/00244.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N24_S252_s01_T3/align_rgb/00245.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N24_S252_s01_T3/align_rgb/00246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.657, 1.549]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.460, 1.102]). The trajectory involves 5 precise waypoints with total movement distance of 0.502." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16715, + "action": "close", + "object": "Safe", + "frame_index": 246, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16736", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N20_S251_s05_T3/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N20_S251_s05_T3/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N20_S251_s05_T3/align_rgb/00102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.772, 1.298]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.547, 0.985]). The trajectory involves 5 precise waypoints with total movement distance of 0.402." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16736, + "action": "close", + "object": "Safe", + "frame_index": 102, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16743", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N20_S251_s05_T3/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N20_S251_s05_T3/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N20_S251_s05_T3/align_rgb/00222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.832, 1.511]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.430, 1.164]). The trajectory involves 5 precise waypoints with total movement distance of 0.559." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16743, + "action": "close", + "object": "Safe", + "frame_index": 222, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16763", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N19_S251_s05_T3/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N19_S251_s05_T3/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N19_S251_s05_T3/align_rgb/00191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.622, 1.047]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.143, 1.506]). The trajectory involves 5 precise waypoints with total movement distance of 0.731." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16763, + "action": "open", + "object": "Safe", + "frame_index": 191, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16769", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N19_S251_s05_T3/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N19_S251_s05_T3/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N19_S251_s05_T3/align_rgb/00222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.803, 1.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.402, 0.982]). The trajectory involves 5 precise waypoints with total movement distance of 0.729." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16769, + "action": "close", + "object": "Safe", + "frame_index": 222, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16778", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N16_S251_s04_T3/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N16_S251_s04_T3/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N16_S251_s04_T3/align_rgb/00087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.828, 1.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.631, 1.383]). The trajectory involves 5 precise waypoints with total movement distance of 0.278." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16778, + "action": "close", + "object": "Safe", + "frame_index": 87, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16779", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N16_S251_s04_T3/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N16_S251_s04_T3/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N16_S251_s04_T3/align_rgb/00093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.786, 1.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.616, 1.339]). The trajectory involves 5 precise waypoints with total movement distance of 0.250." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16779, + "action": "close", + "object": "Safe", + "frame_index": 93, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_16814", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N14_S251_s04_T3/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N14_S251_s04_T3/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N14_S251_s04_T3/align_rgb/00216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.684, 1.362]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.552, 1.276]). The trajectory involves 5 precise waypoints with total movement distance of 0.169." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 16814, + "action": "close", + "object": "Safe", + "frame_index": 216, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17057", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N04_S85_s05_T2/align_rgb/00040.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N04_S85_s05_T2/align_rgb/00041.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N04_S85_s05_T2/align_rgb/00042.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.337, 1.270]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.541, 1.346]). The trajectory involves 5 precise waypoints with total movement distance of 0.222." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17057, + "action": "open", + "object": "Safe", + "frame_index": 42, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17085", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N04_S85_s05_T2/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N04_S85_s05_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N04_S85_s05_T2/align_rgb/00205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.531, 1.351]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.408, 1.358]). The trajectory involves 5 precise waypoints with total movement distance of 0.124." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17085, + "action": "close", + "object": "Safe", + "frame_index": 205, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17099", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N04_S85_s05_T2/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N04_S85_s05_T2/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N04_S85_s05_T2/align_rgb/00233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.427, 1.352]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.378, 1.286]). The trajectory involves 5 precise waypoints with total movement distance of 0.086." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17099, + "action": "close", + "object": "Safe", + "frame_index": 233, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17115", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N04_S251_s01_T2/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N04_S251_s01_T2/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N04_S251_s01_T2/align_rgb/00050.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.465, 1.360]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.758, 1.542]). The trajectory involves 5 precise waypoints with total movement distance of 0.411." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17115, + "action": "open", + "object": "Safe", + "frame_index": 50, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17118", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N04_S251_s01_T2/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N04_S251_s01_T2/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N04_S251_s01_T2/align_rgb/00075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.661, 1.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.479, 1.434]). The trajectory involves 5 precise waypoints with total movement distance of 0.216." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17118, + "action": "close", + "object": "Safe", + "frame_index": 75, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17119", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N04_S251_s01_T2/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N04_S251_s01_T2/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N04_S251_s01_T2/align_rgb/00077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.647, 1.491]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.457, 1.382]). The trajectory involves 5 precise waypoints with total movement distance of 0.243." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17119, + "action": "close", + "object": "Safe", + "frame_index": 77, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17123", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N04_S251_s01_T2/align_rgb/00173.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N04_S251_s01_T2/align_rgb/00174.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N04_S251_s01_T2/align_rgb/00175.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.518, 1.319]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.649, 1.452]). The trajectory involves 5 precise waypoints with total movement distance of 0.218." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17123, + "action": "open", + "object": "Safe", + "frame_index": 175, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17137", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00036.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00037.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00038.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.560, 1.200]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.576, 1.368]). The trajectory involves 5 precise waypoints with total movement distance of 0.171." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17137, + "action": "open", + "object": "Safe", + "frame_index": 38, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17138", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00038.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00040.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.552, 1.190]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.559, 1.408]). The trajectory involves 5 precise waypoints with total movement distance of 0.223." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17138, + "action": "open", + "object": "Safe", + "frame_index": 40, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17147", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.508, 1.232]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.667, 1.333]). The trajectory involves 5 precise waypoints with total movement distance of 0.199." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17147, + "action": "open", + "object": "Safe", + "frame_index": 58, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17153", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.593, 1.439]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.534, 1.300]). The trajectory involves 5 precise waypoints with total movement distance of 0.158." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17153, + "action": "close", + "object": "Safe", + "frame_index": 90, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17166", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00157.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00158.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00159.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.517, 1.267]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.514, 1.419]). The trajectory involves 5 precise waypoints with total movement distance of 0.156." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17166, + "action": "open", + "object": "Safe", + "frame_index": 159, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17170", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00172.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00173.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.518, 1.148]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.554, 1.318]). The trajectory involves 5 precise waypoints with total movement distance of 0.179." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17170, + "action": "open", + "object": "Safe", + "frame_index": 174, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17172", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00176.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00177.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.508, 1.163]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.570, 1.349]). The trajectory involves 5 precise waypoints with total movement distance of 0.203." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17172, + "action": "open", + "object": "Safe", + "frame_index": 178, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17174", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00181.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.516, 1.178]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.554, 1.343]). The trajectory involves 5 precise waypoints with total movement distance of 0.176." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17174, + "action": "open", + "object": "Safe", + "frame_index": 182, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17176", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.506, 1.190]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.545, 1.326]). The trajectory involves 5 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17176, + "action": "open", + "object": "Safe", + "frame_index": 186, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17178", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.460, 1.299]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.543, 1.419]). The trajectory involves 5 precise waypoints with total movement distance of 0.151." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17178, + "action": "open", + "object": "Safe", + "frame_index": 190, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17181", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.482, 1.309]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.570, 1.386]). The trajectory involves 5 precise waypoints with total movement distance of 0.120." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17181, + "action": "open", + "object": "Safe", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17182", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S85_s04_T1/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.499, 1.318]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.610, 1.369]). The trajectory involves 5 precise waypoints with total movement distance of 0.123." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17182, + "action": "open", + "object": "Safe", + "frame_index": 198, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17200", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N03_S251_s01_T2/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S251_s01_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S251_s01_T2/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.585, 1.304]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.798, 1.480]). The trajectory involves 5 precise waypoints with total movement distance of 0.318." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17200, + "action": "open", + "object": "Safe", + "frame_index": 58, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17203", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N03_S251_s01_T2/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S251_s01_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S251_s01_T2/align_rgb/00084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.675, 1.482]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.486, 1.323]). The trajectory involves 5 precise waypoints with total movement distance of 0.275." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17203, + "action": "close", + "object": "Safe", + "frame_index": 84, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17205", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N03_S251_s01_T2/align_rgb/00182.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S251_s01_T2/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N03_S251_s01_T2/align_rgb/00184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.577, 1.295]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.711, 1.506]). The trajectory involves 5 precise waypoints with total movement distance of 0.257." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17205, + "action": "open", + "object": "Safe", + "frame_index": 184, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17227", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N02_S85_s04_T1/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N02_S85_s04_T1/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N02_S85_s04_T1/align_rgb/00056.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.404, 1.330]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.455, 1.393]). The trajectory involves 5 precise waypoints with total movement distance of 0.084." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17227, + "action": "open", + "object": "Safe", + "frame_index": 56, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17244", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N02_S85_s04_T1/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N02_S85_s04_T1/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N02_S85_s04_T1/align_rgb/00109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.457, 1.348]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.347, 1.266]). The trajectory involves 5 precise waypoints with total movement distance of 0.142." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17244, + "action": "close", + "object": "Safe", + "frame_index": 109, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17248", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N02_S85_s04_T1/align_rgb/00115.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N02_S85_s04_T1/align_rgb/00116.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N02_S85_s04_T1/align_rgb/00117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.450, 1.344]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.393, 1.222]). The trajectory involves 5 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17248, + "action": "close", + "object": "Safe", + "frame_index": 117, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17289", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N02_S85_s04_T1/align_rgb/00252.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N02_S85_s04_T1/align_rgb/00253.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N02_S85_s04_T1/align_rgb/00254.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.469, 1.324]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.424, 1.173]). The trajectory involves 5 precise waypoints with total movement distance of 0.167." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17289, + "action": "close", + "object": "Safe", + "frame_index": 254, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17300", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N02_S251_s01_T2/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N02_S251_s01_T2/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N02_S251_s01_T2/align_rgb/00063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.567, 1.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.686, 1.609]). The trajectory involves 5 precise waypoints with total movement distance of 0.245." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17300, + "action": "open", + "object": "Safe", + "frame_index": 63, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17325", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T2/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.481, 1.247]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.728, 1.164]). The trajectory involves 5 precise waypoints with total movement distance of 0.272." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17325, + "action": "open", + "object": "Safe", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17368", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00031.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00032.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00033.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.406, 1.238]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.416, 1.360]). The trajectory involves 5 precise waypoints with total movement distance of 0.123." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17368, + "action": "open", + "object": "Safe", + "frame_index": 33, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17372", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00050.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.485, 1.211]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.560, 1.361]). The trajectory involves 5 precise waypoints with total movement distance of 0.173." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17372, + "action": "open", + "object": "Safe", + "frame_index": 50, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17373", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00052.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.482, 1.220]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.566, 1.370]). The trajectory involves 5 precise waypoints with total movement distance of 0.179." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17373, + "action": "open", + "object": "Safe", + "frame_index": 52, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17376", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.452, 1.274]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.562, 1.458]). The trajectory involves 5 precise waypoints with total movement distance of 0.227." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17376, + "action": "open", + "object": "Safe", + "frame_index": 58, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17382", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.487, 1.368]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.606, 1.425]). The trajectory involves 5 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17382, + "action": "open", + "object": "Safe", + "frame_index": 70, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17405", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00175.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00176.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00177.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.466, 1.115]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.550, 1.292]). The trajectory involves 5 precise waypoints with total movement distance of 0.205." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17405, + "action": "open", + "object": "Safe", + "frame_index": 177, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17408", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00181.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00182.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N01_S85_s03_T1/align_rgb/00183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.479, 1.086]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.585, 1.239]). The trajectory involves 5 precise waypoints with total movement distance of 0.195." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17408, + "action": "open", + "object": "Safe", + "frame_index": 183, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17438", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C6_N01_S251_s01_T2/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N01_S251_s01_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800003_H3_C6_N01_S251_s01_T2/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.617, 1.345]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.713, 1.568]). The trajectory involves 5 precise waypoints with total movement distance of 0.247." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17438, + "action": "open", + "object": "Safe", + "frame_index": 66, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_17462", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C5_N48_S61_s04_T1/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N48_S61_s04_T1/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N48_S61_s04_T1/align_rgb/00107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.403, 1.571]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.432, 1.747]). The trajectory involves 5 precise waypoints with total movement distance of 0.181." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17462, + "action": "putdown", + "object": "Bottle", + "frame_index": 107, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_17531", + "task": "pick up the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.251, 1.388]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.270, 1.137]). The trajectory involves 5 precise waypoints with total movement distance of 0.255." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17531, + "action": "carry", + "object": "Bottle", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_17548", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.421, 1.288]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.042, 1.164]). The trajectory involves 5 precise waypoints with total movement distance of 0.401." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17548, + "action": "carry", + "object": "Bottle", + "frame_index": 189, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_17549", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.449, 1.287]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.044, 1.187]). The trajectory involves 5 precise waypoints with total movement distance of 0.420." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17549, + "action": "carry", + "object": "Bottle", + "frame_index": 191, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_17550", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.406, 1.296]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.971, 1.203]). The trajectory involves 5 precise waypoints with total movement distance of 0.449." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17550, + "action": "carry", + "object": "Bottle", + "frame_index": 193, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_17551", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.410, 1.303]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.948, 1.198]). The trajectory involves 5 precise waypoints with total movement distance of 0.477." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17551, + "action": "carry", + "object": "Bottle", + "frame_index": 195, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_17554", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.394, 1.313]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.865, 1.211]). The trajectory involves 5 precise waypoints with total movement distance of 0.541." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17554, + "action": "carry", + "object": "Bottle", + "frame_index": 201, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_17555", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.410, 1.323]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.858, 1.232]). The trajectory involves 5 precise waypoints with total movement distance of 0.561." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17555, + "action": "carry", + "object": "Bottle", + "frame_index": 203, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_17556", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.395, 1.326]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.819, 1.239]). The trajectory involves 5 precise waypoints with total movement distance of 0.584." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17556, + "action": "carry", + "object": "Bottle", + "frame_index": 205, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_17562", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.356, 1.347]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.765, 1.281]). The trajectory involves 5 precise waypoints with total movement distance of 0.596." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17562, + "action": "carry", + "object": "Bottle", + "frame_index": 217, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_17563", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.362, 1.318]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.779, 1.283]). The trajectory involves 5 precise waypoints with total movement distance of 0.587." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17563, + "action": "carry", + "object": "Bottle", + "frame_index": 219, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_17569", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.292, 1.367]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.668, 1.348]). The trajectory involves 5 precise waypoints with total movement distance of 0.632." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17569, + "action": "carry", + "object": "Bottle", + "frame_index": 231, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_17571", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T4/align_rgb/00235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.300, 1.369]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.717, 1.363]). The trajectory involves 5 precise waypoints with total movement distance of 0.585." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17571, + "action": "carry", + "object": "Bottle", + "frame_index": 235, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_17589", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00103.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.316, 1.443]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.330, 1.605]). The trajectory involves 5 precise waypoints with total movement distance of 0.165." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17589, + "action": "putdown", + "object": "Bottle", + "frame_index": 105, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_17591", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.307, 1.472]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.321, 1.639]). The trajectory involves 5 precise waypoints with total movement distance of 0.168." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17591, + "action": "putdown", + "object": "Bottle", + "frame_index": 109, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_17599", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00122.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00123.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.326, 1.585]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.329, 1.675]). The trajectory involves 5 precise waypoints with total movement distance of 0.090." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17599, + "action": "putdown", + "object": "Bottle", + "frame_index": 124, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_17606", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.330, 1.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.313, 1.646]). The trajectory involves 5 precise waypoints with total movement distance of 0.127." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17606, + "action": "putdown", + "object": "Bottle", + "frame_index": 233, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_17607", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N40_S60_s05_T1/align_rgb/00235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.328, 1.524]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.312, 1.633]). The trajectory involves 5 precise waypoints with total movement distance of 0.111." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17607, + "action": "putdown", + "object": "Bottle", + "frame_index": 235, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_17632", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C5_N31_S58_s03_T1/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N31_S58_s03_T1/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N31_S58_s03_T1/align_rgb/00102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.424, 1.128]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.414, 1.252]). The trajectory involves 5 precise waypoints with total movement distance of 0.126." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17632, + "action": "putdown", + "object": "Bottle", + "frame_index": 102, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_17637", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C5_N31_S58_s03_T1/align_rgb/00110.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N31_S58_s03_T1/align_rgb/00111.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N31_S58_s03_T1/align_rgb/00112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.357, 1.226]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.355, 1.352]). The trajectory involves 5 precise waypoints with total movement distance of 0.127." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17637, + "action": "putdown", + "object": "Bottle", + "frame_index": 112, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_17767", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00176.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00177.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.380, 1.358]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.988, 1.459]). The trajectory involves 5 precise waypoints with total movement distance of 0.627." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17767, + "action": "carry", + "object": "Bottle", + "frame_index": 178, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_17768", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00180.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.342, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.960, 1.485]). The trajectory involves 5 precise waypoints with total movement distance of 0.638." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17768, + "action": "carry", + "object": "Bottle", + "frame_index": 180, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_17770", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00182.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.332, 1.376]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.869, 1.485]). The trajectory involves 5 precise waypoints with total movement distance of 0.560." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17770, + "action": "carry", + "object": "Bottle", + "frame_index": 184, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_17775", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.368, 1.450]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.787, 1.564]). The trajectory involves 5 precise waypoints with total movement distance of 0.435." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17775, + "action": "carry", + "object": "Bottle", + "frame_index": 194, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_17776", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.368, 1.453]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.779, 1.569]). The trajectory involves 5 precise waypoints with total movement distance of 0.427." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17776, + "action": "carry", + "object": "Bottle", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_17778", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.382, 1.463]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.754, 1.527]). The trajectory involves 5 precise waypoints with total movement distance of 0.381." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17778, + "action": "carry", + "object": "Bottle", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_17781", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800003_H3_C5_N13_S58_s02_T4/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.405, 1.486]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.759, 1.544]). The trajectory involves 5 precise waypoints with total movement distance of 0.363." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17781, + "action": "carry", + "object": "Bottle", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_17859", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00040.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00041.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.621, 1.442]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.616, 1.619]). The trajectory involves 5 precise waypoints with total movement distance of 0.177." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17859, + "action": "open", + "object": "Storage Furniture", + "frame_index": 41, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_17862", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00059.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.614, 1.482]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.600, 1.648]). The trajectory involves 5 precise waypoints with total movement distance of 0.167." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17862, + "action": "open", + "object": "Storage Furniture", + "frame_index": 59, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_17867", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.603, 1.587]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.572, 1.792]). The trajectory involves 5 precise waypoints with total movement distance of 0.208." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17867, + "action": "open", + "object": "Storage Furniture", + "frame_index": 69, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_17868", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.571, 1.624]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.524, 1.829]). The trajectory involves 5 precise waypoints with total movement distance of 0.211." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17868, + "action": "open", + "object": "Storage Furniture", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_17869", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.528, 1.583]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.491, 1.763]). The trajectory involves 5 precise waypoints with total movement distance of 0.184." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17869, + "action": "open", + "object": "Storage Furniture", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_17870", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.519, 1.592]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.473, 1.781]). The trajectory involves 5 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17870, + "action": "open", + "object": "Storage Furniture", + "frame_index": 75, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_17873", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.557, 1.654]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.518, 1.826]). The trajectory involves 5 precise waypoints with total movement distance of 0.178." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17873, + "action": "open", + "object": "Storage Furniture", + "frame_index": 81, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_17875", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00102.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00103.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.491, 1.831]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.540, 1.626]). The trajectory involves 5 precise waypoints with total movement distance of 0.212." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17875, + "action": "close", + "object": "Storage Furniture", + "frame_index": 104, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_17876", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.499, 1.803]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.551, 1.540]). The trajectory involves 5 precise waypoints with total movement distance of 0.270." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17876, + "action": "close", + "object": "Storage Furniture", + "frame_index": 106, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_17877", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.490, 1.816]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.540, 1.537]). The trajectory involves 5 precise waypoints with total movement distance of 0.284." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17877, + "action": "close", + "object": "Storage Furniture", + "frame_index": 108, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_17878", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.511, 1.814]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.557, 1.517]). The trajectory involves 5 precise waypoints with total movement distance of 0.300." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17878, + "action": "close", + "object": "Storage Furniture", + "frame_index": 110, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_17879", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00110.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00111.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.521, 1.755]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.566, 1.460]). The trajectory involves 5 precise waypoints with total movement distance of 0.299." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17879, + "action": "close", + "object": "Storage Furniture", + "frame_index": 112, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_17882", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00116.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00117.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00118.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.513, 1.698]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.549, 1.466]). The trajectory involves 5 precise waypoints with total movement distance of 0.234." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17882, + "action": "close", + "object": "Storage Furniture", + "frame_index": 118, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_17887", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00126.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00127.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00128.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.534, 1.566]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.546, 1.408]). The trajectory involves 5 precise waypoints with total movement distance of 0.159." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17887, + "action": "close", + "object": "Storage Furniture", + "frame_index": 128, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_17900", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.534, 1.697]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.504, 1.834]). The trajectory involves 5 precise waypoints with total movement distance of 0.142." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17900, + "action": "open", + "object": "Storage Furniture", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_17902", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.531, 1.711]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.511, 1.822]). The trajectory involves 5 precise waypoints with total movement distance of 0.116." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17902, + "action": "open", + "object": "Storage Furniture", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_17905", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.470, 1.852]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.521, 1.689]). The trajectory involves 5 precise waypoints with total movement distance of 0.172." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17905, + "action": "close", + "object": "Storage Furniture", + "frame_index": 225, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_17908", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.463, 1.764]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.503, 1.576]). The trajectory involves 5 precise waypoints with total movement distance of 0.194." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17908, + "action": "close", + "object": "Storage Furniture", + "frame_index": 231, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_17909", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T2/align_rgb/00233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.516, 1.769]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.549, 1.574]). The trajectory involves 5 precise waypoints with total movement distance of 0.198." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17909, + "action": "close", + "object": "Storage Furniture", + "frame_index": 233, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_17926", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00036.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00037.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00038.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.516, 1.420]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.508, 1.639]). The trajectory involves 5 precise waypoints with total movement distance of 0.219." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17926, + "action": "open", + "object": "Storage Furniture", + "frame_index": 38, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_17927", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00038.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00040.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.488, 1.461]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.477, 1.700]). The trajectory involves 5 precise waypoints with total movement distance of 0.239." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17927, + "action": "open", + "object": "Storage Furniture", + "frame_index": 40, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_17932", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00050.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.500, 1.517]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.455, 1.697]). The trajectory involves 5 precise waypoints with total movement distance of 0.186." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17932, + "action": "open", + "object": "Storage Furniture", + "frame_index": 50, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_17933", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00052.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.444, 1.511]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.402, 1.669]). The trajectory involves 5 precise waypoints with total movement distance of 0.163." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17933, + "action": "open", + "object": "Storage Furniture", + "frame_index": 52, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_17935", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00056.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.461, 1.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.432, 1.679]). The trajectory involves 5 precise waypoints with total movement distance of 0.136." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17935, + "action": "open", + "object": "Storage Furniture", + "frame_index": 56, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_17936", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.434, 1.565]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.412, 1.680]). The trajectory involves 5 precise waypoints with total movement distance of 0.119." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17936, + "action": "open", + "object": "Storage Furniture", + "frame_index": 58, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_17943", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.430, 1.588]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.437, 1.445]). The trajectory involves 5 precise waypoints with total movement distance of 0.143." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17943, + "action": "close", + "object": "Storage Furniture", + "frame_index": 92, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_17946", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.421, 1.559]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.432, 1.394]). The trajectory involves 5 precise waypoints with total movement distance of 0.166." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17946, + "action": "close", + "object": "Storage Furniture", + "frame_index": 98, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_17947", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.410, 1.538]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.419, 1.388]). The trajectory involves 5 precise waypoints with total movement distance of 0.151." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17947, + "action": "close", + "object": "Storage Furniture", + "frame_index": 100, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_17948", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.413, 1.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.422, 1.372]). The trajectory involves 5 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17948, + "action": "close", + "object": "Storage Furniture", + "frame_index": 102, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_17953", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00150.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00151.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.431, 1.365]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.415, 1.466]). The trajectory involves 5 precise waypoints with total movement distance of 0.107." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17953, + "action": "open", + "object": "Storage Furniture", + "frame_index": 152, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_17956", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00158.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00159.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00160.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.434, 1.360]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.410, 1.501]). The trajectory involves 5 precise waypoints with total movement distance of 0.142." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17956, + "action": "open", + "object": "Storage Furniture", + "frame_index": 160, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_17957", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00160.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00161.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.443, 1.376]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.414, 1.523]). The trajectory involves 5 precise waypoints with total movement distance of 0.151." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17957, + "action": "open", + "object": "Storage Furniture", + "frame_index": 162, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_17965", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00176.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00177.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.452, 1.488]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.442, 1.592]). The trajectory involves 5 precise waypoints with total movement distance of 0.108." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17965, + "action": "open", + "object": "Storage Furniture", + "frame_index": 178, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_17972", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.394, 1.575]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.400, 1.456]). The trajectory involves 5 precise waypoints with total movement distance of 0.121." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17972, + "action": "close", + "object": "Storage Furniture", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_17974", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N45_S48_s03_T1/align_rgb/00215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.438, 1.563]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.450, 1.449]). The trajectory involves 5 precise waypoints with total movement distance of 0.116." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17974, + "action": "close", + "object": "Storage Furniture", + "frame_index": 215, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_17988", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00031.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00032.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00033.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.661, 1.604]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.675, 1.772]). The trajectory involves 5 precise waypoints with total movement distance of 0.170." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17988, + "action": "open", + "object": "Storage Furniture", + "frame_index": 33, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_17989", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00043.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00044.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00045.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.683, 1.555]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.691, 1.748]). The trajectory involves 5 precise waypoints with total movement distance of 0.194." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17989, + "action": "open", + "object": "Storage Furniture", + "frame_index": 45, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_17990", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00045.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00046.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00047.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.680, 1.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.679, 1.762]). The trajectory involves 5 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17990, + "action": "open", + "object": "Storage Furniture", + "frame_index": 47, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_17991", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00047.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00049.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.675, 1.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.664, 1.757]). The trajectory involves 5 precise waypoints with total movement distance of 0.200." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17991, + "action": "open", + "object": "Storage Furniture", + "frame_index": 49, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_17992", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00051.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.673, 1.570]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.661, 1.777]). The trajectory involves 5 precise waypoints with total movement distance of 0.209." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 17992, + "action": "open", + "object": "Storage Furniture", + "frame_index": 51, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18002", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.600, 1.661]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.573, 1.795]). The trajectory involves 5 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18002, + "action": "open", + "object": "Storage Furniture", + "frame_index": 71, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18005", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.518, 1.767]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.563, 1.573]). The trajectory involves 5 precise waypoints with total movement distance of 0.200." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18005, + "action": "close", + "object": "Storage Furniture", + "frame_index": 97, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18006", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.522, 1.777]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.564, 1.552]). The trajectory involves 5 precise waypoints with total movement distance of 0.229." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18006, + "action": "close", + "object": "Storage Furniture", + "frame_index": 99, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18007", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.520, 1.767]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.562, 1.521]). The trajectory involves 5 precise waypoints with total movement distance of 0.250." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18007, + "action": "close", + "object": "Storage Furniture", + "frame_index": 101, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18008", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00102.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.547, 1.755]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.582, 1.504]). The trajectory involves 5 precise waypoints with total movement distance of 0.255." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18008, + "action": "close", + "object": "Storage Furniture", + "frame_index": 103, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18010", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.533, 1.710]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.570, 1.493]). The trajectory involves 5 precise waypoints with total movement distance of 0.221." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18010, + "action": "close", + "object": "Storage Furniture", + "frame_index": 107, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18030", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.633, 1.768]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.598, 1.938]). The trajectory involves 5 precise waypoints with total movement distance of 0.173." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18030, + "action": "open", + "object": "Storage Furniture", + "frame_index": 196, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18031", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.637, 1.790]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.605, 1.922]). The trajectory involves 5 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18031, + "action": "open", + "object": "Storage Furniture", + "frame_index": 198, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18043", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00241.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.574, 1.792]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.603, 1.637]). The trajectory involves 5 precise waypoints with total movement distance of 0.158." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18043, + "action": "close", + "object": "Storage Furniture", + "frame_index": 241, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18047", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00247.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00248.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00249.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.603, 1.753]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.635, 1.561]). The trajectory involves 5 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18047, + "action": "close", + "object": "Storage Furniture", + "frame_index": 249, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18050", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00253.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00254.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00255.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.630, 1.654]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.648, 1.468]). The trajectory involves 5 precise waypoints with total movement distance of 0.187." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18050, + "action": "close", + "object": "Storage Furniture", + "frame_index": 255, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18051", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00255.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00256.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00257.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.638, 1.637]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.655, 1.456]). The trajectory involves 5 precise waypoints with total movement distance of 0.182." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18051, + "action": "close", + "object": "Storage Furniture", + "frame_index": 257, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18054", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00261.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00262.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N44_S48_s02_T2/align_rgb/00263.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.660, 1.578]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.674, 1.431]). The trajectory involves 5 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18054, + "action": "close", + "object": "Storage Furniture", + "frame_index": 263, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18060", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.570, 1.484]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.539, 1.695]). The trajectory involves 5 precise waypoints with total movement distance of 0.215." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18060, + "action": "open", + "object": "Storage Furniture", + "frame_index": 62, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18069", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.462, 1.636]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.512, 1.475]). The trajectory involves 5 precise waypoints with total movement distance of 0.169." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18069, + "action": "close", + "object": "Storage Furniture", + "frame_index": 99, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18073", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.489, 1.640]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.534, 1.458]). The trajectory involves 5 precise waypoints with total movement distance of 0.187." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18073, + "action": "close", + "object": "Storage Furniture", + "frame_index": 107, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18074", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.491, 1.643]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.527, 1.474]). The trajectory involves 5 precise waypoints with total movement distance of 0.173." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18074, + "action": "close", + "object": "Storage Furniture", + "frame_index": 109, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18075", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00110.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.496, 1.632]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.526, 1.466]). The trajectory involves 5 precise waypoints with total movement distance of 0.169." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18075, + "action": "close", + "object": "Storage Furniture", + "frame_index": 111, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18101", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.442, 1.538]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.406, 1.642]). The trajectory involves 5 precise waypoints with total movement distance of 0.111." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18101, + "action": "open", + "object": "Storage Furniture", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18103", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T2/align_rgb/00237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.376, 1.715]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.422, 1.544]). The trajectory involves 5 precise waypoints with total movement distance of 0.177." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18103, + "action": "close", + "object": "Storage Furniture", + "frame_index": 237, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18116", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00000.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.287, 0.974]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.286, 1.065]). The trajectory involves 5 precise waypoints with total movement distance of 0.101." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18116, + "action": "open", + "object": "Storage Furniture", + "frame_index": 0, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18117", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00008.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00009.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00010.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.294, 1.030]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.295, 1.119]). The trajectory involves 5 precise waypoints with total movement distance of 0.098." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18117, + "action": "open", + "object": "Storage Furniture", + "frame_index": 10, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18120", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00040.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00041.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00042.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.406, 1.256]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.404, 1.344]). The trajectory involves 5 precise waypoints with total movement distance of 0.094." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18120, + "action": "open", + "object": "Storage Furniture", + "frame_index": 42, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18129", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.309, 1.306]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.322, 1.419]). The trajectory involves 5 precise waypoints with total movement distance of 0.115." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18129, + "action": "open", + "object": "Storage Furniture", + "frame_index": 60, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18135", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.241, 1.333]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.243, 1.434]). The trajectory involves 5 precise waypoints with total movement distance of 0.103." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18135, + "action": "open", + "object": "Storage Furniture", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18139", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.190, 1.399]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.198, 1.260]). The trajectory involves 5 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18139, + "action": "close", + "object": "Storage Furniture", + "frame_index": 100, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18140", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.244, 1.384]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.245, 1.242]). The trajectory involves 5 precise waypoints with total movement distance of 0.142." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18140, + "action": "close", + "object": "Storage Furniture", + "frame_index": 102, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18148", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00116.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00117.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00118.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.227, 1.332]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.231, 1.183]). The trajectory involves 5 precise waypoints with total movement distance of 0.149." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18148, + "action": "close", + "object": "Storage Furniture", + "frame_index": 118, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18150", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00120.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00121.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.285, 1.302]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.288, 1.181]). The trajectory involves 5 precise waypoints with total movement distance of 0.121." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18150, + "action": "close", + "object": "Storage Furniture", + "frame_index": 122, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18157", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.289, 1.273]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.304, 1.379]). The trajectory involves 5 precise waypoints with total movement distance of 0.108." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18157, + "action": "open", + "object": "Storage Furniture", + "frame_index": 186, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18165", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.258, 1.324]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.258, 1.450]). The trajectory involves 5 precise waypoints with total movement distance of 0.126." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18165, + "action": "open", + "object": "Storage Furniture", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18169", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.290, 1.406]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.273, 1.264]). The trajectory involves 5 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18169, + "action": "close", + "object": "Storage Furniture", + "frame_index": 229, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18173", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N43_S48_s02_T1/align_rgb/00237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.277, 1.401]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.278, 1.270]). The trajectory involves 5 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18173, + "action": "close", + "object": "Storage Furniture", + "frame_index": 237, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18183", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N42_S48_s01_T2/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N42_S48_s01_T2/align_rgb/00040.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N42_S48_s01_T2/align_rgb/00041.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.642, 1.240]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.610, 1.483]). The trajectory involves 5 precise waypoints with total movement distance of 0.246." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18183, + "action": "open", + "object": "Storage Furniture", + "frame_index": 41, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18296", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.508, 1.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.483, 1.651]). The trajectory involves 5 precise waypoints with total movement distance of 0.185." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18296, + "action": "open", + "object": "Storage Furniture", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18300", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.472, 1.518]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.439, 1.630]). The trajectory involves 5 precise waypoints with total movement distance of 0.117." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18300, + "action": "open", + "object": "Storage Furniture", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18313", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00119.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00120.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00121.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.403, 1.682]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.447, 1.498]). The trajectory involves 5 precise waypoints with total movement distance of 0.190." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18313, + "action": "close", + "object": "Storage Furniture", + "frame_index": 121, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18314", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00121.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00122.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.406, 1.676]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.448, 1.487]). The trajectory involves 5 precise waypoints with total movement distance of 0.195." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18314, + "action": "close", + "object": "Storage Furniture", + "frame_index": 123, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18315", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00123.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00124.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.423, 1.680]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.463, 1.482]). The trajectory involves 5 precise waypoints with total movement distance of 0.202." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18315, + "action": "close", + "object": "Storage Furniture", + "frame_index": 125, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18319", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00131.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00132.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00133.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.425, 1.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.457, 1.377]). The trajectory involves 5 precise waypoints with total movement distance of 0.182." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18319, + "action": "close", + "object": "Storage Furniture", + "frame_index": 133, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18320", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00133.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00134.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00135.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.441, 1.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.468, 1.361]). The trajectory involves 5 precise waypoints with total movement distance of 0.170." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18320, + "action": "close", + "object": "Storage Furniture", + "frame_index": 135, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18322", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00166.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00167.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00168.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.166, 0.943]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.159, 0.933]). The trajectory involves 5 precise waypoints with total movement distance of 0.032." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18322, + "action": "open", + "object": "Storage Furniture", + "frame_index": 168, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18348", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00245.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00246.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00247.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.358, 1.601]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.431, 1.381]). The trajectory involves 5 precise waypoints with total movement distance of 0.232." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18348, + "action": "close", + "object": "Storage Furniture", + "frame_index": 247, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18349", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00247.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00248.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T2/align_rgb/00249.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.383, 1.608]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.452, 1.383]). The trajectory involves 5 precise waypoints with total movement distance of 0.235." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18349, + "action": "close", + "object": "Storage Furniture", + "frame_index": 249, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18364", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.372, 1.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.360, 1.535]). The trajectory involves 5 precise waypoints with total movement distance of 0.154." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18364, + "action": "open", + "object": "Storage Furniture", + "frame_index": 60, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18365", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.362, 1.404]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.350, 1.545]). The trajectory involves 5 precise waypoints with total movement distance of 0.141." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18365, + "action": "open", + "object": "Storage Furniture", + "frame_index": 62, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18366", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.350, 1.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.338, 1.536]). The trajectory involves 5 precise waypoints with total movement distance of 0.136." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18366, + "action": "open", + "object": "Storage Furniture", + "frame_index": 64, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18367", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.307, 1.412]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.293, 1.541]). The trajectory involves 5 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18367, + "action": "open", + "object": "Storage Furniture", + "frame_index": 66, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18369", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.341, 1.420]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.331, 1.520]). The trajectory involves 5 precise waypoints with total movement distance of 0.100." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18369, + "action": "open", + "object": "Storage Furniture", + "frame_index": 70, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18417", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N41_S48_s01_T1/align_rgb/00240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.293, 1.475]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.315, 1.309]). The trajectory involves 5 precise waypoints with total movement distance of 0.169." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18417, + "action": "close", + "object": "Storage Furniture", + "frame_index": 240, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18420", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00000.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.056, 1.274]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.231, 1.692]). The trajectory involves 5 precise waypoints with total movement distance of 0.462." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18420, + "action": "open", + "object": "Storage Furniture", + "frame_index": 0, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18423", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00037.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00038.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00039.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.131, 1.260]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.314, 1.557]). The trajectory involves 5 precise waypoints with total movement distance of 0.350." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18423, + "action": "open", + "object": "Storage Furniture", + "frame_index": 39, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18425", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00053.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00054.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.210, 1.209]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.384, 1.497]). The trajectory involves 5 precise waypoints with total movement distance of 0.339." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18425, + "action": "open", + "object": "Storage Furniture", + "frame_index": 54, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18427", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.223, 1.273]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.393, 1.596]). The trajectory involves 5 precise waypoints with total movement distance of 0.368." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18427, + "action": "open", + "object": "Storage Furniture", + "frame_index": 58, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18428", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.229, 1.326]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.437, 1.636]). The trajectory involves 5 precise waypoints with total movement distance of 0.374." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18428, + "action": "open", + "object": "Storage Furniture", + "frame_index": 60, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18429", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.223, 1.348]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.413, 1.639]). The trajectory involves 5 precise waypoints with total movement distance of 0.350." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18429, + "action": "open", + "object": "Storage Furniture", + "frame_index": 62, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18430", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.222, 1.413]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.407, 1.670]). The trajectory involves 5 precise waypoints with total movement distance of 0.320." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18430, + "action": "open", + "object": "Storage Furniture", + "frame_index": 64, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18431", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.208, 1.419]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.381, 1.648]). The trajectory involves 5 precise waypoints with total movement distance of 0.288." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18431, + "action": "open", + "object": "Storage Furniture", + "frame_index": 66, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18432", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.205, 1.445]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.347, 1.647]). The trajectory involves 5 precise waypoints with total movement distance of 0.247." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18432, + "action": "open", + "object": "Storage Furniture", + "frame_index": 68, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18433", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.196, 1.463]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.333, 1.642]). The trajectory involves 5 precise waypoints with total movement distance of 0.226." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18433, + "action": "open", + "object": "Storage Furniture", + "frame_index": 70, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18434", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.195, 1.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.331, 1.655]). The trajectory involves 5 precise waypoints with total movement distance of 0.209." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18434, + "action": "open", + "object": "Storage Furniture", + "frame_index": 72, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18435", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.177, 1.494]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.305, 1.660]). The trajectory involves 5 precise waypoints with total movement distance of 0.210." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18435, + "action": "open", + "object": "Storage Furniture", + "frame_index": 74, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18436", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.184, 1.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.305, 1.662]). The trajectory involves 5 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18436, + "action": "open", + "object": "Storage Furniture", + "frame_index": 76, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18440", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00102.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00103.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.211, 1.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.973, 1.342]). The trajectory involves 5 precise waypoints with total movement distance of 0.333." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18440, + "action": "close", + "object": "Storage Furniture", + "frame_index": 104, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18443", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.172, 1.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.012, 1.279]). The trajectory involves 5 precise waypoints with total movement distance of 0.323." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18443, + "action": "close", + "object": "Storage Furniture", + "frame_index": 110, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18444", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00110.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00111.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.126, 1.535]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.957, 1.304]). The trajectory involves 5 precise waypoints with total movement distance of 0.290." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18444, + "action": "close", + "object": "Storage Furniture", + "frame_index": 112, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18445", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00112.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00113.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.116, 1.543]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.984, 1.281]). The trajectory involves 5 precise waypoints with total movement distance of 0.295." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18445, + "action": "close", + "object": "Storage Furniture", + "frame_index": 114, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18446", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00114.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00115.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.106, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.012, 1.285]). The trajectory involves 5 precise waypoints with total movement distance of 0.250." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18446, + "action": "close", + "object": "Storage Furniture", + "frame_index": 116, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18456", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00176.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00177.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.171, 1.191]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.261, 1.414]). The trajectory involves 5 precise waypoints with total movement distance of 0.244." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18456, + "action": "open", + "object": "Storage Furniture", + "frame_index": 178, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18458", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.196, 1.227]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.282, 1.492]). The trajectory involves 5 precise waypoints with total movement distance of 0.281." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18458, + "action": "open", + "object": "Storage Furniture", + "frame_index": 185, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18460", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.222, 1.180]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.329, 1.505]). The trajectory involves 5 precise waypoints with total movement distance of 0.345." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18460, + "action": "open", + "object": "Storage Furniture", + "frame_index": 189, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18461", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.182, 1.174]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.277, 1.531]). The trajectory involves 5 precise waypoints with total movement distance of 0.374." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18461, + "action": "open", + "object": "Storage Furniture", + "frame_index": 191, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18462", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.211, 1.275]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.325, 1.591]). The trajectory involves 5 precise waypoints with total movement distance of 0.342." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18462, + "action": "open", + "object": "Storage Furniture", + "frame_index": 193, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18463", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.202, 1.268]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.326, 1.584]). The trajectory involves 5 precise waypoints with total movement distance of 0.343." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18463, + "action": "open", + "object": "Storage Furniture", + "frame_index": 195, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18464", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.224, 1.303]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.347, 1.596]). The trajectory involves 5 precise waypoints with total movement distance of 0.319." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18464, + "action": "open", + "object": "Storage Furniture", + "frame_index": 197, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18465", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.233, 1.238]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.323, 1.531]). The trajectory involves 5 precise waypoints with total movement distance of 0.307." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18465, + "action": "open", + "object": "Storage Furniture", + "frame_index": 199, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18466", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.231, 1.308]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.355, 1.579]). The trajectory involves 5 precise waypoints with total movement distance of 0.298." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18466, + "action": "open", + "object": "Storage Furniture", + "frame_index": 201, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18467", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.227, 1.355]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.358, 1.608]). The trajectory involves 5 precise waypoints with total movement distance of 0.286." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18467, + "action": "open", + "object": "Storage Furniture", + "frame_index": 203, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18469", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.197, 1.427]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.327, 1.671]). The trajectory involves 5 precise waypoints with total movement distance of 0.276." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18469, + "action": "open", + "object": "Storage Furniture", + "frame_index": 207, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18470", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.232, 1.481]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.350, 1.683]). The trajectory involves 5 precise waypoints with total movement distance of 0.233." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18470, + "action": "open", + "object": "Storage Furniture", + "frame_index": 209, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18472", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.209, 1.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.323, 1.636]). The trajectory involves 5 precise waypoints with total movement distance of 0.206." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18472, + "action": "open", + "object": "Storage Furniture", + "frame_index": 213, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18473", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.223, 1.509]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.327, 1.663]). The trajectory involves 5 precise waypoints with total movement distance of 0.187." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18473, + "action": "open", + "object": "Storage Furniture", + "frame_index": 215, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18477", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.309, 1.652]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.167, 1.490]). The trajectory involves 5 precise waypoints with total movement distance of 0.218." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18477, + "action": "close", + "object": "Storage Furniture", + "frame_index": 242, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18479", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00244.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00245.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.279, 1.644]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.145, 1.448]). The trajectory involves 5 precise waypoints with total movement distance of 0.244." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18479, + "action": "close", + "object": "Storage Furniture", + "frame_index": 246, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18484", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00254.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00255.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00256.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.195, 1.598]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.089, 1.389]). The trajectory involves 5 precise waypoints with total movement distance of 0.236." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18484, + "action": "close", + "object": "Storage Furniture", + "frame_index": 256, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18486", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00258.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00259.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00260.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.174, 1.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.098, 1.331]). The trajectory involves 5 precise waypoints with total movement distance of 0.220." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18486, + "action": "close", + "object": "Storage Furniture", + "frame_index": 260, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18487", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00260.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00261.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T2/align_rgb/00262.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.155, 1.542]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.059, 1.311]). The trajectory involves 5 precise waypoints with total movement distance of 0.253." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18487, + "action": "close", + "object": "Storage Furniture", + "frame_index": 262, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18505", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.298, 1.484]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.300, 1.574]). The trajectory involves 5 precise waypoints with total movement distance of 0.090." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18505, + "action": "open", + "object": "Storage Furniture", + "frame_index": 60, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18507", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.309, 1.520]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.308, 1.594]). The trajectory involves 5 precise waypoints with total movement distance of 0.074." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18507, + "action": "open", + "object": "Storage Furniture", + "frame_index": 64, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18514", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.312, 1.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.299, 1.482]). The trajectory involves 5 precise waypoints with total movement distance of 0.133." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18514, + "action": "close", + "object": "Storage Furniture", + "frame_index": 97, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18516", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.300, 1.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.283, 1.468]). The trajectory involves 5 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18516, + "action": "close", + "object": "Storage Furniture", + "frame_index": 101, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18518", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00103.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.298, 1.580]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.286, 1.474]). The trajectory involves 5 precise waypoints with total movement distance of 0.107." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18518, + "action": "close", + "object": "Storage Furniture", + "frame_index": 105, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18550", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.328, 1.571]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.332, 1.457]). The trajectory involves 5 precise waypoints with total movement distance of 0.114." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18550, + "action": "close", + "object": "Storage Furniture", + "frame_index": 233, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18551", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.324, 1.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.330, 1.405]). The trajectory involves 5 precise waypoints with total movement distance of 0.124." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18551, + "action": "close", + "object": "Storage Furniture", + "frame_index": 235, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18553", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.326, 1.545]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.330, 1.413]). The trajectory involves 5 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18553, + "action": "close", + "object": "Storage Furniture", + "frame_index": 239, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18554", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N40_S53_s05_T1/align_rgb/00241.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.325, 1.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.331, 1.367]). The trajectory involves 5 precise waypoints with total movement distance of 0.126." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18554, + "action": "close", + "object": "Storage Furniture", + "frame_index": 241, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18559", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00029.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00030.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00031.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.131, 1.328]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.209, 1.516]). The trajectory involves 5 precise waypoints with total movement distance of 0.209." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18559, + "action": "open", + "object": "Storage Furniture", + "frame_index": 31, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18562", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00044.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00045.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00046.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.154, 1.367]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.240, 1.555]). The trajectory involves 5 precise waypoints with total movement distance of 0.208." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18562, + "action": "open", + "object": "Storage Furniture", + "frame_index": 46, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18564", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00050.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.121, 1.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.192, 1.614]). The trajectory involves 5 precise waypoints with total movement distance of 0.255." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18564, + "action": "open", + "object": "Storage Furniture", + "frame_index": 50, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18565", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00052.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.118, 1.409]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.242, 1.641]). The trajectory involves 5 precise waypoints with total movement distance of 0.265." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18565, + "action": "open", + "object": "Storage Furniture", + "frame_index": 52, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18566", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00053.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00054.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.108, 1.394]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.243, 1.619]). The trajectory involves 5 precise waypoints with total movement distance of 0.264." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18566, + "action": "open", + "object": "Storage Furniture", + "frame_index": 54, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18567", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00056.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.110, 1.411]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.278, 1.674]). The trajectory involves 5 precise waypoints with total movement distance of 0.314." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18567, + "action": "open", + "object": "Storage Furniture", + "frame_index": 56, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18568", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.116, 1.424]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.292, 1.702]). The trajectory involves 5 precise waypoints with total movement distance of 0.334." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18568, + "action": "open", + "object": "Storage Furniture", + "frame_index": 58, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18569", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.098, 1.417]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.264, 1.639]). The trajectory involves 5 precise waypoints with total movement distance of 0.279." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18569, + "action": "open", + "object": "Storage Furniture", + "frame_index": 60, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18570", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.095, 1.439]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.288, 1.706]). The trajectory involves 5 precise waypoints with total movement distance of 0.333." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18570, + "action": "open", + "object": "Storage Furniture", + "frame_index": 62, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18572", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.108, 1.497]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.326, 1.743]). The trajectory involves 5 precise waypoints with total movement distance of 0.332." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18572, + "action": "open", + "object": "Storage Furniture", + "frame_index": 66, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18573", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.106, 1.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.331, 1.744]). The trajectory involves 5 precise waypoints with total movement distance of 0.334." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18573, + "action": "open", + "object": "Storage Furniture", + "frame_index": 68, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18574", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.105, 1.524]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.282, 1.739]). The trajectory involves 5 precise waypoints with total movement distance of 0.281." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18574, + "action": "open", + "object": "Storage Furniture", + "frame_index": 70, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18575", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.104, 1.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.264, 1.744]). The trajectory involves 5 precise waypoints with total movement distance of 0.258." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18575, + "action": "open", + "object": "Storage Furniture", + "frame_index": 72, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18576", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.107, 1.590]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.257, 1.773]). The trajectory involves 5 precise waypoints with total movement distance of 0.240." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18576, + "action": "open", + "object": "Storage Furniture", + "frame_index": 74, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18577", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.109, 1.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.259, 1.785]). The trajectory involves 5 precise waypoints with total movement distance of 0.244." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18577, + "action": "open", + "object": "Storage Furniture", + "frame_index": 75, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18580", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.178, 1.636]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.050, 1.402]). The trajectory involves 5 precise waypoints with total movement distance of 0.269." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18580, + "action": "close", + "object": "Storage Furniture", + "frame_index": 101, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18584", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.122, 1.648]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.969, 1.447]). The trajectory involves 5 precise waypoints with total movement distance of 0.253." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18584, + "action": "close", + "object": "Storage Furniture", + "frame_index": 109, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18587", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00113.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00114.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.077, 1.589]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.999, 1.368]). The trajectory involves 5 precise waypoints with total movement distance of 0.235." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18587, + "action": "close", + "object": "Storage Furniture", + "frame_index": 115, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18588", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00115.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00116.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.048, 1.588]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.972, 1.362]). The trajectory involves 5 precise waypoints with total movement distance of 0.240." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18588, + "action": "close", + "object": "Storage Furniture", + "frame_index": 117, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18589", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00117.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00118.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00119.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.045, 1.555]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.975, 1.365]). The trajectory involves 5 precise waypoints with total movement distance of 0.202." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18589, + "action": "close", + "object": "Storage Furniture", + "frame_index": 119, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18590", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00119.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00120.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00121.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.032, 1.545]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.969, 1.363]). The trajectory involves 5 precise waypoints with total movement distance of 0.193." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18590, + "action": "close", + "object": "Storage Furniture", + "frame_index": 121, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18591", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00121.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00122.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.032, 1.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.983, 1.354]). The trajectory involves 5 precise waypoints with total movement distance of 0.180." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18591, + "action": "close", + "object": "Storage Furniture", + "frame_index": 123, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18592", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00123.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00124.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.034, 1.561]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.981, 1.408]). The trajectory involves 5 precise waypoints with total movement distance of 0.163." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18592, + "action": "close", + "object": "Storage Furniture", + "frame_index": 125, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18593", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00125.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00126.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00127.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.022, 1.569]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.979, 1.423]). The trajectory involves 5 precise waypoints with total movement distance of 0.153." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18593, + "action": "close", + "object": "Storage Furniture", + "frame_index": 127, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18598", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00168.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00169.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.117, 1.340]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.285, 1.669]). The trajectory involves 5 precise waypoints with total movement distance of 0.386." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18598, + "action": "open", + "object": "Storage Furniture", + "frame_index": 170, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18599", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00173.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00174.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00175.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.133, 1.313]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.299, 1.646]). The trajectory involves 5 precise waypoints with total movement distance of 0.389." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18599, + "action": "open", + "object": "Storage Furniture", + "frame_index": 175, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18600", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00180.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.123, 1.256]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.292, 1.593]). The trajectory involves 5 precise waypoints with total movement distance of 0.394." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18600, + "action": "open", + "object": "Storage Furniture", + "frame_index": 180, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18601", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00181.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.135, 1.253]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.314, 1.562]). The trajectory involves 5 precise waypoints with total movement distance of 0.400." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18601, + "action": "open", + "object": "Storage Furniture", + "frame_index": 182, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18603", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.116, 1.337]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.348, 1.641]). The trajectory involves 5 precise waypoints with total movement distance of 0.406." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18603, + "action": "open", + "object": "Storage Furniture", + "frame_index": 186, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18606", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.115, 1.370]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.402, 1.624]). The trajectory involves 5 precise waypoints with total movement distance of 0.388." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18606, + "action": "open", + "object": "Storage Furniture", + "frame_index": 192, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18611", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.128, 1.462]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.277, 1.637]). The trajectory involves 5 precise waypoints with total movement distance of 0.230." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18611, + "action": "open", + "object": "Storage Furniture", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18612", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.134, 1.449]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.257, 1.628]). The trajectory involves 5 precise waypoints with total movement distance of 0.218." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18612, + "action": "open", + "object": "Storage Furniture", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18613", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.139, 1.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.255, 1.680]). The trajectory involves 5 precise waypoints with total movement distance of 0.209." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18613, + "action": "open", + "object": "Storage Furniture", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18616", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.207, 1.666]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.095, 1.508]). The trajectory involves 5 precise waypoints with total movement distance of 0.286." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18616, + "action": "close", + "object": "Storage Furniture", + "frame_index": 232, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18619", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.298, 1.714]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.093, 1.487]). The trajectory involves 5 precise waypoints with total movement distance of 0.309." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18619, + "action": "close", + "object": "Storage Furniture", + "frame_index": 238, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18620", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.286, 1.688]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.067, 1.422]). The trajectory involves 5 precise waypoints with total movement distance of 0.349." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18620, + "action": "close", + "object": "Storage Furniture", + "frame_index": 240, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18622", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00242.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00243.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.220, 1.665]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.014, 1.375]). The trajectory involves 5 precise waypoints with total movement distance of 0.362." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18622, + "action": "close", + "object": "Storage Furniture", + "frame_index": 244, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18624", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00246.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00247.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.173, 1.591]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.065, 1.368]). The trajectory involves 5 precise waypoints with total movement distance of 0.249." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18624, + "action": "close", + "object": "Storage Furniture", + "frame_index": 248, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18627", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00252.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00253.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T2/align_rgb/00254.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.104, 1.589]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.017, 1.356]). The trajectory involves 5 precise waypoints with total movement distance of 0.250." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18627, + "action": "close", + "object": "Storage Furniture", + "frame_index": 254, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer", + "Door" + ] + } + }, + { + "id": "hoi4d_18654", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00114.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00115.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.173, 1.341]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.149, 1.259]). The trajectory involves 5 precise waypoints with total movement distance of 0.115." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18654, + "action": "close", + "object": "Storage Furniture", + "frame_index": 116, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18657", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00159.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00160.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00161.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.274, 1.190]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.285, 1.315]). The trajectory involves 5 precise waypoints with total movement distance of 0.127." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18657, + "action": "open", + "object": "Storage Furniture", + "frame_index": 161, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18658", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00163.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00164.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00165.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.259, 1.204]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.269, 1.327]). The trajectory involves 5 precise waypoints with total movement distance of 0.124." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18658, + "action": "open", + "object": "Storage Furniture", + "frame_index": 165, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18659", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00168.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00169.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.265, 1.178]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.278, 1.312]). The trajectory involves 5 precise waypoints with total movement distance of 0.136." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18659, + "action": "open", + "object": "Storage Furniture", + "frame_index": 170, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18660", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00172.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00173.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.241, 1.200]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.248, 1.327]). The trajectory involves 5 precise waypoints with total movement distance of 0.128." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18660, + "action": "open", + "object": "Storage Furniture", + "frame_index": 174, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18662", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N39_S53_s05_T1/align_rgb/00181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.216, 1.223]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.229, 1.349]). The trajectory involves 5 precise waypoints with total movement distance of 0.128." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18662, + "action": "open", + "object": "Storage Furniture", + "frame_index": 181, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18706", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.333, 1.683]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.368, 1.454]). The trajectory involves 5 precise waypoints with total movement distance of 0.233." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18706, + "action": "close", + "object": "Storage Furniture", + "frame_index": 86, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18709", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00143.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00144.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.503, 1.497]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.420, 1.915]). The trajectory involves 5 precise waypoints with total movement distance of 0.439." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18709, + "action": "open", + "object": "Storage Furniture", + "frame_index": 145, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18710", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00145.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00146.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.512, 1.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.434, 1.937]). The trajectory involves 5 precise waypoints with total movement distance of 0.444." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18710, + "action": "open", + "object": "Storage Furniture", + "frame_index": 147, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18711", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00148.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00149.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00150.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.536, 1.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.469, 1.943]). The trajectory involves 5 precise waypoints with total movement distance of 0.429." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18711, + "action": "open", + "object": "Storage Furniture", + "frame_index": 150, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18717", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N08_S119_s05_T2/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.241, 1.729]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.328, 1.372]). The trajectory involves 5 precise waypoints with total movement distance of 0.371." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18717, + "action": "close", + "object": "Storage Furniture", + "frame_index": 212, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18802", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.135, 2.093]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.820, 1.529]). The trajectory involves 5 precise waypoints with total movement distance of 0.906." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18802, + "action": "close", + "object": "Storage Furniture", + "frame_index": 217, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18803", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.132, 1.956]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.703, 1.507]). The trajectory involves 5 precise waypoints with total movement distance of 0.730." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18803, + "action": "close", + "object": "Storage Furniture", + "frame_index": 219, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18811", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.543, 1.885]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.662, 1.534]). The trajectory involves 5 precise waypoints with total movement distance of 0.376." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18811, + "action": "close", + "object": "Storage Furniture", + "frame_index": 235, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18814", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00241.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.495, 1.731]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.553, 1.497]). The trajectory involves 5 precise waypoints with total movement distance of 0.245." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18814, + "action": "close", + "object": "Storage Furniture", + "frame_index": 241, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18815", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00242.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N05_S50_s01_T3/align_rgb/00243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.479, 1.708]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.515, 1.493]). The trajectory involves 5 precise waypoints with total movement distance of 0.223." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18815, + "action": "close", + "object": "Storage Furniture", + "frame_index": 243, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18872", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.086, 1.595]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.710, 1.123]). The trajectory involves 5 precise waypoints with total movement distance of 0.806." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18872, + "action": "close", + "object": "Storage Furniture", + "frame_index": 203, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18873", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.134, 1.768]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.889, 1.195]). The trajectory involves 5 precise waypoints with total movement distance of 0.980." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18873, + "action": "close", + "object": "Storage Furniture", + "frame_index": 207, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18874", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.223, 1.780]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.968, 1.196]). The trajectory involves 5 precise waypoints with total movement distance of 0.980." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18874, + "action": "close", + "object": "Storage Furniture", + "frame_index": 211, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18875", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.240, 1.752]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.998, 1.175]). The trajectory involves 5 precise waypoints with total movement distance of 0.988." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18875, + "action": "close", + "object": "Storage Furniture", + "frame_index": 215, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18877", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.221, 1.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.769, 1.084]). The trajectory involves 5 precise waypoints with total movement distance of 0.691." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18877, + "action": "close", + "object": "Storage Furniture", + "frame_index": 222, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18882", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.545, 1.416]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.804, 0.910]). The trajectory involves 5 precise waypoints with total movement distance of 0.572." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18882, + "action": "close", + "object": "Storage Furniture", + "frame_index": 232, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer", + "Door" + ] + } + }, + { + "id": "hoi4d_18884", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.528, 1.293]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.717, 0.876]). The trajectory involves 5 precise waypoints with total movement distance of 0.462." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18884, + "action": "close", + "object": "Storage Furniture", + "frame_index": 236, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer", + "Door" + ] + } + }, + { + "id": "hoi4d_18885", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.238, 1.057]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.370, 0.842]). The trajectory involves 5 precise waypoints with total movement distance of 0.255." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18885, + "action": "close", + "object": "Storage Furniture", + "frame_index": 238, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer", + "Door" + ] + } + }, + { + "id": "hoi4d_18888", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00242.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00243.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N04_S50_s01_T3/align_rgb/00244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.287, 1.024]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.300, 0.898]). The trajectory involves 5 precise waypoints with total movement distance of 0.128." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18888, + "action": "close", + "object": "Storage Furniture", + "frame_index": 244, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer", + "Door" + ] + } + }, + { + "id": "hoi4d_18962", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N03_S50_s05_T3/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N03_S50_s05_T3/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N03_S50_s05_T3/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.124, 2.144]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.700, 1.660]). The trajectory involves 5 precise waypoints with total movement distance of 0.764." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18962, + "action": "close", + "object": "Storage Furniture", + "frame_index": 213, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18972", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N03_S50_s05_T3/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N03_S50_s05_T3/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N03_S50_s05_T3/align_rgb/00233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.457, 1.677]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.649, 1.180]). The trajectory involves 5 precise waypoints with total movement distance of 0.544." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18972, + "action": "close", + "object": "Storage Furniture", + "frame_index": 233, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18979", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N03_S50_s05_T3/align_rgb/00245.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N03_S50_s05_T3/align_rgb/00246.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N03_S50_s05_T3/align_rgb/00247.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.439, 1.326]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.464, 1.121]). The trajectory involves 5 precise waypoints with total movement distance of 0.208." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18979, + "action": "close", + "object": "Storage Furniture", + "frame_index": 247, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_18984", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T4/align_rgb/00113.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T4/align_rgb/00114.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T4/align_rgb/00115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.005, 1.143]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.003, 1.407]). The trajectory involves 5 precise waypoints with total movement distance of 0.265." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18984, + "action": "open", + "object": "Storage Furniture", + "frame_index": 115, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_18987", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T4/align_rgb/00127.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T4/align_rgb/00128.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T4/align_rgb/00129.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.313, 1.399]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.319, 1.618]). The trajectory involves 5 precise waypoints with total movement distance of 0.220." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 18987, + "action": "open", + "object": "Storage Furniture", + "frame_index": 129, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_19039", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00175.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00176.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00177.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.857, 2.114]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.580, 1.719]). The trajectory involves 5 precise waypoints with total movement distance of 0.827." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19039, + "action": "close", + "object": "Storage Furniture", + "frame_index": 177, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_19040", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00181.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00182.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.986, 2.086]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.642, 1.793]). The trajectory involves 5 precise waypoints with total movement distance of 0.719." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19040, + "action": "close", + "object": "Storage Furniture", + "frame_index": 183, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_19041", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.077, 2.116]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.742, 1.831]). The trajectory involves 5 precise waypoints with total movement distance of 0.725." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19041, + "action": "close", + "object": "Storage Furniture", + "frame_index": 189, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_19042", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.075, 2.103]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.734, 1.812]). The trajectory involves 5 precise waypoints with total movement distance of 0.739." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19042, + "action": "close", + "object": "Storage Furniture", + "frame_index": 191, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_19043", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.076, 2.152]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.742, 1.797]). The trajectory involves 5 precise waypoints with total movement distance of 0.794." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19043, + "action": "close", + "object": "Storage Furniture", + "frame_index": 193, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_19044", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.108, 2.144]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.718, 1.743]). The trajectory involves 5 precise waypoints with total movement distance of 0.781." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19044, + "action": "close", + "object": "Storage Furniture", + "frame_index": 195, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_19054", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800003_H3_C4_N02_S50_s05_T3/align_rgb/00215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.071, 1.673]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.198, 1.511]). The trajectory involves 5 precise waypoints with total movement distance of 0.209." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19054, + "action": "close", + "object": "Storage Furniture", + "frame_index": 215, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_19072", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N50_S284_s03_T2/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N50_S284_s03_T2/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N50_S284_s03_T2/align_rgb/00083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.587, 1.005]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.190, 1.335]). The trajectory involves 5 precise waypoints with total movement distance of 1.676." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19072, + "action": "carry", + "object": "Laptop", + "frame_index": 83, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_19073", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N50_S284_s03_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N50_S284_s03_T2/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N50_S284_s03_T2/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.562, 1.014]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.237, 1.393]). The trajectory involves 5 precise waypoints with total movement distance of 1.754." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19073, + "action": "carry", + "object": "Laptop", + "frame_index": 85, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_19088", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N50_S284_s03_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N50_S284_s03_T2/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N50_S284_s03_T2/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.796, 1.418]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.858, 0.935]). The trajectory involves 5 precise waypoints with total movement distance of 0.487." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19088, + "action": "open", + "object": "Laptop", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_19092", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N50_S284_s03_T2/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N50_S284_s03_T2/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N50_S284_s03_T2/align_rgb/00230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.953, 0.822]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.945, 0.928]). The trajectory involves 5 precise waypoints with total movement distance of 0.106." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19092, + "action": "close", + "object": "Laptop", + "frame_index": 230, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_19098", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N50_S282_s02_T2/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N50_S282_s02_T2/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N50_S282_s02_T2/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.690, 0.983]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.199, 1.730]). The trajectory involves 5 precise waypoints with total movement distance of 1.708." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19098, + "action": "carry", + "object": "Laptop", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_19108", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N50_S282_s02_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N50_S282_s02_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N50_S282_s02_T2/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.931, 0.782]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.898, 1.068]). The trajectory involves 5 precise waypoints with total movement distance of 0.288." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19108, + "action": "close", + "object": "Laptop", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_19110", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N50_S282_s02_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N50_S282_s02_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N50_S282_s02_T2/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.887, 0.848]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.871, 1.026]). The trajectory involves 5 precise waypoints with total movement distance of 0.178." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19110, + "action": "close", + "object": "Laptop", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_19124", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N49_S284_s03_T2/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N49_S284_s03_T2/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N49_S284_s03_T2/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.623, 0.944]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.153, 1.594]). The trajectory involves 5 precise waypoints with total movement distance of 1.699." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19124, + "action": "carry", + "object": "Laptop", + "frame_index": 90, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_19142", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N49_S282_s01_T2/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N49_S282_s01_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N49_S282_s01_T2/align_rgb/00084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.494, 0.986]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.027, 1.202]). The trajectory involves 5 precise waypoints with total movement distance of 1.576." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19142, + "action": "carry", + "object": "Laptop", + "frame_index": 84, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_19175", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N48_S284_s02_T2/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N48_S284_s02_T2/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N48_S284_s02_T2/align_rgb/00229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.978, 1.005]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.936, 1.209]). The trajectory involves 5 precise waypoints with total movement distance of 0.209." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19175, + "action": "close", + "object": "Laptop", + "frame_index": 229, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_19181", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N48_S282_s01_T2/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N48_S282_s01_T2/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N48_S282_s01_T2/align_rgb/00081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.744, 1.087]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.347, 1.642]). The trajectory involves 5 precise waypoints with total movement distance of 1.725." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19181, + "action": "carry", + "object": "Laptop", + "frame_index": 81, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_19202", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N46_S284_s02_T2/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N46_S284_s02_T2/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N46_S284_s02_T2/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.647, 1.050]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.036, 1.311]). The trajectory involves 5 precise waypoints with total movement distance of 1.439." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19202, + "action": "carry", + "object": "Laptop", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_19212", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N46_S284_s02_T2/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N46_S284_s02_T2/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N46_S284_s02_T2/align_rgb/00233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.901, 1.000]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.852, 1.216]). The trajectory involves 5 precise waypoints with total movement distance of 0.222." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19212, + "action": "close", + "object": "Laptop", + "frame_index": 233, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_19232", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N46_S282_s01_T2/align_rgb/00242.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N46_S282_s01_T2/align_rgb/00243.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N46_S282_s01_T2/align_rgb/00244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.972, 1.061]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.912, 1.250]). The trajectory involves 5 precise waypoints with total movement distance of 0.198." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19232, + "action": "close", + "object": "Laptop", + "frame_index": 244, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_19262", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N45_S279_s05_T2/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N45_S279_s05_T2/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N45_S279_s05_T2/align_rgb/00192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.649, 1.433]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.696, 1.115]). The trajectory involves 5 precise waypoints with total movement distance of 0.328." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19262, + "action": "open", + "object": "Laptop", + "frame_index": 192, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_19278", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N44_S279_s05_T2/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N44_S279_s05_T2/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N44_S279_s05_T2/align_rgb/00081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.714, 1.115]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.387, 2.123]). The trajectory involves 5 precise waypoints with total movement distance of 2.024." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19278, + "action": "carry", + "object": "Laptop", + "frame_index": 81, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_19319", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N40_S279_s04_T2/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N40_S279_s04_T2/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N40_S279_s04_T2/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.516, 1.151]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.061, 1.853]). The trajectory involves 5 precise waypoints with total movement distance of 1.724." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19319, + "action": "carry", + "object": "Laptop", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_19342", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N36_S282_s04_T2/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N36_S282_s04_T2/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N36_S282_s04_T2/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.706, 1.505]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.263, 2.419]). The trajectory involves 5 precise waypoints with total movement distance of 1.827." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19342, + "action": "carry", + "object": "Laptop", + "frame_index": 90, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_19349", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N36_S282_s04_T2/align_rgb/00250.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N36_S282_s04_T2/align_rgb/00251.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N36_S282_s04_T2/align_rgb/00252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.980, 1.068]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.904, 1.332]). The trajectory involves 5 precise waypoints with total movement distance of 0.275." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19349, + "action": "close", + "object": "Laptop", + "frame_index": 252, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_19358", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N36_S279_s03_T2/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N36_S279_s03_T2/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N36_S279_s03_T2/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.723, 1.312]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.212, 2.083]). The trajectory involves 5 precise waypoints with total movement distance of 1.701." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19358, + "action": "carry", + "object": "Laptop", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_19365", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N36_S279_s03_T2/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N36_S279_s03_T2/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N36_S279_s03_T2/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.776, 1.457]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.875, 1.136]). The trajectory involves 5 precise waypoints with total movement distance of 0.337." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19365, + "action": "open", + "object": "Laptop", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_19493", + "task": "pick up the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N31_S282_s03_T2/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N31_S282_s03_T2/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N31_S282_s03_T2/align_rgb/00050.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the laptop, execute the following phases: 1) Initial approach phase (start at [1.597, 1.497]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.609, 1.069]). The trajectory involves 5 precise waypoints with total movement distance of 0.431." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19493, + "action": "pickup", + "object": "Laptop", + "frame_index": 50, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_19496", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N31_S282_s03_T2/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N31_S282_s03_T2/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N31_S282_s03_T2/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.511, 1.266]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.091, 1.712]). The trajectory involves 5 precise waypoints with total movement distance of 1.673." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19496, + "action": "carry", + "object": "Laptop", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_19497", + "task": "put down the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N31_S282_s03_T2/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N31_S282_s03_T2/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N31_S282_s03_T2/align_rgb/00098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the laptop, execute the following phases: 1) Initial approach phase (start at [1.816, 1.280]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.863, 1.525]). The trajectory involves 5 precise waypoints with total movement distance of 0.258." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19497, + "action": "putdown", + "object": "Laptop", + "frame_index": 98, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_19516", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N31_S279_s02_T2/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N31_S279_s02_T2/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N31_S279_s02_T2/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.513, 1.392]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.231, 2.078]). The trajectory involves 5 precise waypoints with total movement distance of 1.880." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19516, + "action": "carry", + "object": "Laptop", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_19517", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N31_S279_s02_T2/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N31_S279_s02_T2/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N31_S279_s02_T2/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.529, 1.391]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.196, 2.006]). The trajectory involves 5 precise waypoints with total movement distance of 1.819." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19517, + "action": "carry", + "object": "Laptop", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_19529", + "task": "pick up the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N28_S282_s02_T2/align_rgb/00041.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N28_S282_s02_T2/align_rgb/00042.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N28_S282_s02_T2/align_rgb/00043.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the laptop, execute the following phases: 1) Initial approach phase (start at [1.655, 1.622]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.677, 1.186]). The trajectory involves 5 precise waypoints with total movement distance of 0.448." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19529, + "action": "pickup", + "object": "Laptop", + "frame_index": 43, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_19552", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N28_S282_s02_T2/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N28_S282_s02_T2/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N28_S282_s02_T2/align_rgb/00236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.942, 1.408]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.891, 1.618]). The trajectory involves 5 precise waypoints with total movement distance of 0.216." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19552, + "action": "close", + "object": "Laptop", + "frame_index": 236, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_19553", + "task": "pick up the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N28_S279_s01_T2/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N28_S279_s01_T2/align_rgb/00040.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N28_S279_s01_T2/align_rgb/00041.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the laptop, execute the following phases: 1) Initial approach phase (start at [1.583, 1.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.587, 1.158]). The trajectory involves 5 precise waypoints with total movement distance of 0.380." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19553, + "action": "pickup", + "object": "Laptop", + "frame_index": 41, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_19556", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N28_S279_s01_T2/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N28_S279_s01_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N28_S279_s01_T2/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.496, 1.063]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.198, 1.489]). The trajectory involves 5 precise waypoints with total movement distance of 1.827." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19556, + "action": "carry", + "object": "Laptop", + "frame_index": 66, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_19561", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N28_S279_s01_T2/align_rgb/00160.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N28_S279_s01_T2/align_rgb/00161.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N28_S279_s01_T2/align_rgb/00162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.840, 1.488]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.865, 1.323]). The trajectory involves 5 precise waypoints with total movement distance of 0.168." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19561, + "action": "open", + "object": "Laptop", + "frame_index": 162, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_19577", + "task": "pick up the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N26_S282_s02_T2/align_rgb/00046.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N26_S282_s02_T2/align_rgb/00047.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N26_S282_s02_T2/align_rgb/00048.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the laptop, execute the following phases: 1) Initial approach phase (start at [1.674, 1.462]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.628, 1.078]). The trajectory involves 5 precise waypoints with total movement distance of 0.392." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19577, + "action": "pickup", + "object": "Laptop", + "frame_index": 48, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_19579", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N26_S282_s02_T2/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N26_S282_s02_T2/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N26_S282_s02_T2/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.511, 1.304]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.050, 1.764]). The trajectory involves 5 precise waypoints with total movement distance of 1.670." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19579, + "action": "carry", + "object": "Laptop", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_19601", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.534, 0.945]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.022, 1.371]). The trajectory involves 5 precise waypoints with total movement distance of 1.579." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19601, + "action": "carry", + "object": "Laptop", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_19604", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.569, 0.885]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.173, 1.481]). The trajectory involves 5 precise waypoints with total movement distance of 1.745." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19604, + "action": "carry", + "object": "Laptop", + "frame_index": 77, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_19612", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00182.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.713, 1.391]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.753, 1.132]). The trajectory involves 5 precise waypoints with total movement distance of 0.263." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19612, + "action": "open", + "object": "Laptop", + "frame_index": 184, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_19613", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.750, 1.401]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.804, 1.110]). The trajectory involves 5 precise waypoints with total movement distance of 0.296." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19613, + "action": "open", + "object": "Laptop", + "frame_index": 186, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_19622", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00249.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00250.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N26_S279_s01_T2/align_rgb/00251.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.946, 1.213]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.893, 1.380]). The trajectory involves 5 precise waypoints with total movement distance of 0.176." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19622, + "action": "close", + "object": "Laptop", + "frame_index": 251, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_19626", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N25_S277_s05_T2/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N25_S277_s05_T2/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N25_S277_s05_T2/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.495, 1.253]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.007, 2.094]). The trajectory involves 5 precise waypoints with total movement distance of 1.764." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19626, + "action": "carry", + "object": "Laptop", + "frame_index": 70, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_19628", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N25_S277_s05_T2/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N25_S277_s05_T2/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N25_S277_s05_T2/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.488, 1.048]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.198, 1.826]). The trajectory involves 5 precise waypoints with total movement distance of 1.917." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19628, + "action": "carry", + "object": "Laptop", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_19652", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N24_S277_s05_T2/align_rgb/00176.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N24_S277_s05_T2/align_rgb/00177.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N24_S277_s05_T2/align_rgb/00178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.702, 1.397]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.739, 1.102]). The trajectory involves 5 precise waypoints with total movement distance of 0.297." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19652, + "action": "open", + "object": "Laptop", + "frame_index": 178, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_19653", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N24_S277_s05_T2/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N24_S277_s05_T2/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N24_S277_s05_T2/align_rgb/00180.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.754, 1.377]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.799, 1.075]). The trajectory involves 5 precise waypoints with total movement distance of 0.306." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19653, + "action": "open", + "object": "Laptop", + "frame_index": 180, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_19682", + "task": "pick up the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N22_S277_s05_T2/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N22_S277_s05_T2/align_rgb/00053.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N22_S277_s05_T2/align_rgb/00054.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the laptop?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the laptop, execute the following phases: 1) Initial approach phase (start at [1.533, 1.279]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.432, 0.915]). The trajectory involves 5 precise waypoints with total movement distance of 0.380." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19682, + "action": "pickup", + "object": "Laptop", + "frame_index": 54, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_19734", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N15_S277_s03_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N15_S277_s03_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N15_S277_s03_T2/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.650, 1.352]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.689, 1.104]). The trajectory involves 5 precise waypoints with total movement distance of 0.252." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19734, + "action": "open", + "object": "Laptop", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_19741", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N13_S107_s04_T2/align_rgb/00017.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N13_S107_s04_T2/align_rgb/00018.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N13_S107_s04_T2/align_rgb/00019.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.759, 1.430]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.689, 1.045]). The trajectory involves 5 precise waypoints with total movement distance of 0.392." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19741, + "action": "open", + "object": "Laptop", + "frame_index": 19, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_19834", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N06_S277_s01_T2/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N06_S277_s01_T2/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N06_S277_s01_T2/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.764, 1.416]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.808, 1.148]). The trajectory involves 5 precise waypoints with total movement distance of 0.271." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19834, + "action": "open", + "object": "Laptop", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_19836", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N06_S277_s01_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N06_S277_s01_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N06_S277_s01_T2/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.748, 1.410]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.812, 1.065]). The trajectory involves 5 precise waypoints with total movement distance of 0.351." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19836, + "action": "open", + "object": "Laptop", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_19837", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N06_S277_s01_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N06_S277_s01_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N06_S277_s01_T2/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.763, 1.408]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.828, 1.070]). The trajectory involves 5 precise waypoints with total movement distance of 0.344." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19837, + "action": "open", + "object": "Laptop", + "frame_index": 201, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_19854", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N03_S275_s05_T2/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N03_S275_s05_T2/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N03_S275_s05_T2/align_rgb/00220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.971, 1.022]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.893, 1.365]). The trajectory involves 5 precise waypoints with total movement distance of 0.352." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19854, + "action": "close", + "object": "Laptop", + "frame_index": 220, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_19863", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N03_S275_s05_T2/align_rgb/00175.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N03_S275_s05_T2/align_rgb/00176.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N03_S275_s05_T2/align_rgb/00177.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.724, 1.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.773, 1.306]). The trajectory involves 5 precise waypoints with total movement distance of 0.312." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19863, + "action": "open", + "object": "Laptop", + "frame_index": 177, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_19894", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N01_S275_s04_T2/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N01_S275_s04_T2/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N01_S275_s04_T2/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.646, 1.270]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.052, 2.254]). The trajectory involves 5 precise waypoints with total movement distance of 1.749." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19894, + "action": "carry", + "object": "Laptop", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_19905", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C3_N01_S275_s04_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N01_S275_s04_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800003_H3_C3_N01_S275_s04_T2/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.996, 1.284]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.082, 0.983]). The trajectory involves 5 precise waypoints with total movement distance of 0.313." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 19905, + "action": "open", + "object": "Laptop", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_20085", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N48_S219_s02_T3/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N48_S219_s02_T3/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N48_S219_s02_T3/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [2.016, 1.163]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.982, 1.070]). The trajectory involves 5 precise waypoints with total movement distance of 1.078." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20085, + "action": "carry", + "object": "Mug", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20131", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N45_S219_s01_T3/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N45_S219_s01_T3/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N45_S219_s01_T3/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.942, 1.330]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.055, 1.128]). The trajectory involves 5 precise waypoints with total movement distance of 0.974." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20131, + "action": "carry", + "object": "Mug", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20145", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00029.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00030.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00031.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.596, 1.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.609, 1.246]). The trajectory involves 5 precise waypoints with total movement distance of 0.262." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20145, + "action": "pickup", + "object": "Mug", + "frame_index": 31, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20147", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00033.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00034.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00035.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.613, 1.451]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.616, 1.176]). The trajectory involves 5 precise waypoints with total movement distance of 0.275." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20147, + "action": "pickup", + "object": "Mug", + "frame_index": 35, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20148", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00035.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00036.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00037.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.613, 1.472]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.605, 1.196]). The trajectory involves 5 precise waypoints with total movement distance of 0.277." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20148, + "action": "pickup", + "object": "Mug", + "frame_index": 37, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20151", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00041.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00042.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00043.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.541, 1.458]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.531, 1.233]). The trajectory involves 5 precise waypoints with total movement distance of 0.226." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20151, + "action": "pickup", + "object": "Mug", + "frame_index": 43, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20161", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.589, 1.216]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.599, 1.385]). The trajectory involves 5 precise waypoints with total movement distance of 0.171." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20161, + "action": "putdown", + "object": "Mug", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20163", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.587, 1.242]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.606, 1.412]). The trajectory involves 5 precise waypoints with total movement distance of 0.171." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20163, + "action": "putdown", + "object": "Mug", + "frame_index": 86, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20166", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.609, 1.316]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.644, 1.492]). The trajectory involves 5 precise waypoints with total movement distance of 0.181." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20166, + "action": "putdown", + "object": "Mug", + "frame_index": 92, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20169", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.621, 1.342]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.648, 1.521]). The trajectory involves 5 precise waypoints with total movement distance of 0.182." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20169, + "action": "putdown", + "object": "Mug", + "frame_index": 98, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20174", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.637, 1.414]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.671, 1.652]). The trajectory involves 5 precise waypoints with total movement distance of 0.242." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20174, + "action": "putdown", + "object": "Mug", + "frame_index": 108, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20176", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00110.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00111.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.617, 1.393]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.644, 1.619]). The trajectory involves 5 precise waypoints with total movement distance of 0.228." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20176, + "action": "putdown", + "object": "Mug", + "frame_index": 112, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20177", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00112.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00113.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.621, 1.443]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.632, 1.675]). The trajectory involves 5 precise waypoints with total movement distance of 0.234." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20177, + "action": "putdown", + "object": "Mug", + "frame_index": 114, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20181", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00165.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00166.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00167.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.661, 1.510]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.630, 1.218]). The trajectory involves 5 precise waypoints with total movement distance of 0.295." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20181, + "action": "pickup", + "object": "Mug", + "frame_index": 167, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20182", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00167.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00168.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00169.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.630, 1.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.566, 1.253]). The trajectory involves 5 precise waypoints with total movement distance of 0.306." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20182, + "action": "pickup", + "object": "Mug", + "frame_index": 169, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20183", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00169.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00170.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.616, 1.450]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.566, 1.165]). The trajectory involves 5 precise waypoints with total movement distance of 0.291." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20183, + "action": "pickup", + "object": "Mug", + "frame_index": 171, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20195", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.603, 1.298]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.630, 1.493]). The trajectory involves 5 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20195, + "action": "putdown", + "object": "Mug", + "frame_index": 215, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20198", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.616, 1.338]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.630, 1.507]). The trajectory involves 5 precise waypoints with total movement distance of 0.170." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20198, + "action": "putdown", + "object": "Mug", + "frame_index": 221, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20202", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.632, 1.386]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.640, 1.546]). The trajectory involves 5 precise waypoints with total movement distance of 0.160." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20202, + "action": "putdown", + "object": "Mug", + "frame_index": 229, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20203", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.633, 1.389]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.638, 1.552]). The trajectory involves 5 precise waypoints with total movement distance of 0.164." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20203, + "action": "putdown", + "object": "Mug", + "frame_index": 231, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20204", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.620, 1.370]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.629, 1.525]). The trajectory involves 5 precise waypoints with total movement distance of 0.157." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20204, + "action": "putdown", + "object": "Mug", + "frame_index": 233, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20207", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S51_s03_T1/align_rgb/00239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.641, 1.446]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.650, 1.604]). The trajectory involves 5 precise waypoints with total movement distance of 0.158." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20207, + "action": "putdown", + "object": "Mug", + "frame_index": 239, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20223", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N44_S219_s01_T3/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S219_s01_T3/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N44_S219_s01_T3/align_rgb/00083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.834, 1.253]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.114, 1.303]). The trajectory involves 5 precise waypoints with total movement distance of 0.781." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20223, + "action": "carry", + "object": "Mug", + "frame_index": 83, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20257", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N42_S217_s05_T2/align_rgb/00165.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N42_S217_s05_T2/align_rgb/00166.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N42_S217_s05_T2/align_rgb/00167.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.069, 1.069]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.876, 1.747]). The trajectory involves 5 precise waypoints with total movement distance of 2.052." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20257, + "action": "carry", + "object": "Mug", + "frame_index": 167, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20280", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N41_S217_s05_T2/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N41_S217_s05_T2/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N41_S217_s05_T2/align_rgb/00188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.229, 1.073]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.716, 1.851]). The trajectory involves 5 precise waypoints with total movement distance of 1.717." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20280, + "action": "carry", + "object": "Mug", + "frame_index": 188, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20310", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N39_S217_s05_T2/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N39_S217_s05_T2/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N39_S217_s05_T2/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.323, 1.198]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.051, 1.328]). The trajectory involves 5 precise waypoints with total movement distance of 0.763." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20310, + "action": "carry", + "object": "Mug", + "frame_index": 64, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20336", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N38_S217_s04_T2/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N38_S217_s04_T2/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N38_S217_s04_T2/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.682, 1.080]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.723, 1.800]). The trajectory involves 5 precise waypoints with total movement distance of 1.291." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20336, + "action": "carry", + "object": "Mug", + "frame_index": 198, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20345", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N37_S217_s04_T2/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N37_S217_s04_T2/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N37_S217_s04_T2/align_rgb/00089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [2.027, 1.305]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.913, 1.702]). The trajectory involves 5 precise waypoints with total movement distance of 0.413." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20345, + "action": "putdown", + "object": "Mug", + "frame_index": 89, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20392", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [0.755, 1.031]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.738, 0.887]). The trajectory involves 5 precise waypoints with total movement distance of 1.000." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20392, + "action": "carry", + "object": "Mug", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20393", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [0.788, 1.040]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.874, 0.937]). The trajectory involves 5 precise waypoints with total movement distance of 1.098." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20393, + "action": "carry", + "object": "Mug", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20394", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [0.827, 1.017]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.980, 0.921]). The trajectory involves 5 precise waypoints with total movement distance of 1.162." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20394, + "action": "carry", + "object": "Mug", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20395", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [0.916, 0.983]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.020, 0.917]). The trajectory involves 5 precise waypoints with total movement distance of 1.111." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20395, + "action": "carry", + "object": "Mug", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20396", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [0.990, 0.960]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.010, 0.891]). The trajectory involves 5 precise waypoints with total movement distance of 1.029." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20396, + "action": "carry", + "object": "Mug", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20405", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N34_S217_s03_T1/align_rgb/00216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.727, 0.851]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.709, 1.217]). The trajectory involves 5 precise waypoints with total movement distance of 1.117." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20405, + "action": "carry", + "object": "Mug", + "frame_index": 216, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20409", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N33_S217_s03_T1/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N33_S217_s03_T1/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N33_S217_s03_T1/align_rgb/00065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.695, 1.203]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.202, 1.303]). The trajectory involves 5 precise waypoints with total movement distance of 0.523." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20409, + "action": "carry", + "object": "Mug", + "frame_index": 65, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20419", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N33_S217_s03_T1/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N33_S217_s03_T1/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N33_S217_s03_T1/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.198, 1.064]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.939, 1.182]). The trajectory involves 5 precise waypoints with total movement distance of 0.762." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20419, + "action": "carry", + "object": "Mug", + "frame_index": 195, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20511", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N31_S217_s03_T1/align_rgb/00155.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N31_S217_s03_T1/align_rgb/00156.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N31_S217_s03_T1/align_rgb/00157.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.203, 1.664]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.105, 1.184]). The trajectory involves 5 precise waypoints with total movement distance of 0.490." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20511, + "action": "pickup", + "object": "Mug", + "frame_index": 157, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20513", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N31_S217_s03_T1/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N31_S217_s03_T1/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N31_S217_s03_T1/align_rgb/00181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.120, 1.209]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.952, 1.231]). The trajectory involves 5 precise waypoints with total movement distance of 0.835." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20513, + "action": "carry", + "object": "Mug", + "frame_index": 181, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20514", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N31_S217_s03_T1/align_rgb/00181.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N31_S217_s03_T1/align_rgb/00182.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N31_S217_s03_T1/align_rgb/00183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.181, 1.209]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.973, 1.256]). The trajectory involves 5 precise waypoints with total movement distance of 0.803." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20514, + "action": "carry", + "object": "Mug", + "frame_index": 183, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20526", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N30_S217_s02_T1/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N30_S217_s02_T1/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N30_S217_s02_T1/align_rgb/00185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.122, 0.893]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.960, 0.961]). The trajectory involves 5 precise waypoints with total movement distance of 0.883." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20526, + "action": "carry", + "object": "Mug", + "frame_index": 185, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20527", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N30_S217_s02_T1/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N30_S217_s02_T1/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N30_S217_s02_T1/align_rgb/00187.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.172, 0.884]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.059, 1.009]). The trajectory involves 5 precise waypoints with total movement distance of 0.936." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20527, + "action": "carry", + "object": "Mug", + "frame_index": 187, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20560", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N27_S217_s02_T1/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N27_S217_s02_T1/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N27_S217_s02_T1/align_rgb/00186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [0.952, 1.150]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.879, 0.995]). The trajectory involves 5 precise waypoints with total movement distance of 0.961." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20560, + "action": "carry", + "object": "Mug", + "frame_index": 186, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20562", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N27_S217_s02_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N27_S217_s02_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N27_S217_s02_T1/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.975, 1.148]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.906, 1.570]). The trajectory involves 5 precise waypoints with total movement distance of 0.430." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20562, + "action": "putdown", + "object": "Mug", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20570", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N23_S217_s01_T6/align_rgb/00160.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N23_S217_s01_T6/align_rgb/00161.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N23_S217_s01_T6/align_rgb/00162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.195, 1.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.170, 1.014]). The trajectory involves 5 precise waypoints with total movement distance of 0.472." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20570, + "action": "pickup", + "object": "Mug", + "frame_index": 162, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20592", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N22_S217_s01_T6/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N22_S217_s01_T6/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N22_S217_s01_T6/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.123, 1.085]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.621, 1.342]). The trajectory involves 5 precise waypoints with total movement distance of 1.575." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20592, + "action": "carry", + "object": "Mug", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20705", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N17_S215_s05_T6/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N17_S215_s05_T6/align_rgb/00040.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N17_S215_s05_T6/align_rgb/00041.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.700, 1.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.655, 0.982]). The trajectory involves 5 precise waypoints with total movement distance of 0.408." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20705, + "action": "pickup", + "object": "Mug", + "frame_index": 41, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20712", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N17_S215_s05_T6/align_rgb/00182.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N17_S215_s05_T6/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N17_S215_s05_T6/align_rgb/00184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [0.854, 1.130]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.069, 1.079]). The trajectory involves 5 precise waypoints with total movement distance of 1.269." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20712, + "action": "carry", + "object": "Mug", + "frame_index": 184, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20727", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N16_S215_s04_T6/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N16_S215_s04_T6/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N16_S215_s04_T6/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.757, 1.080]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.978, 1.038]). The trajectory involves 5 precise waypoints with total movement distance of 0.804." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20727, + "action": "carry", + "object": "Mug", + "frame_index": 58, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20733", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N16_S215_s04_T6/align_rgb/00156.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N16_S215_s04_T6/align_rgb/00157.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N16_S215_s04_T6/align_rgb/00158.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.037, 1.410]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.956, 1.033]). The trajectory involves 5 precise waypoints with total movement distance of 0.385." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20733, + "action": "pickup", + "object": "Mug", + "frame_index": 158, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20736", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C2_N16_S215_s04_T6/align_rgb/00175.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N16_S215_s04_T6/align_rgb/00176.jpg", + "hoi4d_frame/ZY20210800003_H3_C2_N16_S215_s04_T6/align_rgb/00177.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [0.979, 0.934]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.189, 1.377]). The trajectory involves 5 precise waypoints with total movement distance of 1.341." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20736, + "action": "carry", + "object": "Mug", + "frame_index": 177, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_20852", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C18_N50_S197_s02_T2/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N50_S197_s02_T2/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N50_S197_s02_T2/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.518, 1.311]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.698, 1.349]). The trajectory involves 5 precise waypoints with total movement distance of 0.835." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20852, + "action": "carry", + "object": "Stapler", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_20895", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C18_N48_S197_s01_T2/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N48_S197_s01_T2/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N48_S197_s01_T2/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.502, 1.221]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.800, 1.304]). The trajectory involves 5 precise waypoints with total movement distance of 0.754." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20895, + "action": "carry", + "object": "Stapler", + "frame_index": 70, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_20896", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C18_N48_S197_s01_T2/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N48_S197_s01_T2/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N48_S197_s01_T2/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.490, 1.219]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.824, 1.329]). The trajectory involves 5 precise waypoints with total movement distance of 0.736." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20896, + "action": "carry", + "object": "Stapler", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_20913", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C18_N47_S197_s01_T2/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N47_S197_s01_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N47_S197_s01_T2/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.549, 1.179]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.646, 1.241]). The trajectory involves 5 precise waypoints with total movement distance of 0.949." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 20913, + "action": "carry", + "object": "Stapler", + "frame_index": 66, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_21075", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.518, 1.324]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.987, 1.222]). The trajectory involves 5 precise waypoints with total movement distance of 0.548." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 21075, + "action": "carry", + "object": "Stapler", + "frame_index": 75, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Base" + ] + } + }, + { + "id": "hoi4d_21077", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.474, 1.270]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.907, 1.225]). The trajectory involves 5 precise waypoints with total movement distance of 0.573." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 21077, + "action": "carry", + "object": "Stapler", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_21080", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.414, 1.245]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.830, 1.296]). The trajectory involves 5 precise waypoints with total movement distance of 0.618." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 21080, + "action": "carry", + "object": "Stapler", + "frame_index": 85, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_21082", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.423, 1.273]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.846, 1.386]). The trajectory involves 5 precise waypoints with total movement distance of 0.621." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 21082, + "action": "carry", + "object": "Stapler", + "frame_index": 89, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_21084", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N37_S195_s03_T2/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.397, 1.233]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.816, 1.390]). The trajectory involves 5 precise waypoints with total movement distance of 0.630." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 21084, + "action": "carry", + "object": "Stapler", + "frame_index": 92, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_21102", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C18_N36_S195_s03_T2/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N36_S195_s03_T2/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N36_S195_s03_T2/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.562, 1.161]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.875, 1.193]). The trajectory involves 5 precise waypoints with total movement distance of 0.692." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 21102, + "action": "carry", + "object": "Stapler", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_21187", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C18_N32_S195_s02_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N32_S195_s02_T2/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N32_S195_s02_T2/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.606, 1.274]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.723, 1.197]). The trajectory involves 5 precise waypoints with total movement distance of 0.899." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 21187, + "action": "carry", + "object": "Stapler", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_21208", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C18_N31_S195_s02_T2/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N31_S195_s02_T2/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N31_S195_s02_T2/align_rgb/00060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.496, 1.346]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.666, 1.221]). The trajectory involves 5 precise waypoints with total movement distance of 0.846." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 21208, + "action": "carry", + "object": "Stapler", + "frame_index": 60, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Base", + "Lid" + ] + } + }, + { + "id": "hoi4d_21314", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C18_N27_S195_s01_T2/align_rgb/00143.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N27_S195_s01_T2/align_rgb/00144.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N27_S195_s01_T2/align_rgb/00145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.584, 1.331]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.265, 1.193]). The trajectory involves 5 precise waypoints with total movement distance of 1.375." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 21314, + "action": "carry", + "object": "Stapler", + "frame_index": 145, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_21335", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C18_N26_S195_s01_T2/align_rgb/00143.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N26_S195_s01_T2/align_rgb/00144.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N26_S195_s01_T2/align_rgb/00145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.577, 1.368]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.378, 1.288]). The trajectory involves 5 precise waypoints with total movement distance of 1.249." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 21335, + "action": "carry", + "object": "Stapler", + "frame_index": 145, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_21374", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C18_N23_S197_s03_T2/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N23_S197_s03_T2/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N23_S197_s03_T2/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.572, 1.264]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.856, 1.171]). The trajectory involves 5 precise waypoints with total movement distance of 0.732." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 21374, + "action": "carry", + "object": "Stapler", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_21393", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C18_N21_S197_s03_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N21_S197_s03_T2/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N21_S197_s03_T2/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.612, 1.232]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.728, 1.130]). The trajectory involves 5 precise waypoints with total movement distance of 0.904." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 21393, + "action": "carry", + "object": "Stapler", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_21414", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C18_N19_S197_s02_T2/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N19_S197_s02_T2/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N19_S197_s02_T2/align_rgb/00065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.569, 1.148]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.763, 1.124]). The trajectory involves 5 precise waypoints with total movement distance of 0.860." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 21414, + "action": "carry", + "object": "Stapler", + "frame_index": 65, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_21438", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C18_N17_S197_s02_T2/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N17_S197_s02_T2/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N17_S197_s02_T2/align_rgb/00077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.550, 1.141]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.807, 1.146]). The trajectory involves 5 precise waypoints with total movement distance of 0.766." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 21438, + "action": "carry", + "object": "Stapler", + "frame_index": 77, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Base" + ] + } + }, + { + "id": "hoi4d_21474", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C18_N15_S197_s02_T1/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N15_S197_s02_T1/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N15_S197_s02_T1/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.573, 1.091]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.868, 1.186]). The trajectory involves 5 precise waypoints with total movement distance of 0.729." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 21474, + "action": "carry", + "object": "Stapler", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_21511", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C18_N13_S139_s04_T1/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N13_S139_s04_T1/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N13_S139_s04_T1/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.339, 1.349]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.683, 1.455]). The trajectory involves 5 precise waypoints with total movement distance of 0.361." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 21511, + "action": "carry", + "object": "Stapler", + "frame_index": 198, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Base", + "Lid" + ] + } + }, + { + "id": "hoi4d_21526", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C18_N11_S139_s03_T1/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N11_S139_s03_T1/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800003_H3_C18_N11_S139_s03_T1/align_rgb/00059.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.575, 1.327]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.269, 1.363]). The trajectory involves 5 precise waypoints with total movement distance of 0.349." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 21526, + "action": "carry", + "object": "Stapler", + "frame_index": 59, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_22314", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C14_N50_S170_s02_T1/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N50_S170_s02_T1/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N50_S170_s02_T1/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.584, 1.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.587, 1.069]). The trajectory involves 5 precise waypoints with total movement distance of 0.440." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 22314, + "action": "open", + "object": "Trash Can", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_22337", + "task": "carry Trash Can to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C14_N49_S209_s01_T2/align_rgb/00168.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N49_S209_s01_T2/align_rgb/00169.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N49_S209_s01_T2/align_rgb/00170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Trash Can to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Trash Can to the left, execute the following phases: 1) Initial approach phase (start at [1.846, 1.351]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.601, 1.445]). The trajectory involves 5 precise waypoints with total movement distance of 1.326." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 22337, + "action": "carry", + "object": "Trash Can", + "frame_index": 170, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_22369", + "task": "put down the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C14_N48_S209_s01_T2/align_rgb/00165.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N48_S209_s01_T2/align_rgb/00166.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N48_S209_s01_T2/align_rgb/00167.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the trash can?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the trash can, execute the following phases: 1) Initial approach phase (start at [1.596, 1.021]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.355, 1.159]). The trajectory involves 5 precise waypoints with total movement distance of 0.364." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 22369, + "action": "putdown", + "object": "Trash Can", + "frame_index": 167, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_22444", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C14_N46_S170_s01_T1/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N46_S170_s01_T1/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N46_S170_s01_T1/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.654, 1.124]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.669, 0.932]). The trajectory involves 5 precise waypoints with total movement distance of 0.194." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 22444, + "action": "open", + "object": "Trash Can", + "frame_index": 66, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_22463", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C14_N46_S170_s01_T1/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N46_S170_s01_T1/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N46_S170_s01_T1/align_rgb/00233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.554, 0.938]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.546, 1.452]). The trajectory involves 5 precise waypoints with total movement distance of 0.518." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 22463, + "action": "close", + "object": "Trash Can", + "frame_index": 233, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_22482", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C14_N45_S166_s05_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N45_S166_s05_T1/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N45_S166_s05_T1/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.803, 1.199]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.806, 1.004]). The trajectory involves 5 precise waypoints with total movement distance of 0.195." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 22482, + "action": "open", + "object": "Trash Can", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_22483", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C14_N45_S166_s05_T1/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N45_S166_s05_T1/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N45_S166_s05_T1/align_rgb/00102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.793, 0.967]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.770, 1.431]). The trajectory involves 5 precise waypoints with total movement distance of 0.465." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 22483, + "action": "close", + "object": "Trash Can", + "frame_index": 102, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_22495", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C14_N45_S166_s05_T1/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N45_S166_s05_T1/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N45_S166_s05_T1/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.685, 1.427]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.676, 1.006]). The trajectory involves 5 precise waypoints with total movement distance of 0.421." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 22495, + "action": "open", + "object": "Trash Can", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_22498", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C14_N45_S166_s05_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N45_S166_s05_T1/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N45_S166_s05_T1/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.714, 1.321]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.708, 0.955]). The trajectory involves 5 precise waypoints with total movement distance of 0.368." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 22498, + "action": "open", + "object": "Trash Can", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_22574", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C14_N42_S207_s05_T2/align_rgb/00045.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N42_S207_s05_T2/align_rgb/00046.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N42_S207_s05_T2/align_rgb/00047.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.674, 1.357]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.781, 0.950]). The trajectory involves 5 precise waypoints with total movement distance of 0.421." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 22574, + "action": "open", + "object": "Trash Can", + "frame_index": 47, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_22580", + "task": "carry Trash Can to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C14_N42_S207_s05_T2/align_rgb/00160.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N42_S207_s05_T2/align_rgb/00161.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N42_S207_s05_T2/align_rgb/00162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Trash Can to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Trash Can to the left, execute the following phases: 1) Initial approach phase (start at [1.717, 1.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.403, 1.715]). The trajectory involves 5 precise waypoints with total movement distance of 1.440." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 22580, + "action": "carry", + "object": "Trash Can", + "frame_index": 162, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_22595", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C14_N42_S166_s05_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N42_S166_s05_T1/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N42_S166_s05_T1/align_rgb/00093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.714, 1.110]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.699, 1.322]). The trajectory involves 5 precise waypoints with total movement distance of 0.213." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 22595, + "action": "close", + "object": "Trash Can", + "frame_index": 93, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_22821", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C14_N36_S334_s03_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N36_S334_s03_T2/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N36_S334_s03_T2/align_rgb/00059.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.527, 1.088]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.529, 1.215]). The trajectory involves 5 precise waypoints with total movement distance of 0.127." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 22821, + "action": "close", + "object": "Trash Can", + "frame_index": 59, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_23125", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C14_N28_S166_s01_T1/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N28_S166_s01_T1/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N28_S166_s01_T1/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.543, 1.137]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.614, 0.860]). The trajectory involves 5 precise waypoints with total movement distance of 0.287." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23125, + "action": "open", + "object": "Trash Can", + "frame_index": 58, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_23158", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C14_N27_S334_s01_T1/align_rgb/00045.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N27_S334_s01_T1/align_rgb/00046.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N27_S334_s01_T1/align_rgb/00047.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.543, 1.326]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.556, 1.176]). The trajectory involves 5 precise waypoints with total movement distance of 0.151." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23158, + "action": "open", + "object": "Trash Can", + "frame_index": 47, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_23166", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C14_N27_S334_s01_T1/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N27_S334_s01_T1/align_rgb/00181.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N27_S334_s01_T1/align_rgb/00182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.450, 1.133]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.466, 0.981]). The trajectory involves 5 precise waypoints with total movement distance of 0.155." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23166, + "action": "open", + "object": "Trash Can", + "frame_index": 182, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_23180", + "task": "carry Trash Can to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C14_N26_S334_s02_T2/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N26_S334_s02_T2/align_rgb/00181.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N26_S334_s02_T2/align_rgb/00182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Trash Can to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.494, 0.989]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.430, 1.282]). The trajectory involves 5 precise waypoints with total movement distance of 0.987." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23180, + "action": "carry", + "object": "Trash Can", + "frame_index": 182, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_23210", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C14_N26_S334_s01_T1/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N26_S334_s01_T1/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N26_S334_s01_T1/align_rgb/00238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.397, 1.238]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.406, 1.403]). The trajectory involves 5 precise waypoints with total movement distance of 0.165." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23210, + "action": "close", + "object": "Trash Can", + "frame_index": 238, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_23220", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C14_N13_S170_s03_T1/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N13_S170_s03_T1/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N13_S170_s03_T1/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.769, 1.438]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.789, 1.196]). The trajectory involves 5 precise waypoints with total movement distance of 0.243." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23220, + "action": "open", + "object": "Trash Can", + "frame_index": 58, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_23244", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C14_N13_S170_s03_T1/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N13_S170_s03_T1/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N13_S170_s03_T1/align_rgb/00241.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.893, 1.023]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.877, 1.445]). The trajectory involves 5 precise waypoints with total movement distance of 0.423." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23244, + "action": "close", + "object": "Trash Can", + "frame_index": 241, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_23254", + "task": "carry Trash Can to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C14_N11_S209_s03_T2/align_rgb/00153.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N11_S209_s03_T2/align_rgb/00154.jpg", + "hoi4d_frame/ZY20210800003_H3_C14_N11_S209_s03_T2/align_rgb/00155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Trash Can to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Trash Can to the left, execute the following phases: 1) Initial approach phase (start at [1.760, 1.221]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.445, 1.191]). The trajectory involves 5 precise waypoints with total movement distance of 1.355." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23254, + "action": "carry", + "object": "Trash Can", + "frame_index": 155, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_23325", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N49_S144_s01_T1/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N49_S144_s01_T1/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N49_S144_s01_T1/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.761, 1.470]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.468, 1.475]). The trajectory involves 5 precise waypoints with total movement distance of 0.294." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23325, + "action": "carry", + "object": "Knife", + "frame_index": 90, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23337", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N48_S203_s01_T4/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N48_S203_s01_T4/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N48_S203_s01_T4/align_rgb/00099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.714, 0.967]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.510, 1.542]). The trajectory involves 5 precise waypoints with total movement distance of 0.611." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23337, + "action": "putdown", + "object": "Knife", + "frame_index": 99, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23340", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N48_S203_s01_T4/align_rgb/00103.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N48_S203_s01_T4/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N48_S203_s01_T4/align_rgb/00105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.844, 1.277]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.790, 1.553]). The trajectory involves 5 precise waypoints with total movement distance of 0.286." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23340, + "action": "putdown", + "object": "Knife", + "frame_index": 105, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23345", + "task": "cut object with a knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N48_S203_s01_T4/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N48_S203_s01_T4/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N48_S203_s01_T4/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: cut object with a knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: cut object with a knife, execute the following phases: 1) Initial approach phase (start at [1.668, 1.309]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.548, 1.474]). The trajectory involves 5 precise waypoints with total movement distance of 0.213." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23345, + "action": "cut", + "object": "Knife", + "frame_index": 199, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23428", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N46_S144_s01_T1/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N46_S144_s01_T1/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N46_S144_s01_T1/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.701, 1.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.432, 1.440]). The trajectory involves 5 precise waypoints with total movement distance of 0.275." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23428, + "action": "carry", + "object": "Knife", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23491", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N43_S140_s05_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N43_S140_s05_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N43_S140_s05_T1/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.707, 1.416]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.403, 1.388]). The trajectory involves 5 precise waypoints with total movement distance of 0.310." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23491, + "action": "carry", + "object": "Knife", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23518", + "task": "pick up the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N42_S140_s05_T1/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N42_S140_s05_T1/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N42_S140_s05_T1/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.655, 1.487]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.624, 1.343]). The trajectory involves 5 precise waypoints with total movement distance of 0.148." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23518, + "action": "pickup", + "object": "Knife", + "frame_index": 66, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23520", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N42_S140_s05_T1/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N42_S140_s05_T1/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N42_S140_s05_T1/align_rgb/00083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.621, 1.379]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.339, 1.417]). The trajectory involves 5 precise waypoints with total movement distance of 0.289." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23520, + "action": "carry", + "object": "Knife", + "frame_index": 83, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23556", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N40_S200_s04_T4/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N40_S200_s04_T4/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N40_S200_s04_T4/align_rgb/00065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.538, 1.179]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.396, 1.439]). The trajectory involves 5 precise waypoints with total movement distance of 0.987." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23556, + "action": "carry", + "object": "Knife", + "frame_index": 65, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23558", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N40_S200_s04_T4/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N40_S200_s04_T4/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N40_S200_s04_T4/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.510, 1.107]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.613, 1.650]). The trajectory involves 5 precise waypoints with total movement distance of 1.274." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23558, + "action": "carry", + "object": "Knife", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23614", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N38_S200_s04_T3/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N38_S200_s04_T3/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N38_S200_s04_T3/align_rgb/00181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.563, 1.356]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.719, 1.410]). The trajectory involves 5 precise waypoints with total movement distance of 0.850." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23614, + "action": "carry", + "object": "Knife", + "frame_index": 181, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23647", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N37_S200_s03_T3/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N37_S200_s03_T3/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N37_S200_s03_T3/align_rgb/00186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.369, 1.292]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.564, 1.468]). The trajectory involves 5 precise waypoints with total movement distance of 0.837." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23647, + "action": "carry", + "object": "Knife", + "frame_index": 186, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23650", + "task": "put the knife to the drawer", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N37_S200_s03_T3/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N37_S200_s03_T3/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N37_S200_s03_T3/align_rgb/00192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put the knife to the drawer?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put the knife to the drawer, execute the following phases: 1) Initial approach phase (start at [1.391, 1.273]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.741, 1.436]). The trajectory involves 5 precise waypoints with total movement distance of 0.710." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23650, + "action": "carry", + "object": "Knife", + "frame_index": 192, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23657", + "task": "pick up the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.712, 1.315]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.739, 1.042]). The trajectory involves 5 precise waypoints with total movement distance of 0.276." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23657, + "action": "pickup", + "object": "Knife", + "frame_index": 62, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23660", + "task": "pick up the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00172.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00173.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.611, 1.301]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.600, 1.046]). The trajectory involves 5 precise waypoints with total movement distance of 0.258." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23660, + "action": "pickup", + "object": "Knife", + "frame_index": 174, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23661", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.543, 1.300]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.754, 1.464]). The trajectory involves 5 precise waypoints with total movement distance of 0.810." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23661, + "action": "carry", + "object": "Knife", + "frame_index": 195, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23665", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.550, 1.256]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.733, 1.404]). The trajectory involves 5 precise waypoints with total movement distance of 0.842." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23665, + "action": "carry", + "object": "Knife", + "frame_index": 203, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23667", + "task": "put the knife to the drawer", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put the knife to the drawer?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put the knife to the drawer, execute the following phases: 1) Initial approach phase (start at [1.532, 1.229]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.745, 1.413]). The trajectory involves 5 precise waypoints with total movement distance of 0.827." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23667, + "action": "carry", + "object": "Knife", + "frame_index": 207, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23668", + "task": "put the knife to the drawer", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put the knife to the drawer?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put the knife to the drawer, execute the following phases: 1) Initial approach phase (start at [1.535, 1.250]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.794, 1.406]). The trajectory involves 5 precise waypoints with total movement distance of 0.776." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23668, + "action": "carry", + "object": "Knife", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23670", + "task": "put the knife to the drawer", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put the knife to the drawer?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put the knife to the drawer, execute the following phases: 1) Initial approach phase (start at [1.513, 1.237]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.836, 1.460]). The trajectory involves 5 precise waypoints with total movement distance of 0.746." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23670, + "action": "carry", + "object": "Knife", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23671", + "task": "put the knife to the drawer", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N36_S200_s03_T3/align_rgb/00215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put the knife to the drawer?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put the knife to the drawer, execute the following phases: 1) Initial approach phase (start at [1.488, 1.215]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.841, 1.473]). The trajectory involves 5 precise waypoints with total movement distance of 0.734." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23671, + "action": "carry", + "object": "Knife", + "frame_index": 215, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23678", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N36_S140_s03_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N36_S140_s03_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N36_S140_s03_T1/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.656, 1.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.394, 1.411]). The trajectory involves 5 precise waypoints with total movement distance of 0.297." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23678, + "action": "carry", + "object": "Knife", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23681", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N36_S140_s03_T1/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N36_S140_s03_T1/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N36_S140_s03_T1/align_rgb/00084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.601, 1.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.349, 1.505]). The trajectory involves 5 precise waypoints with total movement distance of 0.272." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23681, + "action": "carry", + "object": "Knife", + "frame_index": 84, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23686", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N36_S140_s03_T1/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N36_S140_s03_T1/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N36_S140_s03_T1/align_rgb/00219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.394, 1.453]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.702, 1.495]). The trajectory involves 5 precise waypoints with total movement distance of 0.316." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23686, + "action": "carry", + "object": "Knife", + "frame_index": 219, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23704", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N35_S140_s03_T1/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N35_S140_s03_T1/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N35_S140_s03_T1/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.594, 1.321]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.421, 1.358]). The trajectory involves 5 precise waypoints with total movement distance of 0.181." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23704, + "action": "carry", + "object": "Knife", + "frame_index": 88, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23722", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N34_S140_s03_T1/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N34_S140_s03_T1/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N34_S140_s03_T1/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.552, 1.323]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.420, 1.365]). The trajectory involves 5 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23722, + "action": "carry", + "object": "Knife", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23728", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N33_S200_s02_T3/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N33_S200_s02_T3/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N33_S200_s02_T3/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.651, 1.329]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.402, 1.302]). The trajectory involves 5 precise waypoints with total movement distance of 0.254." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23728, + "action": "carry", + "object": "Knife", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23731", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N33_S200_s02_T3/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N33_S200_s02_T3/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N33_S200_s02_T3/align_rgb/00191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.560, 1.340]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.466, 1.646]). The trajectory involves 5 precise waypoints with total movement distance of 1.154." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23731, + "action": "carry", + "object": "Knife", + "frame_index": 191, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23779", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N31_S200_s02_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N31_S200_s02_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N31_S200_s02_T2/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.643, 1.225]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.365, 1.276]). The trajectory involves 5 precise waypoints with total movement distance of 0.289." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23779, + "action": "carry", + "object": "Knife", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23788", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.525, 1.534]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.579, 1.752]). The trajectory involves 5 precise waypoints with total movement distance of 1.081." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23788, + "action": "carry", + "object": "Knife", + "frame_index": 75, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23792", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.531, 1.561]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.687, 1.771]). The trajectory involves 5 precise waypoints with total movement distance of 1.192." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23792, + "action": "carry", + "object": "Knife", + "frame_index": 83, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23793", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.544, 1.610]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.613, 1.776]). The trajectory involves 5 precise waypoints with total movement distance of 1.098." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23793, + "action": "carry", + "object": "Knife", + "frame_index": 85, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23797", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.600, 1.587]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.341, 1.564]). The trajectory involves 5 precise waypoints with total movement distance of 0.752." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23797, + "action": "carry", + "object": "Knife", + "frame_index": 93, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23798", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.639, 1.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.296, 1.576]). The trajectory involves 5 precise waypoints with total movement distance of 0.695." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23798, + "action": "carry", + "object": "Knife", + "frame_index": 95, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23802", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N30_S200_s02_T2/align_rgb/00239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.584, 1.117]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.618, 1.490]). The trajectory involves 5 precise waypoints with total movement distance of 0.379." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23802, + "action": "putdown", + "object": "Knife", + "frame_index": 239, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23835", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N28_S200_s01_T2/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N28_S200_s01_T2/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N28_S200_s01_T2/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.494, 1.550]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.285, 1.502]). The trajectory involves 5 precise waypoints with total movement distance of 0.795." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23835, + "action": "carry", + "object": "Knife", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23839", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N28_S200_s01_T2/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N28_S200_s01_T2/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N28_S200_s01_T2/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.550, 1.559]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.228, 1.414]). The trajectory involves 5 precise waypoints with total movement distance of 0.701." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23839, + "action": "carry", + "object": "Knife", + "frame_index": 88, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23840", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N28_S200_s01_T2/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N28_S200_s01_T2/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N28_S200_s01_T2/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.574, 1.554]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.232, 1.400]). The trajectory involves 5 precise waypoints with total movement distance of 0.691." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23840, + "action": "carry", + "object": "Knife", + "frame_index": 90, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23846", + "task": "pick up the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N28_S200_s01_T2/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N28_S200_s01_T2/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N28_S200_s01_T2/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.760, 1.409]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.783, 1.214]). The trajectory involves 5 precise waypoints with total movement distance of 0.275." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23846, + "action": "pickup", + "object": "Knife", + "frame_index": 198, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23887", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N26_S200_s01_T2/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N26_S200_s01_T2/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N26_S200_s01_T2/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.210, 1.444]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.933, 1.390]). The trajectory involves 5 precise waypoints with total movement distance of 0.736." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23887, + "action": "carry", + "object": "Knife", + "frame_index": 88, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23899", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N13_S144_s03_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N13_S144_s03_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N13_S144_s03_T1/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.736, 1.344]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.426, 1.318]). The trajectory involves 5 precise waypoints with total movement distance of 0.317." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23899, + "action": "carry", + "object": "Knife", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23902", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N13_S144_s03_T1/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N13_S144_s03_T1/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N13_S144_s03_T1/align_rgb/00224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.484, 1.302]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.772, 1.341]). The trajectory involves 5 precise waypoints with total movement distance of 0.319." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23902, + "action": "carry", + "object": "Knife", + "frame_index": 224, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23913", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N11_S203_s03_T4/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N11_S203_s03_T4/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N11_S203_s03_T4/align_rgb/00097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.698, 1.133]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.527, 1.796]). The trajectory involves 5 precise waypoints with total movement distance of 0.686." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23913, + "action": "putdown", + "object": "Knife", + "frame_index": 97, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23914", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N11_S203_s03_T4/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N11_S203_s03_T4/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N11_S203_s03_T4/align_rgb/00099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.692, 1.129]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.533, 1.762]). The trajectory involves 5 precise waypoints with total movement distance of 0.653." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23914, + "action": "putdown", + "object": "Knife", + "frame_index": 99, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23925", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N11_S144_s03_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N11_S144_s03_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N11_S144_s03_T1/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.816, 1.420]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.504, 1.352]). The trajectory involves 5 precise waypoints with total movement distance of 0.323." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23925, + "action": "carry", + "object": "Knife", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_23927", + "task": "pick up the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C13_N11_S144_s03_T1/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N11_S144_s03_T1/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800003_H3_C13_N11_S144_s03_T1/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.595, 1.460]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.608, 1.241]). The trajectory involves 5 precise waypoints with total movement distance of 0.221." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 23927, + "action": "pickup", + "object": "Knife", + "frame_index": 199, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_24013", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N34_S176_s03_T1/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N34_S176_s03_T1/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N34_S176_s03_T1/align_rgb/00109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.569, 1.394]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.553, 1.521]). The trajectory involves 5 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24013, + "action": "putdown", + "object": "Kettle", + "frame_index": 109, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24015", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N34_S176_s03_T1/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N34_S176_s03_T1/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N34_S176_s03_T1/align_rgb/00239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.495, 1.351]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.756, 1.413]). The trajectory involves 5 precise waypoints with total movement distance of 0.269." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24015, + "action": "carry", + "object": "Kettle", + "frame_index": 239, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24049", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N28_S176_s02_T1/align_rgb/00251.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N28_S176_s02_T1/align_rgb/00252.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N28_S176_s02_T1/align_rgb/00253.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.593, 1.205]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.626, 1.356]). The trajectory involves 5 precise waypoints with total movement distance of 0.162." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24049, + "action": "putdown", + "object": "Kettle", + "frame_index": 253, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24056", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N26_S176_s02_T1/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N26_S176_s02_T1/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N26_S176_s02_T1/align_rgb/00192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.371, 1.310]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.730, 1.309]). The trajectory involves 5 precise waypoints with total movement distance of 0.364." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24056, + "action": "carry", + "object": "Kettle", + "frame_index": 192, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24059", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N26_S176_s02_T1/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N26_S176_s02_T1/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N26_S176_s02_T1/align_rgb/00217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.781, 1.371]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.776, 1.472]). The trajectory involves 5 precise waypoints with total movement distance of 0.112." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24059, + "action": "putdown", + "object": "Kettle", + "frame_index": 217, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24062", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N25_S176_s02_T1/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N25_S176_s02_T1/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N25_S176_s02_T1/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.711, 1.357]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.391, 1.346]). The trajectory involves 5 precise waypoints with total movement distance of 0.322." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24062, + "action": "carry", + "object": "Kettle", + "frame_index": 90, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24073", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N25_S176_s02_T1/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N25_S176_s02_T1/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N25_S176_s02_T1/align_rgb/00241.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.486, 1.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.816, 1.568]). The trajectory involves 5 precise waypoints with total movement distance of 0.356." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24073, + "action": "carry", + "object": "Kettle", + "frame_index": 241, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24110", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N24_S342_s01_T2/align_rgb/00134.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N24_S342_s01_T2/align_rgb/00135.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N24_S342_s01_T2/align_rgb/00136.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.589, 1.158]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.067, 1.795]). The trajectory involves 5 precise waypoints with total movement distance of 0.857." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24110, + "action": "putdown", + "object": "Kettle", + "frame_index": 136, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24113", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N24_S342_s01_T2/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N24_S342_s01_T2/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N24_S342_s01_T2/align_rgb/00220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.768, 1.101]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.452, 0.967]). The trajectory involves 5 precise waypoints with total movement distance of 2.298." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24113, + "action": "carry", + "object": "Kettle", + "frame_index": 220, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24115", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N24_S342_s01_T2/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N24_S342_s01_T2/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N24_S342_s01_T2/align_rgb/00224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.753, 1.055]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.241, 1.197]). The trajectory involves 5 precise waypoints with total movement distance of 2.079." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24115, + "action": "carry", + "object": "Kettle", + "frame_index": 224, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24123", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N24_S176_s03_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N24_S176_s03_T1/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N24_S176_s03_T1/align_rgb/00100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.481, 1.428]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.464, 1.549]). The trajectory involves 5 precise waypoints with total movement distance of 0.128." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24123, + "action": "putdown", + "object": "Kettle", + "frame_index": 100, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24134", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N23_S176_s01_T1/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N23_S176_s01_T1/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N23_S176_s01_T1/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.552, 1.360]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.244, 1.378]). The trajectory involves 5 precise waypoints with total movement distance of 0.313." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24134, + "action": "carry", + "object": "Kettle", + "frame_index": 70, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24138", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N23_S176_s01_T1/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N23_S176_s01_T1/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N23_S176_s01_T1/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.399, 1.395]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.691, 1.389]). The trajectory involves 5 precise waypoints with total movement distance of 0.318." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24138, + "action": "carry", + "object": "Kettle", + "frame_index": 207, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24141", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N22_S176_s01_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N22_S176_s01_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N22_S176_s01_T1/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.595, 1.372]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.318, 1.401]). The trajectory involves 5 precise waypoints with total movement distance of 0.283." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24141, + "action": "carry", + "object": "Kettle", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24144", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N22_S176_s01_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N22_S176_s01_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N22_S176_s01_T1/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.412, 1.396]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.701, 1.451]). The trajectory involves 5 precise waypoints with total movement distance of 0.301." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24144, + "action": "carry", + "object": "Kettle", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24161", + "task": "dump the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N20_S206_s05_T2/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N20_S206_s05_T2/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N20_S206_s05_T2/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: dump the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: dump the kettle, execute the following phases: 1) Initial approach phase (start at [1.754, 1.114]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.537, 0.905]). The trajectory involves 5 precise waypoints with total movement distance of 0.303." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24161, + "action": "dump", + "object": "Kettle", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24169", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N20_S206_s05_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N20_S206_s05_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N20_S206_s05_T2/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.811, 0.998]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.451, 0.644]). The trajectory involves 5 precise waypoints with total movement distance of 1.586." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24169, + "action": "carry", + "object": "Kettle", + "frame_index": 203, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24170", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N20_S206_s05_T2/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N20_S206_s05_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N20_S206_s05_T2/align_rgb/00205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.804, 0.996]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.379, 0.795]). The trajectory involves 5 precise waypoints with total movement distance of 1.569." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24170, + "action": "carry", + "object": "Kettle", + "frame_index": 205, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24171", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N20_S206_s05_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N20_S206_s05_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N20_S206_s05_T2/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.801, 0.907]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.352, 0.853]). The trajectory involves 5 precise waypoints with total movement distance of 1.517." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24171, + "action": "carry", + "object": "Kettle", + "frame_index": 207, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24176", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N20_S173_s05_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N20_S173_s05_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N20_S173_s05_T1/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.839, 0.954]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.589, 0.919]). The trajectory involves 5 precise waypoints with total movement distance of 0.258." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24176, + "action": "carry", + "object": "Kettle", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24177", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N20_S173_s05_T1/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N20_S173_s05_T1/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N20_S173_s05_T1/align_rgb/00095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.524, 0.892]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.402, 1.137]). The trajectory involves 5 precise waypoints with total movement distance of 0.288." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24177, + "action": "putdown", + "object": "Kettle", + "frame_index": 95, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24183", + "task": "dump the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: dump the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: dump the kettle, execute the following phases: 1) Initial approach phase (start at [1.741, 1.046]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.386, 1.026]). The trajectory involves 5 precise waypoints with total movement distance of 0.390." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24183, + "action": "dump", + "object": "Kettle", + "frame_index": 66, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24184", + "task": "dump the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: dump the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: dump the kettle, execute the following phases: 1) Initial approach phase (start at [1.610, 1.080]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.383, 1.137]). The trajectory involves 5 precise waypoints with total movement distance of 0.271." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24184, + "action": "dump", + "object": "Kettle", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24198", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.836, 1.008]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.375, 0.982]). The trajectory involves 5 precise waypoints with total movement distance of 1.559." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24198, + "action": "carry", + "object": "Kettle", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24201", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.825, 0.913]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.228, 1.168]). The trajectory involves 5 precise waypoints with total movement distance of 1.673." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24201, + "action": "carry", + "object": "Kettle", + "frame_index": 208, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24202", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N19_S206_s05_T2/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.800, 0.919]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.228, 1.188]). The trajectory involves 5 precise waypoints with total movement distance of 1.642." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24202, + "action": "carry", + "object": "Kettle", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24210", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N19_S173_s05_T1/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N19_S173_s05_T1/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N19_S173_s05_T1/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.480, 1.456]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.827, 1.451]). The trajectory involves 5 precise waypoints with total movement distance of 0.354." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24210, + "action": "carry", + "object": "Kettle", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24239", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N18_S173_s05_T1/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N18_S173_s05_T1/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N18_S173_s05_T1/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.589, 1.377]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.299, 1.376]). The trajectory involves 5 precise waypoints with total movement distance of 0.295." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24239, + "action": "carry", + "object": "Kettle", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24244", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N18_S173_s05_T1/align_rgb/00254.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N18_S173_s05_T1/align_rgb/00255.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N18_S173_s05_T1/align_rgb/00256.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.629, 1.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.665, 1.601]). The trajectory involves 5 precise waypoints with total movement distance of 0.151." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24244, + "action": "putdown", + "object": "Kettle", + "frame_index": 256, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24266", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N16_S206_s04_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N16_S206_s04_T2/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N16_S206_s04_T2/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.864, 1.013]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.265, 0.966]). The trajectory involves 5 precise waypoints with total movement distance of 1.740." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24266, + "action": "carry", + "object": "Kettle", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24272", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.799, 0.952]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.368, 0.956]). The trajectory involves 5 precise waypoints with total movement distance of 0.440." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24272, + "action": "carry", + "object": "Kettle", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24273", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.502, 1.130]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.518, 1.326]). The trajectory involves 5 precise waypoints with total movement distance of 0.200." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24273, + "action": "putdown", + "object": "Kettle", + "frame_index": 100, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24276", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.661, 1.125]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.968, 1.184]). The trajectory involves 5 precise waypoints with total movement distance of 0.314." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24276, + "action": "carry", + "object": "Kettle", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24278", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.884, 1.114]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.879, 1.265]). The trajectory involves 5 precise waypoints with total movement distance of 0.154." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24278, + "action": "putdown", + "object": "Kettle", + "frame_index": 234, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24279", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N16_S173_s04_T1/align_rgb/00235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.871, 1.146]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.867, 1.297]). The trajectory involves 5 precise waypoints with total movement distance of 0.155." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24279, + "action": "putdown", + "object": "Kettle", + "frame_index": 235, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24295", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N15_S206_s04_T2/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N15_S206_s04_T2/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N15_S206_s04_T2/align_rgb/00223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.942, 0.860]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.273, 1.050]). The trajectory involves 5 precise waypoints with total movement distance of 1.789." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24295, + "action": "carry", + "object": "Kettle", + "frame_index": 223, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24321", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N14_S206_s04_T2/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N14_S206_s04_T2/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N14_S206_s04_T2/align_rgb/00224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.859, 1.009]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.365, 0.960]). The trajectory involves 5 precise waypoints with total movement distance of 1.563." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24321, + "action": "carry", + "object": "Kettle", + "frame_index": 224, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24323", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N14_S206_s04_T2/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N14_S206_s04_T2/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N14_S206_s04_T2/align_rgb/00228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.832, 0.956]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.304, 1.029]). The trajectory involves 5 precise waypoints with total movement distance of 1.591." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24323, + "action": "carry", + "object": "Kettle", + "frame_index": 228, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24324", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N14_S206_s04_T2/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N14_S206_s04_T2/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N14_S206_s04_T2/align_rgb/00230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.792, 0.895]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.343, 1.021]). The trajectory involves 5 precise waypoints with total movement distance of 1.518." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24324, + "action": "carry", + "object": "Kettle", + "frame_index": 230, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24325", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N14_S206_s04_T2/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N14_S206_s04_T2/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N14_S206_s04_T2/align_rgb/00232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.796, 0.967]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.436, 1.131]). The trajectory involves 5 precise waypoints with total movement distance of 1.434." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24325, + "action": "carry", + "object": "Kettle", + "frame_index": 232, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24328", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N14_S173_s04_T1/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N14_S173_s04_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N14_S173_s04_T1/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.589, 1.394]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.315, 1.381]). The trajectory involves 5 precise waypoints with total movement distance of 0.274." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24328, + "action": "carry", + "object": "Kettle", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24334", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N14_S173_s04_T1/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N14_S173_s04_T1/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N14_S173_s04_T1/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.453, 1.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.793, 1.367]). The trajectory involves 5 precise waypoints with total movement distance of 0.374." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24334, + "action": "carry", + "object": "Kettle", + "frame_index": 203, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24359", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N13_S206_s04_T2/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N13_S206_s04_T2/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N13_S206_s04_T2/align_rgb/00226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.786, 0.893]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.266, 1.031]). The trajectory involves 5 precise waypoints with total movement distance of 1.591." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24359, + "action": "carry", + "object": "Kettle", + "frame_index": 226, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24364", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.631, 1.379]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.332, 1.351]). The trajectory involves 5 precise waypoints with total movement distance of 0.301." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24364, + "action": "carry", + "object": "Kettle", + "frame_index": 64, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24367", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.564, 1.374]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.278, 1.390]). The trajectory involves 5 precise waypoints with total movement distance of 0.287." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24367, + "action": "carry", + "object": "Kettle", + "frame_index": 70, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24369", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.553, 1.392]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.263, 1.428]). The trajectory involves 5 precise waypoints with total movement distance of 0.308." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24369, + "action": "carry", + "object": "Kettle", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24370", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.432, 1.448]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.434, 1.557]). The trajectory involves 5 precise waypoints with total movement distance of 0.111." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24370, + "action": "putdown", + "object": "Kettle", + "frame_index": 95, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24376", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N13_S173_s04_T1/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.504, 1.432]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.836, 1.435]). The trajectory involves 5 precise waypoints with total movement distance of 0.334." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24376, + "action": "carry", + "object": "Kettle", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24393", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N12_S206_s03_T2/align_rgb/00110.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N12_S206_s03_T2/align_rgb/00111.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N12_S206_s03_T2/align_rgb/00112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.578, 1.039]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.904, 1.541]). The trajectory involves 5 precise waypoints with total movement distance of 0.655." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24393, + "action": "putdown", + "object": "Kettle", + "frame_index": 112, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24400", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N12_S206_s03_T2/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N12_S206_s03_T2/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N12_S206_s03_T2/align_rgb/00219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.835, 1.071]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.019, 1.058]). The trajectory involves 5 precise waypoints with total movement distance of 1.926." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24400, + "action": "carry", + "object": "Kettle", + "frame_index": 219, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24411", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N12_S173_s03_T1/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N12_S173_s03_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N12_S173_s03_T1/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.516, 1.304]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.880, 1.318]). The trajectory involves 5 precise waypoints with total movement distance of 0.403." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24411, + "action": "carry", + "object": "Kettle", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24433", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C12_N11_S206_s03_T2/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N11_S206_s03_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800003_H3_C12_N11_S206_s03_T2/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.793, 0.825]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.106, 1.014]). The trajectory involves 5 precise waypoints with total movement distance of 1.766." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24433, + "action": "carry", + "object": "Kettle", + "frame_index": 199, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_24597", + "task": "put down the pliers", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C11_N40_S148_s04_T1/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800003_H3_C11_N40_S148_s04_T1/align_rgb/00102.jpg", + "hoi4d_frame/ZY20210800003_H3_C11_N40_S148_s04_T1/align_rgb/00103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the pliers?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the pliers, execute the following phases: 1) Initial approach phase (start at [1.903, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.932, 1.711]). The trajectory involves 5 precise waypoints with total movement distance of 0.200." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24597, + "action": "putdown", + "object": "Pliers", + "frame_index": 103, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Left Part of the Pliers", + "Right Part of the Pliers" + ] + } + }, + { + "id": "hoi4d_24696", + "task": "put down the pliers", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C11_N07_S151_s03_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800003_H3_C11_N07_S151_s03_T1/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800003_H3_C11_N07_S151_s03_T1/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the pliers?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the pliers, execute the following phases: 1) Initial approach phase (start at [1.351, 1.250]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.447, 1.463]). The trajectory involves 5 precise waypoints with total movement distance of 0.235." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24696, + "action": "putdown", + "object": "Pliers", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Left Part of the Pliers", + "Right Part of the Pliers" + ] + } + }, + { + "id": "hoi4d_24718", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T2/align_rgb/00037.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T2/align_rgb/00038.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T2/align_rgb/00039.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.445, 1.468]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.434, 1.347]). The trajectory involves 5 precise waypoints with total movement distance of 0.123." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24718, + "action": "push", + "object": "Toy Car", + "frame_index": 39, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_24739", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T2/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T2/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T2/align_rgb/00100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.475, 1.280]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.491, 1.390]). The trajectory involves 5 precise waypoints with total movement distance of 0.113." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24739, + "action": "pull", + "object": "Toy Car", + "frame_index": 100, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_24759", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T2/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T2/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.401, 1.371]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.563, 1.319]). The trajectory involves 5 precise waypoints with total movement distance of 0.170." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24759, + "action": "pull", + "object": "Toy Car", + "frame_index": 214, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_24817", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T1/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T1/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T1/align_rgb/00192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.521, 1.155]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.684, 1.104]). The trajectory involves 5 precise waypoints with total movement distance of 0.173." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24817, + "action": "carry", + "object": "Toy Car", + "frame_index": 192, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_24823", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T1/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T1/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N50_S83_s04_T1/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.587, 1.104]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.741, 1.066]). The trajectory involves 5 precise waypoints with total movement distance of 0.163." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24823, + "action": "carry", + "object": "Toy Car", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_24836", + "task": "push Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00040.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00041.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.477, 1.349]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.480, 1.266]). The trajectory involves 5 precise waypoints with total movement distance of 0.083." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24836, + "action": "push", + "object": "Toy Car", + "frame_index": 41, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_24840", + "task": "push Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00047.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00049.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.432, 1.376]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.436, 1.276]). The trajectory involves 5 precise waypoints with total movement distance of 0.100." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24840, + "action": "push", + "object": "Toy Car", + "frame_index": 49, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_24841", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00051.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.436, 1.366]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.432, 1.273]). The trajectory involves 5 precise waypoints with total movement distance of 0.093." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24841, + "action": "push", + "object": "Toy Car", + "frame_index": 51, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_24850", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00147.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00148.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.887, 1.139]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.727, 1.203]). The trajectory involves 5 precise waypoints with total movement distance of 0.172." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24850, + "action": "push", + "object": "Toy Car", + "frame_index": 149, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_24854", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00153.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00154.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.881, 1.154]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.731, 1.215]). The trajectory involves 5 precise waypoints with total movement distance of 0.162." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24854, + "action": "push", + "object": "Toy Car", + "frame_index": 155, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_24855", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00155.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00156.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00157.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.886, 1.157]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.722, 1.227]). The trajectory involves 5 precise waypoints with total movement distance of 0.183." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24855, + "action": "push", + "object": "Toy Car", + "frame_index": 157, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_24858", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00161.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00162.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00163.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.836, 1.316]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.683, 1.370]). The trajectory involves 5 precise waypoints with total movement distance of 0.167." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24858, + "action": "push", + "object": "Toy Car", + "frame_index": 163, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_24881", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.739, 1.316]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.784, 1.313]). The trajectory involves 5 precise waypoints with total movement distance of 0.049." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24881, + "action": "pull", + "object": "Toy Car", + "frame_index": 228, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_24886", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T2/align_rgb/00238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.746, 1.273]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.808, 1.255]). The trajectory involves 5 precise waypoints with total movement distance of 0.064." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24886, + "action": "pull", + "object": "Toy Car", + "frame_index": 238, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_24910", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T1/align_rgb/00138.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T1/align_rgb/00139.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T1/align_rgb/00140.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.622, 1.009]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.724, 0.993]). The trajectory involves 5 precise waypoints with total movement distance of 0.107." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24910, + "action": "carry", + "object": "Toy Car", + "frame_index": 140, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_24921", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T1/align_rgb/00160.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T1/align_rgb/00161.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N49_S83_s04_T1/align_rgb/00162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.681, 1.028]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.749, 1.011]). The trajectory involves 5 precise waypoints with total movement distance of 0.071." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24921, + "action": "carry", + "object": "Toy Car", + "frame_index": 162, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_24970", + "task": "push Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N48_S83_s05_T2/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N48_S83_s05_T2/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N48_S83_s05_T2/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.540, 1.262]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.543, 1.220]). The trajectory involves 5 precise waypoints with total movement distance of 0.045." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24970, + "action": "push", + "object": "Toy Car", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_24995", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N48_S83_s05_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N48_S83_s05_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N48_S83_s05_T2/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.687, 1.368]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.609, 1.365]). The trajectory involves 5 precise waypoints with total movement distance of 0.080." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 24995, + "action": "push", + "object": "Toy Car", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_25048", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00051.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.909, 1.193]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.837, 1.147]). The trajectory involves 5 precise waypoints with total movement distance of 0.101." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 25048, + "action": "pickup", + "object": "Toy Car", + "frame_index": 51, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_25055", + "task": "push the car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push the car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push the car, execute the following phases: 1) Initial approach phase (start at [1.868, 1.077]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.777, 1.081]). The trajectory involves 5 precise waypoints with total movement distance of 0.092." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 25055, + "action": "carry", + "object": "Toy Car", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_25060", + "task": "push the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push the toy car, execute the following phases: 1) Initial approach phase (start at [1.853, 1.067]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.750, 1.056]). The trajectory involves 5 precise waypoints with total movement distance of 0.105." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 25060, + "action": "carry", + "object": "Toy Car", + "frame_index": 91, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_25070", + "task": "pull the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull the toy car, execute the following phases: 1) Initial approach phase (start at [1.811, 1.054]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.900, 1.054]). The trajectory involves 5 precise waypoints with total movement distance of 0.089." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 25070, + "action": "carry", + "object": "Toy Car", + "frame_index": 195, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_25072", + "task": "pull the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull the toy car, execute the following phases: 1) Initial approach phase (start at [1.844, 1.043]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.934, 1.046]). The trajectory involves 5 precise waypoints with total movement distance of 0.091." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 25072, + "action": "carry", + "object": "Toy Car", + "frame_index": 199, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_25076", + "task": "pull the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull the toy car, execute the following phases: 1) Initial approach phase (start at [1.838, 1.160]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.940, 1.181]). The trajectory involves 5 precise waypoints with total movement distance of 0.105." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 25076, + "action": "carry", + "object": "Toy Car", + "frame_index": 207, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_25083", + "task": "pull the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull the toy car, execute the following phases: 1) Initial approach phase (start at [1.859, 1.160]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.972, 1.158]). The trajectory involves 5 precise waypoints with total movement distance of 0.117." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 25083, + "action": "carry", + "object": "Toy Car", + "frame_index": 221, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_25090", + "task": "pull the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N46_S84_s01_T1/align_rgb/00235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull the toy car, execute the following phases: 1) Initial approach phase (start at [1.879, 1.157]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.969, 1.164]). The trajectory involves 5 precise waypoints with total movement distance of 0.094." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 25090, + "action": "carry", + "object": "Toy Car", + "frame_index": 235, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_25173", + "task": "pull Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N44_S84_s01_T2/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N44_S84_s01_T2/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N44_S84_s01_T2/align_rgb/00083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.435, 1.014]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.433, 1.109]). The trajectory involves 5 precise waypoints with total movement distance of 0.096." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 25173, + "action": "pull", + "object": "Toy Car", + "frame_index": 83, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_25195", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N44_S84_s01_T2/align_rgb/00151.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N44_S84_s01_T2/align_rgb/00152.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N44_S84_s01_T2/align_rgb/00153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.516, 0.974]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.363, 0.959]). The trajectory involves 5 precise waypoints with total movement distance of 0.153." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 25195, + "action": "push", + "object": "Toy Car", + "frame_index": 153, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_25204", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N44_S84_s01_T2/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N44_S84_s01_T2/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N44_S84_s01_T2/align_rgb/00191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.373, 0.930]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.454, 0.946]). The trajectory involves 5 precise waypoints with total movement distance of 0.083." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 25204, + "action": "pull", + "object": "Toy Car", + "frame_index": 191, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_25285", + "task": "pull the toy car back", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N42_S84_s03_T1/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N42_S84_s03_T1/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N42_S84_s03_T1/align_rgb/00217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull the toy car back?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull the toy car back, execute the following phases: 1) Initial approach phase (start at [1.695, 1.318]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.793, 1.340]). The trajectory involves 5 precise waypoints with total movement distance of 0.104." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 25285, + "action": "carry", + "object": "Toy Car", + "frame_index": 217, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_25287", + "task": "pull the toy car back", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N42_S84_s03_T1/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N42_S84_s03_T1/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N42_S84_s03_T1/align_rgb/00221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull the toy car back?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull the toy car back, execute the following phases: 1) Initial approach phase (start at [1.700, 1.323]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.798, 1.348]). The trajectory involves 5 precise waypoints with total movement distance of 0.101." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 25287, + "action": "carry", + "object": "Toy Car", + "frame_index": 221, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_25346", + "task": "pull the toy car back", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N35_S83_s03_T1/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N35_S83_s03_T1/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N35_S83_s03_T1/align_rgb/00220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull the toy car back?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull the toy car back, execute the following phases: 1) Initial approach phase (start at [1.597, 1.146]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.665, 1.140]). The trajectory involves 5 precise waypoints with total movement distance of 0.071." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 25346, + "action": "carry", + "object": "Toy Car", + "frame_index": 220, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_25419", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N32_S83_s02_T2/align_rgb/00028.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N32_S83_s02_T2/align_rgb/00029.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N32_S83_s02_T2/align_rgb/00030.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.521, 1.256]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.509, 1.170]). The trajectory involves 5 precise waypoints with total movement distance of 0.087." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 25419, + "action": "push", + "object": "Toy Car", + "frame_index": 30, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_25457", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N32_S83_s02_T2/align_rgb/00166.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N32_S83_s02_T2/align_rgb/00167.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N32_S83_s02_T2/align_rgb/00168.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.608, 1.262]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.497, 1.289]). The trajectory involves 5 precise waypoints with total movement distance of 0.115." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 25457, + "action": "push", + "object": "Toy Car", + "frame_index": 168, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_25475", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N32_S83_s02_T2/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N32_S83_s02_T2/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N32_S83_s02_T2/align_rgb/00224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.582, 1.236]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.622, 1.210]). The trajectory involves 5 precise waypoints with total movement distance of 0.048." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 25475, + "action": "pull", + "object": "Toy Car", + "frame_index": 224, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_25484", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N32_S83_s02_T2/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N32_S83_s02_T2/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N32_S83_s02_T2/align_rgb/00242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.628, 1.268]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.677, 1.254]). The trajectory involves 5 precise waypoints with total movement distance of 0.051." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 25484, + "action": "pull", + "object": "Toy Car", + "frame_index": 242, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_25681", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N30_S83_s01_T2/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N30_S83_s01_T2/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N30_S83_s01_T2/align_rgb/00229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.339, 1.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.400, 1.439]). The trajectory involves 5 precise waypoints with total movement distance of 0.063." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 25681, + "action": "pull", + "object": "Toy Car", + "frame_index": 229, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_25692", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N30_S83_s01_T2/align_rgb/00249.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N30_S83_s01_T2/align_rgb/00250.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N30_S83_s01_T2/align_rgb/00251.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.404, 1.438]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.470, 1.437]). The trajectory involves 5 precise waypoints with total movement distance of 0.068." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 25692, + "action": "pull", + "object": "Toy Car", + "frame_index": 251, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_25859", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N28_S90_s03_T2/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N28_S90_s03_T2/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N28_S90_s03_T2/align_rgb/00095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.519, 1.605]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.525, 1.676]). The trajectory involves 5 precise waypoints with total movement distance of 0.073." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 25859, + "action": "pull", + "object": "Toy Car", + "frame_index": 95, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_25882", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N28_S90_s03_T2/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N28_S90_s03_T2/align_rgb/00181.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N28_S90_s03_T2/align_rgb/00182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.756, 1.254]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.683, 1.243]). The trajectory involves 5 precise waypoints with total movement distance of 0.075." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 25882, + "action": "push", + "object": "Toy Car", + "frame_index": 182, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_25893", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N28_S90_s03_T2/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N28_S90_s03_T2/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N28_S90_s03_T2/align_rgb/00223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.689, 1.239]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.754, 1.249]). The trajectory involves 5 precise waypoints with total movement distance of 0.066." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 25893, + "action": "pull", + "object": "Toy Car", + "frame_index": 223, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_26052", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N21_S87_s02_T1/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N21_S87_s02_T1/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N21_S87_s02_T1/align_rgb/00239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.410, 1.042]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.491, 1.070]). The trajectory involves 5 precise waypoints with total movement distance of 0.086." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 26052, + "action": "carry", + "object": "Toy Car", + "frame_index": 239, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_26135", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N19_S87_s01_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N19_S87_s01_T2/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N19_S87_s01_T2/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.374, 1.367]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.279, 1.376]). The trajectory involves 5 precise waypoints with total movement distance of 0.095." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 26135, + "action": "push", + "object": "Toy Car", + "frame_index": 214, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_26146", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N19_S87_s01_T2/align_rgb/00253.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N19_S87_s01_T2/align_rgb/00254.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N19_S87_s01_T2/align_rgb/00255.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.357, 1.353]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.422, 1.349]). The trajectory involves 5 precise waypoints with total movement distance of 0.066." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 26146, + "action": "pull", + "object": "Toy Car", + "frame_index": 255, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_26228", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.374, 1.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.450, 1.463]). The trajectory involves 5 precise waypoints with total movement distance of 0.078." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 26228, + "action": "pull", + "object": "Toy Car", + "frame_index": 234, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_26230", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.380, 1.461]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.463, 1.457]). The trajectory involves 5 precise waypoints with total movement distance of 0.084." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 26230, + "action": "pull", + "object": "Toy Car", + "frame_index": 238, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_26232", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.339, 1.460]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.422, 1.461]). The trajectory involves 5 precise waypoints with total movement distance of 0.084." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 26232, + "action": "pull", + "object": "Toy Car", + "frame_index": 242, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_26234", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00244.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00245.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.368, 1.443]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.450, 1.434]). The trajectory involves 5 precise waypoints with total movement distance of 0.084." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 26234, + "action": "pull", + "object": "Toy Car", + "frame_index": 246, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_26236", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00248.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00249.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N08_S90_s01_T2/align_rgb/00250.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.391, 1.417]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.462, 1.417]). The trajectory involves 5 precise waypoints with total movement distance of 0.071." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 26236, + "action": "pull", + "object": "Toy Car", + "frame_index": 250, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_26302", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00051.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.288, 1.110]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.288, 1.042]). The trajectory involves 5 precise waypoints with total movement distance of 0.069." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 26302, + "action": "push", + "object": "Toy Car", + "frame_index": 51, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_26309", + "task": "push Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.307, 1.149]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.313, 1.077]). The trajectory involves 5 precise waypoints with total movement distance of 0.073." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 26309, + "action": "push", + "object": "Toy Car", + "frame_index": 65, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_26336", + "task": "pull Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00136.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00137.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00138.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.293, 1.108]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.284, 1.199]). The trajectory involves 5 precise waypoints with total movement distance of 0.093." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 26336, + "action": "pull", + "object": "Toy Car", + "frame_index": 138, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_26357", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00180.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.296, 1.135]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.399, 1.295]). The trajectory involves 5 precise waypoints with total movement distance of 0.192." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 26357, + "action": "pull", + "object": "Toy Car", + "frame_index": 180, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_26359", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.354, 1.172]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.211, 1.181]). The trajectory involves 5 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 26359, + "action": "push", + "object": "Toy Car", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_26378", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00259.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00260.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00261.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.206, 1.158]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.320, 1.140]). The trajectory involves 5 precise waypoints with total movement distance of 0.116." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 26378, + "action": "pull", + "object": "Toy Car", + "frame_index": 261, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_26380", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00263.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00264.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00265.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.218, 1.102]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.333, 1.082]). The trajectory involves 5 precise waypoints with total movement distance of 0.117." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 26380, + "action": "pull", + "object": "Toy Car", + "frame_index": 265, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_26382", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00267.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00268.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N03_S86_s02_T2/align_rgb/00269.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.223, 1.085]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.329, 1.069]). The trajectory involves 5 precise waypoints with total movement distance of 0.108." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 26382, + "action": "pull", + "object": "Toy Car", + "frame_index": 269, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_26421", + "task": "push Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00028.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00029.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00030.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.419, 1.006]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.422, 0.886]). The trajectory involves 5 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 26421, + "action": "push", + "object": "Toy Car", + "frame_index": 30, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_26425", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00036.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00037.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00038.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.411, 0.977]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.405, 0.805]). The trajectory involves 5 precise waypoints with total movement distance of 0.173." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 26425, + "action": "push", + "object": "Toy Car", + "frame_index": 38, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_26464", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00153.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00154.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.421, 0.890]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.273, 0.933]). The trajectory involves 5 precise waypoints with total movement distance of 0.155." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 26464, + "action": "push", + "object": "Toy Car", + "frame_index": 155, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_26466", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00157.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00158.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00159.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.415, 0.926]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.262, 0.968]). The trajectory involves 5 precise waypoints with total movement distance of 0.159." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 26466, + "action": "push", + "object": "Toy Car", + "frame_index": 159, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_26467", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00159.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00160.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00161.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.404, 0.901]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.251, 0.945]). The trajectory involves 5 precise waypoints with total movement distance of 0.159." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 26467, + "action": "push", + "object": "Toy Car", + "frame_index": 161, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_26468", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00161.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00162.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00163.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.399, 0.910]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.246, 0.948]). The trajectory involves 5 precise waypoints with total movement distance of 0.158." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 26468, + "action": "push", + "object": "Toy Car", + "frame_index": 163, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_26469", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00163.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00164.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00165.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.379, 0.914]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.231, 0.947]). The trajectory involves 5 precise waypoints with total movement distance of 0.152." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 26469, + "action": "push", + "object": "Toy Car", + "frame_index": 165, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_26471", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00167.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00168.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00169.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.352, 0.922]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.223, 0.962]). The trajectory involves 5 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 26471, + "action": "push", + "object": "Toy Car", + "frame_index": 169, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_26472", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00169.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00170.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.339, 0.954]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.232, 0.982]). The trajectory involves 5 precise waypoints with total movement distance of 0.110." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 26472, + "action": "push", + "object": "Toy Car", + "frame_index": 171, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_26485", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T2/align_rgb/00216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.262, 0.923]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.358, 0.887]). The trajectory involves 5 precise waypoints with total movement distance of 0.106." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 26485, + "action": "pull", + "object": "Toy Car", + "frame_index": 216, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_26503", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T1/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800003_H3_C1_N02_S86_s01_T1/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.611, 1.026]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.588, 1.125]). The trajectory involves 5 precise waypoints with total movement distance of 0.104." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 26503, + "action": "putdown", + "object": "Toy Car", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_27352", + "task": "put down the bucket", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C8_N15_S80_s03_T1/align_rgb/00103.jpg", + "hoi4d_frame/ZY20210800002_H2_C8_N15_S80_s03_T1/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800002_H2_C8_N15_S80_s03_T1/align_rgb/00105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bucket?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bucket, execute the following phases: 1) Initial approach phase (start at [1.506, 1.089]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.446, 1.285]). The trajectory involves 5 precise waypoints with total movement distance of 0.215." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 27352, + "action": "putdown", + "object": "Bucket", + "frame_index": 105, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_27513", + "task": "pick up the bucket", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C8_N13_S80_s02_T1/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800002_H2_C8_N13_S80_s02_T1/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800002_H2_C8_N13_S80_s02_T1/align_rgb/00050.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bucket?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bucket, execute the following phases: 1) Initial approach phase (start at [1.636, 1.340]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.652, 1.224]). The trajectory involves 5 precise waypoints with total movement distance of 0.122." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 27513, + "action": "pickup", + "object": "Bucket", + "frame_index": 50, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_27574", + "task": "put down the bucket", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C8_N12_S80_s01_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800002_H2_C8_N12_S80_s01_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800002_H2_C8_N12_S80_s01_T2/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bucket?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bucket, execute the following phases: 1) Initial approach phase (start at [1.488, 0.930]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.475, 1.175]). The trajectory involves 5 precise waypoints with total movement distance of 0.245." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 27574, + "action": "putdown", + "object": "Bucket", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_27621", + "task": "put down the bucket", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C8_N12_S80_s01_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800002_H2_C8_N12_S80_s01_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800002_H2_C8_N12_S80_s01_T1/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bucket?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bucket, execute the following phases: 1) Initial approach phase (start at [1.499, 1.352]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.509, 1.614]). The trajectory involves 5 precise waypoints with total movement distance of 0.266." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 27621, + "action": "putdown", + "object": "Bucket", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_27649", + "task": "put down the bucket", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C8_N12_S80_s01_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800002_H2_C8_N12_S80_s01_T1/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800002_H2_C8_N12_S80_s01_T1/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bucket?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bucket, execute the following phases: 1) Initial approach phase (start at [1.616, 1.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.570, 1.645]). The trajectory involves 5 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 27649, + "action": "putdown", + "object": "Bucket", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_27697", + "task": "pick up the bucket", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C8_N11_S80_s01_T1/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800002_H2_C8_N11_S80_s01_T1/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800002_H2_C8_N11_S80_s01_T1/align_rgb/00056.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bucket?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bucket, execute the following phases: 1) Initial approach phase (start at [1.587, 1.119]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.629, 0.809]). The trajectory involves 5 precise waypoints with total movement distance of 0.316." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 27697, + "action": "pickup", + "object": "Bucket", + "frame_index": 56, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_28180", + "task": "pick up the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00050.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.527, 1.796]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.495, 1.684]). The trajectory involves 5 precise waypoints with total movement distance of 0.117." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28180, + "action": "pickup", + "object": "Bowl", + "frame_index": 50, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28185", + "task": "pick up the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.491, 1.779]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.464, 1.660]). The trajectory involves 5 precise waypoints with total movement distance of 0.123." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28185, + "action": "pickup", + "object": "Bowl", + "frame_index": 60, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28192", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.443, 1.667]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.467, 1.795]). The trajectory involves 5 precise waypoints with total movement distance of 0.134." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28192, + "action": "putdown", + "object": "Bowl", + "frame_index": 93, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28194", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.465, 1.690]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.492, 1.806]). The trajectory involves 5 precise waypoints with total movement distance of 0.120." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28194, + "action": "putdown", + "object": "Bowl", + "frame_index": 97, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28204", + "task": "pick up the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00168.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00169.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N39_S57_s03_T1/align_rgb/00170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.628, 1.857]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.593, 1.755]). The trajectory involves 5 precise waypoints with total movement distance of 0.108." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28204, + "action": "pickup", + "object": "Bowl", + "frame_index": 170, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28276", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N37_S57_s02_T1/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N37_S57_s02_T1/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N37_S57_s02_T1/align_rgb/00101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.649, 1.569]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.639, 1.672]). The trajectory involves 5 precise waypoints with total movement distance of 0.105." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28276, + "action": "putdown", + "object": "Bowl", + "frame_index": 101, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28279", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N37_S57_s02_T1/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N37_S57_s02_T1/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N37_S57_s02_T1/align_rgb/00107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.651, 1.581]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.646, 1.668]). The trajectory involves 5 precise waypoints with total movement distance of 0.087." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28279, + "action": "putdown", + "object": "Bowl", + "frame_index": 107, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28292", + "task": "pick up the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N37_S57_s02_T1/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N37_S57_s02_T1/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N37_S57_s02_T1/align_rgb/00194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.647, 1.673]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.659, 1.587]). The trajectory involves 5 precise waypoints with total movement distance of 0.088." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28292, + "action": "pickup", + "object": "Bowl", + "frame_index": 194, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28303", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N37_S57_s02_T1/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N37_S57_s02_T1/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N37_S57_s02_T1/align_rgb/00236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.662, 1.579]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.646, 1.697]). The trajectory involves 5 precise waypoints with total movement distance of 0.121." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28303, + "action": "putdown", + "object": "Bowl", + "frame_index": 236, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28326", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N35_S57_s01_T1/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N35_S57_s01_T1/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N35_S57_s01_T1/align_rgb/00083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.487, 1.656]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.504, 1.812]). The trajectory involves 5 precise waypoints with total movement distance of 0.157." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28326, + "action": "putdown", + "object": "Bowl", + "frame_index": 83, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28338", + "task": "pick up the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N35_S57_s01_T1/align_rgb/00158.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N35_S57_s01_T1/align_rgb/00159.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N35_S57_s01_T1/align_rgb/00160.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.521, 1.669]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.516, 1.502]). The trajectory involves 5 precise waypoints with total movement distance of 0.171." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28338, + "action": "pickup", + "object": "Bowl", + "frame_index": 160, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28340", + "task": "pick up the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N35_S57_s01_T1/align_rgb/00162.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N35_S57_s01_T1/align_rgb/00163.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N35_S57_s01_T1/align_rgb/00164.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.516, 1.678]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.496, 1.552]). The trajectory involves 5 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28340, + "action": "pickup", + "object": "Bowl", + "frame_index": 164, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28374", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N34_S57_s01_T1/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N34_S57_s01_T1/align_rgb/00102.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N34_S57_s01_T1/align_rgb/00103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.453, 1.443]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.458, 1.549]). The trajectory involves 5 precise waypoints with total movement distance of 0.107." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28374, + "action": "putdown", + "object": "Bowl", + "frame_index": 103, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28375", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N34_S57_s01_T1/align_rgb/00103.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N34_S57_s01_T1/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N34_S57_s01_T1/align_rgb/00105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.479, 1.456]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.482, 1.562]). The trajectory involves 5 precise waypoints with total movement distance of 0.106." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28375, + "action": "putdown", + "object": "Bowl", + "frame_index": 105, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28391", + "task": "carry Bowl to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00047.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00049.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bowl to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bowl to the right, execute the following phases: 1) Initial approach phase (start at [1.513, 1.272]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.069, 1.249]). The trajectory involves 5 precise waypoints with total movement distance of 0.700." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28391, + "action": "carry", + "object": "Bowl", + "frame_index": 49, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28392", + "task": "carry Bowl to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00050.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bowl to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bowl to the right, execute the following phases: 1) Initial approach phase (start at [1.508, 1.255]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.102, 1.275]). The trajectory involves 5 precise waypoints with total movement distance of 0.741." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28392, + "action": "carry", + "object": "Bowl", + "frame_index": 50, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28396", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.598, 1.126]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.650, 1.654]). The trajectory involves 5 precise waypoints with total movement distance of 0.538." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28396, + "action": "putdown", + "object": "Bowl", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28397", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.585, 1.134]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.623, 1.649]). The trajectory involves 5 precise waypoints with total movement distance of 0.520." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28397, + "action": "putdown", + "object": "Bowl", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28398", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.596, 1.143]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.624, 1.610]). The trajectory involves 5 precise waypoints with total movement distance of 0.470." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28398, + "action": "putdown", + "object": "Bowl", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28399", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.596, 1.115]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.607, 1.532]). The trajectory involves 5 precise waypoints with total movement distance of 0.417." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28399, + "action": "putdown", + "object": "Bowl", + "frame_index": 84, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28402", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N31_S81_s03_T3/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.596, 1.261]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.609, 1.543]). The trajectory involves 5 precise waypoints with total movement distance of 0.283." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28402, + "action": "putdown", + "object": "Bowl", + "frame_index": 90, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28490", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N30_S81_s02_T3/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N30_S81_s02_T3/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N30_S81_s02_T3/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.587, 1.091]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.647, 1.465]). The trajectory involves 5 precise waypoints with total movement distance of 0.386." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28490, + "action": "putdown", + "object": "Bowl", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28493", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N30_S81_s02_T3/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N30_S81_s02_T3/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N30_S81_s02_T3/align_rgb/00084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.534, 1.229]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.567, 1.508]). The trajectory involves 5 precise waypoints with total movement distance of 0.283." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28493, + "action": "putdown", + "object": "Bowl", + "frame_index": 84, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28494", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N30_S81_s02_T3/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N30_S81_s02_T3/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N30_S81_s02_T3/align_rgb/00086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.544, 1.241]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.579, 1.484]). The trajectory involves 5 precise waypoints with total movement distance of 0.248." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28494, + "action": "putdown", + "object": "Bowl", + "frame_index": 86, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28573", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N29_S81_s02_T3/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N29_S81_s02_T3/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N29_S81_s02_T3/align_rgb/00084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.579, 1.351]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.603, 1.698]). The trajectory involves 5 precise waypoints with total movement distance of 0.354." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28573, + "action": "putdown", + "object": "Bowl", + "frame_index": 84, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28610", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N29_S81_s02_T1/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N29_S81_s02_T1/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N29_S81_s02_T1/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.578, 1.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.589, 1.654]). The trajectory involves 5 precise waypoints with total movement distance of 0.166." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28610, + "action": "putdown", + "object": "Bowl", + "frame_index": 88, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28636", + "task": "pick up the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N28_S81_s01_T3/align_rgb/00041.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N28_S81_s01_T3/align_rgb/00042.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N28_S81_s01_T3/align_rgb/00043.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.647, 1.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.768, 1.384]). The trajectory involves 5 precise waypoints with total movement distance of 0.223." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28636, + "action": "pickup", + "object": "Bowl", + "frame_index": 43, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28637", + "task": "carry Bowl to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N28_S81_s01_T3/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N28_S81_s01_T3/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N28_S81_s01_T3/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bowl to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bowl to the right, execute the following phases: 1) Initial approach phase (start at [1.491, 1.193]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.288, 1.571]). The trajectory involves 5 precise waypoints with total movement distance of 0.981." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28637, + "action": "carry", + "object": "Bowl", + "frame_index": 58, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28639", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N28_S81_s01_T3/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N28_S81_s01_T3/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N28_S81_s01_T3/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.563, 1.206]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.546, 1.679]). The trajectory involves 5 precise waypoints with total movement distance of 0.473." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28639, + "action": "putdown", + "object": "Bowl", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28640", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N28_S81_s01_T3/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N28_S81_s01_T3/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N28_S81_s01_T3/align_rgb/00084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.599, 1.223]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.594, 1.642]). The trajectory involves 5 precise waypoints with total movement distance of 0.419." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28640, + "action": "putdown", + "object": "Bowl", + "frame_index": 84, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28875", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N24_S79_s04_T1/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N24_S79_s04_T1/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N24_S79_s04_T1/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.578, 1.468]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.591, 1.584]). The trajectory involves 5 precise waypoints with total movement distance of 0.117." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28875, + "action": "putdown", + "object": "Bowl", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_28878", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N24_S79_s04_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N24_S79_s04_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N24_S79_s04_T1/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.552, 1.545]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.567, 1.644]). The trajectory involves 5 precise waypoints with total movement distance of 0.100." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 28878, + "action": "putdown", + "object": "Bowl", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29162", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N18_S79_s01_T1/align_rgb/00171.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N18_S79_s01_T1/align_rgb/00172.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N18_S79_s01_T1/align_rgb/00173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.541, 1.577]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.517, 1.697]). The trajectory involves 5 precise waypoints with total movement distance of 0.125." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29162, + "action": "putdown", + "object": "Bowl", + "frame_index": 173, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29183", + "task": "pick up the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N17_S55_s04_T3/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N17_S55_s04_T3/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N17_S55_s04_T3/align_rgb/00053.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.425, 1.576]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.448, 1.441]). The trajectory involves 5 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29183, + "action": "carry", + "object": "Bowl", + "frame_index": 53, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29228", + "task": "pick up the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00035.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00036.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00037.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.678, 1.291]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.662, 1.086]). The trajectory involves 5 precise waypoints with total movement distance of 0.207." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29228, + "action": "pickup", + "object": "Bowl", + "frame_index": 37, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29234", + "task": "pick up the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00047.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00049.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.696, 1.165]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.655, 0.971]). The trajectory involves 5 precise waypoints with total movement distance of 0.201." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29234, + "action": "pickup", + "object": "Bowl", + "frame_index": 49, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29238", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.552, 1.089]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.581, 1.384]). The trajectory involves 5 precise waypoints with total movement distance of 0.297." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29238, + "action": "putdown", + "object": "Bowl", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29241", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.586, 1.155]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.608, 1.427]). The trajectory involves 5 precise waypoints with total movement distance of 0.275." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29241, + "action": "putdown", + "object": "Bowl", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29242", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.599, 1.198]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.612, 1.454]). The trajectory involves 5 precise waypoints with total movement distance of 0.257." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29242, + "action": "putdown", + "object": "Bowl", + "frame_index": 84, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29245", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.605, 1.309]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.618, 1.499]). The trajectory involves 5 precise waypoints with total movement distance of 0.192." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29245, + "action": "putdown", + "object": "Bowl", + "frame_index": 90, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29255", + "task": "pick up the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00154.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00155.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00156.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.776, 1.353]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.769, 1.151]). The trajectory involves 5 precise waypoints with total movement distance of 0.204." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29255, + "action": "pickup", + "object": "Bowl", + "frame_index": 156, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29259", + "task": "pick up the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00162.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00163.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00164.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.664, 1.327]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.642, 1.157]). The trajectory involves 5 precise waypoints with total movement distance of 0.174." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29259, + "action": "pickup", + "object": "Bowl", + "frame_index": 164, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29260", + "task": "pick up the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00164.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00165.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.662, 1.293]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.642, 1.133]). The trajectory involves 5 precise waypoints with total movement distance of 0.162." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29260, + "action": "pickup", + "object": "Bowl", + "frame_index": 166, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29271", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N16_S64_s03_T1/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.699, 1.332]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.692, 1.484]). The trajectory involves 5 precise waypoints with total movement distance of 0.153." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29271, + "action": "putdown", + "object": "Bowl", + "frame_index": 207, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29393", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.395, 1.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.473, 1.644]). The trajectory involves 5 precise waypoints with total movement distance of 0.274." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29393, + "action": "putdown", + "object": "Bowl", + "frame_index": 100, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29414", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.533, 1.488]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.524, 1.688]). The trajectory involves 5 precise waypoints with total movement distance of 0.201." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29414, + "action": "putdown", + "object": "Bowl", + "frame_index": 214, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29416", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.554, 1.530]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.541, 1.739]). The trajectory involves 5 precise waypoints with total movement distance of 0.211." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29416, + "action": "putdown", + "object": "Bowl", + "frame_index": 218, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29417", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.563, 1.542]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.542, 1.746]). The trajectory involves 5 precise waypoints with total movement distance of 0.206." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29417, + "action": "putdown", + "object": "Bowl", + "frame_index": 220, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29421", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T3/align_rgb/00228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.580, 1.607]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.549, 1.780]). The trajectory involves 5 precise waypoints with total movement distance of 0.176." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29421, + "action": "putdown", + "object": "Bowl", + "frame_index": 228, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29429", + "task": "pick up the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00043.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00044.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00045.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.510, 1.478]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.525, 1.302]). The trajectory involves 5 precise waypoints with total movement distance of 0.179." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29429, + "action": "pickup", + "object": "Bowl", + "frame_index": 45, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29431", + "task": "pick up the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00047.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00049.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.468, 1.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.469, 1.344]). The trajectory involves 5 precise waypoints with total movement distance of 0.161." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29431, + "action": "pickup", + "object": "Bowl", + "frame_index": 49, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29432", + "task": "pick up the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00051.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.467, 1.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.470, 1.326]). The trajectory involves 5 precise waypoints with total movement distance of 0.158." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29432, + "action": "pickup", + "object": "Bowl", + "frame_index": 51, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29445", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.503, 1.334]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.513, 1.543]). The trajectory involves 5 precise waypoints with total movement distance of 0.210." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29445, + "action": "putdown", + "object": "Bowl", + "frame_index": 97, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29451", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.506, 1.463]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.512, 1.662]). The trajectory involves 5 precise waypoints with total movement distance of 0.199." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29451, + "action": "putdown", + "object": "Bowl", + "frame_index": 109, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29453", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00111.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00112.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.518, 1.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.520, 1.657]). The trajectory involves 5 precise waypoints with total movement distance of 0.163." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29453, + "action": "putdown", + "object": "Bowl", + "frame_index": 113, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29463", + "task": "pick up the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.538, 1.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.530, 1.301]). The trajectory involves 5 precise waypoints with total movement distance of 0.213." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29463, + "action": "pickup", + "object": "Bowl", + "frame_index": 188, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29471", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.562, 1.150]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.568, 1.444]). The trajectory involves 5 precise waypoints with total movement distance of 0.294." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29471, + "action": "putdown", + "object": "Bowl", + "frame_index": 223, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29478", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.611, 1.283]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.590, 1.622]). The trajectory involves 5 precise waypoints with total movement distance of 0.340." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29478, + "action": "putdown", + "object": "Bowl", + "frame_index": 237, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29479", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N14_S64_s02_T1/align_rgb/00239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.565, 1.389]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.544, 1.714]). The trajectory involves 5 precise waypoints with total movement distance of 0.326." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29479, + "action": "putdown", + "object": "Bowl", + "frame_index": 239, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29484", + "task": "carry Bowl to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00035.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00036.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00037.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bowl to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bowl to the right, execute the following phases: 1) Initial approach phase (start at [1.372, 1.313]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.980, 1.355]). The trajectory involves 5 precise waypoints with total movement distance of 0.620." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29484, + "action": "carry", + "object": "Bowl", + "frame_index": 37, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29493", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.430, 1.356]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.521, 1.572]). The trajectory involves 5 precise waypoints with total movement distance of 0.244." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29493, + "action": "putdown", + "object": "Bowl", + "frame_index": 75, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29494", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.435, 1.437]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.506, 1.629]). The trajectory involves 5 precise waypoints with total movement distance of 0.217." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29494, + "action": "putdown", + "object": "Bowl", + "frame_index": 77, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29500", + "task": "pick up the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00139.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00140.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00141.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.678, 1.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.720, 1.268]). The trajectory involves 5 precise waypoints with total movement distance of 0.298." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29500, + "action": "pickup", + "object": "Bowl", + "frame_index": 141, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29510", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T3/align_rgb/00181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.617, 1.466]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.585, 1.643]). The trajectory involves 5 precise waypoints with total movement distance of 0.183." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29510, + "action": "putdown", + "object": "Bowl", + "frame_index": 181, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29543", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.580, 1.267]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.602, 1.460]). The trajectory involves 5 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29543, + "action": "putdown", + "object": "Bowl", + "frame_index": 93, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29550", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.605, 1.446]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.593, 1.634]). The trajectory involves 5 precise waypoints with total movement distance of 0.189." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29550, + "action": "putdown", + "object": "Bowl", + "frame_index": 107, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29551", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.618, 1.446]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.610, 1.627]). The trajectory involves 5 precise waypoints with total movement distance of 0.183." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29551, + "action": "putdown", + "object": "Bowl", + "frame_index": 109, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29552", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00110.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.630, 1.425]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.616, 1.608]). The trajectory involves 5 precise waypoints with total movement distance of 0.184." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29552, + "action": "putdown", + "object": "Bowl", + "frame_index": 111, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29553", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00111.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00112.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.612, 1.476]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.592, 1.651]). The trajectory involves 5 precise waypoints with total movement distance of 0.176." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29553, + "action": "putdown", + "object": "Bowl", + "frame_index": 113, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29554", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00113.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00114.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.611, 1.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.591, 1.667]). The trajectory involves 5 precise waypoints with total movement distance of 0.164." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29554, + "action": "putdown", + "object": "Bowl", + "frame_index": 115, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29570", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.691, 1.453]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.685, 1.617]). The trajectory involves 5 precise waypoints with total movement distance of 0.165." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29570, + "action": "putdown", + "object": "Bowl", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29571", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N13_S64_s02_T1/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.692, 1.486]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.682, 1.647]). The trajectory involves 5 precise waypoints with total movement distance of 0.162." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29571, + "action": "putdown", + "object": "Bowl", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29585", + "task": "carry Bowl to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T3/align_rgb/00027.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T3/align_rgb/00028.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T3/align_rgb/00029.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bowl to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bowl to the left, execute the following phases: 1) Initial approach phase (start at [1.689, 1.742]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.353, 1.318]). The trajectory involves 5 precise waypoints with total movement distance of 0.547." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29585, + "action": "carry", + "object": "Bowl", + "frame_index": 29, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29593", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T3/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T3/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T3/align_rgb/00065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.487, 1.252]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.503, 1.450]). The trajectory involves 5 precise waypoints with total movement distance of 0.219." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29593, + "action": "putdown", + "object": "Bowl", + "frame_index": 65, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29615", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T3/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T3/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T3/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.703, 1.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.642, 1.673]). The trajectory involves 5 precise waypoints with total movement distance of 0.230." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29615, + "action": "putdown", + "object": "Bowl", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29616", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T3/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T3/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T3/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.678, 1.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.623, 1.653]). The trajectory involves 5 precise waypoints with total movement distance of 0.210." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29616, + "action": "putdown", + "object": "Bowl", + "frame_index": 198, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29641", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.468, 1.248]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.462, 1.452]). The trajectory involves 5 precise waypoints with total movement distance of 0.208." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29641, + "action": "putdown", + "object": "Bowl", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29645", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.466, 1.322]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.436, 1.523]). The trajectory involves 5 precise waypoints with total movement distance of 0.204." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29645, + "action": "putdown", + "object": "Bowl", + "frame_index": 77, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29661", + "task": "pick up the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00160.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00161.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bowl, execute the following phases: 1) Initial approach phase (start at [1.525, 1.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.529, 1.357]). The trajectory involves 5 precise waypoints with total movement distance of 0.189." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29661, + "action": "pickup", + "object": "Bowl", + "frame_index": 162, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29665", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.472, 1.293]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.487, 1.487]). The trajectory involves 5 precise waypoints with total movement distance of 0.195." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29665, + "action": "putdown", + "object": "Bowl", + "frame_index": 190, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29666", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.474, 1.301]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.479, 1.509]). The trajectory involves 5 precise waypoints with total movement distance of 0.208." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29666, + "action": "putdown", + "object": "Bowl", + "frame_index": 192, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29669", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.500, 1.342]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.506, 1.580]). The trajectory involves 5 precise waypoints with total movement distance of 0.238." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29669, + "action": "putdown", + "object": "Bowl", + "frame_index": 198, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29672", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N12_S64_s01_T1/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.462, 1.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.455, 1.694]). The trajectory involves 5 precise waypoints with total movement distance of 0.211." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29672, + "action": "putdown", + "object": "Bowl", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29679", + "task": "carry Bowl to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00038.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00040.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bowl to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bowl to the left, execute the following phases: 1) Initial approach phase (start at [1.642, 1.523]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.261, 1.146]). The trajectory involves 5 precise waypoints with total movement distance of 0.548." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29679, + "action": "carry", + "object": "Bowl", + "frame_index": 40, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29680", + "task": "carry Bowl to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00040.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00041.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00042.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bowl to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bowl to the left, execute the following phases: 1) Initial approach phase (start at [1.630, 1.470]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.251, 1.107]). The trajectory involves 5 precise waypoints with total movement distance of 0.535." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29680, + "action": "carry", + "object": "Bowl", + "frame_index": 42, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29683", + "task": "carry Bowl to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00046.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00047.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00048.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bowl to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bowl to the left, execute the following phases: 1) Initial approach phase (start at [1.556, 1.319]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.171, 1.087]). The trajectory involves 5 precise waypoints with total movement distance of 0.470." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29683, + "action": "carry", + "object": "Bowl", + "frame_index": 48, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29712", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.677, 1.362]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.651, 1.501]). The trajectory involves 5 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29712, + "action": "putdown", + "object": "Bowl", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29713", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T3/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.684, 1.408]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.652, 1.544]). The trajectory involves 5 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29713, + "action": "putdown", + "object": "Bowl", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29726", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T1/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T1/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T1/align_rgb/00063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.506, 1.388]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.507, 1.567]). The trajectory involves 5 precise waypoints with total movement distance of 0.180." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29726, + "action": "putdown", + "object": "Bowl", + "frame_index": 63, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29754", + "task": "put down the bowl", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T1/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T1/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800002_H2_C7_N11_S64_s01_T1/align_rgb/00185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bowl?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bowl, execute the following phases: 1) Initial approach phase (start at [1.580, 1.538]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.575, 1.687]). The trajectory involves 5 precise waypoints with total movement distance of 0.150." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29754, + "action": "putdown", + "object": "Bowl", + "frame_index": 185, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bowl" + ] + } + }, + { + "id": "hoi4d_29778", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N37_S246_s05_T3/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N37_S246_s05_T3/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N37_S246_s05_T3/align_rgb/00189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.492, 1.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.972, 1.986]). The trajectory involves 5 precise waypoints with total movement distance of 0.736." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29778, + "action": "open", + "object": "Safe", + "frame_index": 189, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29779", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N37_S246_s05_T3/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N37_S246_s05_T3/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N37_S246_s05_T3/align_rgb/00191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.481, 1.475]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.966, 1.987]). The trajectory involves 5 precise waypoints with total movement distance of 0.735." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29779, + "action": "open", + "object": "Safe", + "frame_index": 191, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29791", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N37_S246_s05_T3/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N37_S246_s05_T3/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N37_S246_s05_T3/align_rgb/00234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.621, 1.769]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.326, 1.373]). The trajectory involves 5 precise waypoints with total movement distance of 0.504." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29791, + "action": "close", + "object": "Safe", + "frame_index": 234, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29802", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00112.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00113.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.498, 1.551]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.099, 1.095]). The trajectory involves 5 precise waypoints with total movement distance of 0.635." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29802, + "action": "close", + "object": "Safe", + "frame_index": 114, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29805", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00118.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00119.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.384, 1.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.130, 1.033]). The trajectory involves 5 precise waypoints with total movement distance of 0.545." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29805, + "action": "close", + "object": "Safe", + "frame_index": 120, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29808", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.483, 1.168]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.920, 1.646]). The trajectory involves 5 precise waypoints with total movement distance of 0.663." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29808, + "action": "open", + "object": "Safe", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29809", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.523, 1.233]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.852, 1.632]). The trajectory involves 5 precise waypoints with total movement distance of 0.531." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29809, + "action": "open", + "object": "Safe", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29813", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.450, 1.378]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.869, 1.575]). The trajectory involves 5 precise waypoints with total movement distance of 0.478." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29813, + "action": "open", + "object": "Safe", + "frame_index": 212, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29814", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.460, 1.438]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.752, 1.577]). The trajectory involves 5 precise waypoints with total movement distance of 0.332." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29814, + "action": "open", + "object": "Safe", + "frame_index": 214, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29821", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00245.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00246.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00247.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.593, 1.551]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.332, 1.116]). The trajectory involves 5 precise waypoints with total movement distance of 0.522." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29821, + "action": "close", + "object": "Safe", + "frame_index": 247, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29823", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00248.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00249.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N33_S246_s04_T3/align_rgb/00250.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.572, 1.477]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.439, 1.215]). The trajectory involves 5 precise waypoints with total movement distance of 0.297." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29823, + "action": "close", + "object": "Safe", + "frame_index": 250, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29828", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.744, 1.443]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.107, 1.093]). The trajectory involves 5 precise waypoints with total movement distance of 0.762." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29828, + "action": "close", + "object": "Safe", + "frame_index": 102, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29837", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.401, 1.232]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.919, 1.705]). The trajectory involves 5 precise waypoints with total movement distance of 0.751." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29837, + "action": "open", + "object": "Safe", + "frame_index": 193, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29838", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.355, 1.281]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.877, 1.693]). The trajectory involves 5 precise waypoints with total movement distance of 0.707." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29838, + "action": "open", + "object": "Safe", + "frame_index": 195, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29842", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.409, 1.457]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.744, 1.582]). The trajectory involves 5 precise waypoints with total movement distance of 0.395." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29842, + "action": "open", + "object": "Safe", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29847", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.541, 1.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.236, 1.079]). The trajectory involves 5 precise waypoints with total movement distance of 0.529." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29847, + "action": "close", + "object": "Safe", + "frame_index": 232, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29848", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.496, 1.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.239, 1.070]). The trajectory involves 5 precise waypoints with total movement distance of 0.500." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29848, + "action": "close", + "object": "Safe", + "frame_index": 234, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29849", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.394, 1.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.226, 1.042]). The trajectory involves 5 precise waypoints with total movement distance of 0.504." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29849, + "action": "close", + "object": "Safe", + "frame_index": 236, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29853", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00242.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N32_S246_s03_T3/align_rgb/00243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.470, 1.415]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.380, 1.170]). The trajectory involves 5 precise waypoints with total movement distance of 0.261." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29853, + "action": "close", + "object": "Safe", + "frame_index": 243, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29866", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00134.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00135.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00136.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.408, 1.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.098, 1.263]). The trajectory involves 5 precise waypoints with total movement distance of 0.463." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29866, + "action": "close", + "object": "Safe", + "frame_index": 136, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29869", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00140.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00141.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00142.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.396, 1.573]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.107, 1.220]). The trajectory involves 5 precise waypoints with total movement distance of 0.462." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29869, + "action": "close", + "object": "Safe", + "frame_index": 142, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29871", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00144.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00145.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00146.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.398, 1.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.182, 1.153]). The trajectory involves 5 precise waypoints with total movement distance of 0.433." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29871, + "action": "close", + "object": "Safe", + "frame_index": 146, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29875", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.530, 1.341]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.913, 1.772]). The trajectory involves 5 precise waypoints with total movement distance of 0.593." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29875, + "action": "open", + "object": "Safe", + "frame_index": 219, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29877", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.459, 1.363]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.922, 1.786]). The trajectory involves 5 precise waypoints with total movement distance of 0.656." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29877, + "action": "open", + "object": "Safe", + "frame_index": 223, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29878", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.500, 1.432]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.815, 1.755]). The trajectory involves 5 precise waypoints with total movement distance of 0.472." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29878, + "action": "open", + "object": "Safe", + "frame_index": 225, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29885", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00257.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00258.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N30_S246_s03_T3/align_rgb/00259.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.518, 1.731]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.258, 1.243]). The trajectory involves 5 precise waypoints with total movement distance of 0.563." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29885, + "action": "close", + "object": "Safe", + "frame_index": 259, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29936", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N28_S246_s02_T3/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N28_S246_s02_T3/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N28_S246_s02_T3/align_rgb/00215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.529, 1.193]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.936, 1.572]). The trajectory involves 5 precise waypoints with total movement distance of 0.580." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29936, + "action": "open", + "object": "Safe", + "frame_index": 215, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29937", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N28_S246_s02_T3/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N28_S246_s02_T3/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N28_S246_s02_T3/align_rgb/00217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.435, 1.255]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.971, 1.685]). The trajectory involves 5 precise waypoints with total movement distance of 0.723." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29937, + "action": "open", + "object": "Safe", + "frame_index": 217, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29943", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N28_S246_s02_T3/align_rgb/00247.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N28_S246_s02_T3/align_rgb/00248.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N28_S246_s02_T3/align_rgb/00249.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.595, 1.691]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.213, 1.254]). The trajectory involves 5 precise waypoints with total movement distance of 0.601." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29943, + "action": "close", + "object": "Safe", + "frame_index": 249, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29949", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00034.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00035.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00036.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.469, 1.352]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.705, 1.577]). The trajectory involves 5 precise waypoints with total movement distance of 0.331." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29949, + "action": "open", + "object": "Safe", + "frame_index": 36, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29950", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00036.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00037.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00038.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.455, 1.348]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.697, 1.578]). The trajectory involves 5 precise waypoints with total movement distance of 0.340." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29950, + "action": "open", + "object": "Safe", + "frame_index": 38, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29951", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00038.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00040.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.419, 1.414]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.646, 1.644]). The trajectory involves 5 precise waypoints with total movement distance of 0.328." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29951, + "action": "open", + "object": "Safe", + "frame_index": 40, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29952", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00040.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00041.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00042.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.481, 1.417]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.664, 1.563]). The trajectory involves 5 precise waypoints with total movement distance of 0.240." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29952, + "action": "open", + "object": "Safe", + "frame_index": 42, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29966", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00149.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00150.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N25_S43_s04_T1/align_rgb/00151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.530, 1.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.739, 1.761]). The trajectory involves 5 precise waypoints with total movement distance of 0.335." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29966, + "action": "open", + "object": "Safe", + "frame_index": 151, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_29996", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N25_S246_s02_T2/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N25_S246_s02_T2/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N25_S246_s02_T2/align_rgb/00050.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.214, 1.384]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.722, 1.739]). The trajectory involves 5 precise waypoints with total movement distance of 0.670." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 29996, + "action": "open", + "object": "Safe", + "frame_index": 50, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30002", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N25_S246_s02_T2/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N25_S246_s02_T2/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N25_S246_s02_T2/align_rgb/00081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.555, 1.681]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.079, 1.239]). The trajectory involves 5 precise waypoints with total movement distance of 0.674." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30002, + "action": "close", + "object": "Safe", + "frame_index": 81, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30004", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N25_S246_s02_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N25_S246_s02_T2/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N25_S246_s02_T2/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.364, 1.735]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.062, 1.231]). The trajectory involves 5 precise waypoints with total movement distance of 0.597." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30004, + "action": "close", + "object": "Safe", + "frame_index": 85, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30013", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N25_S246_s02_T2/align_rgb/00173.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N25_S246_s02_T2/align_rgb/00174.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N25_S246_s02_T2/align_rgb/00175.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.379, 1.512]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.778, 1.671]). The trajectory involves 5 precise waypoints with total movement distance of 0.454." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30013, + "action": "open", + "object": "Safe", + "frame_index": 175, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30030", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.510, 1.441]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.723, 1.512]). The trajectory involves 5 precise waypoints with total movement distance of 0.233." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30030, + "action": "open", + "object": "Safe", + "frame_index": 58, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30031", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.538, 1.461]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.738, 1.521]). The trajectory involves 5 precise waypoints with total movement distance of 0.221." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30031, + "action": "open", + "object": "Safe", + "frame_index": 60, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30047", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00115.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00116.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.500, 1.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.360, 1.434]). The trajectory involves 5 precise waypoints with total movement distance of 0.160." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30047, + "action": "close", + "object": "Safe", + "frame_index": 117, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30053", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00180.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.522, 1.266]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.636, 1.357]). The trajectory involves 5 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30053, + "action": "open", + "object": "Safe", + "frame_index": 180, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30054", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00181.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.529, 1.291]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.668, 1.364]). The trajectory involves 5 precise waypoints with total movement distance of 0.162." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30054, + "action": "open", + "object": "Safe", + "frame_index": 182, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30055", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00182.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.528, 1.343]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.702, 1.388]). The trajectory involves 5 precise waypoints with total movement distance of 0.186." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30055, + "action": "open", + "object": "Safe", + "frame_index": 184, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30060", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N24_S43_s03_T1/align_rgb/00235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.602, 1.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.479, 1.430]). The trajectory involves 5 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30060, + "action": "close", + "object": "Safe", + "frame_index": 235, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30066", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00044.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00045.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00046.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.535, 1.181]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.016, 1.564]). The trajectory involves 5 precise waypoints with total movement distance of 0.655." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30066, + "action": "open", + "object": "Safe", + "frame_index": 46, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30069", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00052.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.516, 1.211]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.863, 1.552]). The trajectory involves 5 precise waypoints with total movement distance of 0.513." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30069, + "action": "open", + "object": "Safe", + "frame_index": 52, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30073", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.735, 1.538]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.154, 1.132]). The trajectory involves 5 precise waypoints with total movement distance of 0.741." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30073, + "action": "close", + "object": "Safe", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30079", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00167.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00168.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00169.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.516, 1.179]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.050, 1.565]). The trajectory involves 5 precise waypoints with total movement distance of 0.686." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30079, + "action": "open", + "object": "Safe", + "frame_index": 169, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30080", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00169.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00170.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.530, 1.218]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.901, 1.555]). The trajectory involves 5 precise waypoints with total movement distance of 0.524." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30080, + "action": "open", + "object": "Safe", + "frame_index": 171, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30081", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00171.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00172.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N24_S246_s01_T2/align_rgb/00173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.453, 1.239]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.978, 1.571]). The trajectory involves 5 precise waypoints with total movement distance of 0.656." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30081, + "action": "open", + "object": "Safe", + "frame_index": 173, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30151", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N20_S245_s05_T2/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N20_S245_s05_T2/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N20_S245_s05_T2/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.596, 1.721]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.088, 1.285]). The trajectory involves 5 precise waypoints with total movement distance of 0.705." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30151, + "action": "close", + "object": "Safe", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30154", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N20_S245_s05_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N20_S245_s05_T2/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N20_S245_s05_T2/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.516, 1.746]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.162, 1.400]). The trajectory involves 5 precise waypoints with total movement distance of 0.505." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30154, + "action": "close", + "object": "Safe", + "frame_index": 85, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30214", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00051.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.510, 1.296]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.879, 1.677]). The trajectory involves 5 precise waypoints with total movement distance of 0.547." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30214, + "action": "open", + "object": "Safe", + "frame_index": 51, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30216", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00053.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00055.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.409, 1.365]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.871, 1.709]). The trajectory involves 5 precise waypoints with total movement distance of 0.609." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30216, + "action": "open", + "object": "Safe", + "frame_index": 55, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30218", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00059.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.407, 1.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.812, 1.677]). The trajectory involves 5 precise waypoints with total movement distance of 0.483." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30218, + "action": "open", + "object": "Safe", + "frame_index": 59, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30219", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.410, 1.481]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.764, 1.654]). The trajectory involves 5 precise waypoints with total movement distance of 0.405." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30219, + "action": "open", + "object": "Safe", + "frame_index": 61, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30222", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.655, 1.640]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.147, 1.243]). The trajectory involves 5 precise waypoints with total movement distance of 0.685." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30222, + "action": "close", + "object": "Safe", + "frame_index": 86, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30223", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.578, 1.657]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.184, 1.202]). The trajectory involves 5 precise waypoints with total movement distance of 0.632." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30223, + "action": "close", + "object": "Safe", + "frame_index": 88, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30226", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.484, 1.598]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.284, 1.250]). The trajectory involves 5 precise waypoints with total movement distance of 0.414." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30226, + "action": "close", + "object": "Safe", + "frame_index": 94, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30233", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00177.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.488, 1.376]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.926, 1.667]). The trajectory involves 5 precise waypoints with total movement distance of 0.575." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30233, + "action": "open", + "object": "Safe", + "frame_index": 179, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30234", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N19_S245_s05_T2/align_rgb/00181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.527, 1.356]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.972, 1.535]). The trajectory involves 5 precise waypoints with total movement distance of 0.522." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30234, + "action": "open", + "object": "Safe", + "frame_index": 181, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30255", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T2/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T2/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T2/align_rgb/00087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.822, 1.195]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.660, 1.229]). The trajectory involves 5 precise waypoints with total movement distance of 0.175." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30255, + "action": "close", + "object": "Safe", + "frame_index": 87, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30259", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T2/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T2/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T2/align_rgb/00093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.834, 1.191]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.640, 1.134]). The trajectory involves 5 precise waypoints with total movement distance of 0.207." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30259, + "action": "close", + "object": "Safe", + "frame_index": 93, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30310", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00102.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.735, 1.287]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.596, 1.152]). The trajectory involves 5 precise waypoints with total movement distance of 0.203." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30310, + "action": "close", + "object": "Safe", + "frame_index": 103, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_30311", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00103.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.721, 1.287]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.585, 1.124]). The trajectory involves 5 precise waypoints with total movement distance of 0.227." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30311, + "action": "close", + "object": "Safe", + "frame_index": 105, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_30321", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00155.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00156.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00157.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.601, 0.982]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.901, 1.124]). The trajectory involves 5 precise waypoints with total movement distance of 0.354." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30321, + "action": "open", + "object": "Safe", + "frame_index": 157, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_30331", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.777, 1.115]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.511, 1.136]). The trajectory involves 5 precise waypoints with total movement distance of 0.279." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30331, + "action": "close", + "object": "Safe", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_30334", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.790, 1.218]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.533, 1.206]). The trajectory involves 5 precise waypoints with total movement distance of 0.270." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30334, + "action": "close", + "object": "Safe", + "frame_index": 214, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_30336", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N16_S40_s03_T1/align_rgb/00218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.762, 1.232]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.531, 1.153]). The trajectory involves 5 precise waypoints with total movement distance of 0.249." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30336, + "action": "close", + "object": "Safe", + "frame_index": 218, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_30356", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N16_S245_s04_T2/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N16_S245_s04_T2/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N16_S245_s04_T2/align_rgb/00081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.589, 1.383]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.370, 1.546]). The trajectory involves 5 precise waypoints with total movement distance of 0.317." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30356, + "action": "close", + "object": "Safe", + "frame_index": 81, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30497", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N14_S40_s02_T1/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N14_S40_s02_T1/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N14_S40_s02_T1/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.618, 1.643]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.503, 1.591]). The trajectory involves 5 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30497, + "action": "close", + "object": "Safe", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30499", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N14_S40_s02_T1/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N14_S40_s02_T1/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N14_S40_s02_T1/align_rgb/00075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.644, 1.645]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.529, 1.592]). The trajectory involves 5 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30499, + "action": "close", + "object": "Safe", + "frame_index": 75, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30506", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N14_S40_s02_T1/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N14_S40_s02_T1/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N14_S40_s02_T1/align_rgb/00089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.610, 1.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.565, 1.434]). The trajectory involves 5 precise waypoints with total movement distance of 0.100." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30506, + "action": "close", + "object": "Safe", + "frame_index": 89, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30744", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T2/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T2/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T2/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.784, 1.409]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.601, 1.417]). The trajectory involves 5 precise waypoints with total movement distance of 0.186." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30744, + "action": "close", + "object": "Safe", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_30746", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T2/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T2/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.789, 1.396]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.608, 1.403]). The trajectory involves 5 precise waypoints with total movement distance of 0.184." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30746, + "action": "close", + "object": "Safe", + "frame_index": 85, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_30787", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00031.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00032.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00033.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.477, 1.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.570, 1.554]). The trajectory involves 5 precise waypoints with total movement distance of 0.136." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30787, + "action": "open", + "object": "Safe", + "frame_index": 33, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30838", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.569, 1.339]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.782, 1.370]). The trajectory involves 5 precise waypoints with total movement distance of 0.231." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30838, + "action": "open", + "object": "Safe", + "frame_index": 189, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30846", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.780, 1.321]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.574, 1.327]). The trajectory involves 5 precise waypoints with total movement distance of 0.211." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30846, + "action": "close", + "object": "Safe", + "frame_index": 232, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30847", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.780, 1.327]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.580, 1.336]). The trajectory involves 5 precise waypoints with total movement distance of 0.206." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30847, + "action": "close", + "object": "Safe", + "frame_index": 233, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30848", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.791, 1.327]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.575, 1.327]). The trajectory involves 5 precise waypoints with total movement distance of 0.221." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30848, + "action": "close", + "object": "Safe", + "frame_index": 235, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30850", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N09_S42_s05_T1/align_rgb/00238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.757, 1.344]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.541, 1.300]). The trajectory involves 5 precise waypoints with total movement distance of 0.227." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30850, + "action": "close", + "object": "Safe", + "frame_index": 238, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30883", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N09_S245_s03_T1/align_rgb/00181.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N09_S245_s03_T1/align_rgb/00182.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N09_S245_s03_T1/align_rgb/00183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.492, 1.517]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.845, 1.577]). The trajectory involves 5 precise waypoints with total movement distance of 0.480." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30883, + "action": "open", + "object": "Safe", + "frame_index": 183, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30890", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N09_S245_s03_T1/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N09_S245_s03_T1/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N09_S245_s03_T1/align_rgb/00217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.720, 1.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.531, 1.678]). The trajectory involves 5 precise waypoints with total movement distance of 0.270." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30890, + "action": "close", + "object": "Safe", + "frame_index": 217, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30908", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N07_S42_s04_T2/align_rgb/00036.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N07_S42_s04_T2/align_rgb/00037.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N07_S42_s04_T2/align_rgb/00038.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.407, 1.379]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.709, 1.499]). The trajectory involves 5 precise waypoints with total movement distance of 0.333." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30908, + "action": "open", + "object": "Safe", + "frame_index": 38, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30923", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N07_S42_s04_T2/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N07_S42_s04_T2/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N07_S42_s04_T2/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.537, 1.523]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.437, 1.364]). The trajectory involves 5 precise waypoints with total movement distance of 0.189." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30923, + "action": "close", + "object": "Safe", + "frame_index": 90, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30937", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N07_S42_s04_T2/align_rgb/00144.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N07_S42_s04_T2/align_rgb/00145.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N07_S42_s04_T2/align_rgb/00146.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.604, 1.401]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.762, 1.468]). The trajectory involves 5 precise waypoints with total movement distance of 0.176." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30937, + "action": "open", + "object": "Safe", + "frame_index": 146, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_30956", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N07_S245_s02_T1/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N07_S245_s02_T1/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N07_S245_s02_T1/align_rgb/00057.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.424, 1.313]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.678, 1.436]). The trajectory involves 5 precise waypoints with total movement distance of 0.311." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 30956, + "action": "open", + "object": "Safe", + "frame_index": 57, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_31177", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00046.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00047.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00048.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.418, 1.391]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.640, 1.585]). The trajectory involves 5 precise waypoints with total movement distance of 0.319." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31177, + "action": "open", + "object": "Safe", + "frame_index": 48, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_31181", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00056.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.375, 1.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.741, 1.528]). The trajectory involves 5 precise waypoints with total movement distance of 0.447." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31181, + "action": "open", + "object": "Safe", + "frame_index": 56, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_31201", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.430, 1.535]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.781, 1.579]). The trajectory involves 5 precise waypoints with total movement distance of 0.440." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31201, + "action": "open", + "object": "Safe", + "frame_index": 194, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_31202", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.422, 1.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.768, 1.522]). The trajectory involves 5 precise waypoints with total movement distance of 0.431." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31202, + "action": "open", + "object": "Safe", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_31203", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N03_S245_s01_T1/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.400, 1.542]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.768, 1.498]). The trajectory involves 5 precise waypoints with total movement distance of 0.454." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31203, + "action": "open", + "object": "Safe", + "frame_index": 198, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_31224", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N02_S245_s01_T1/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N02_S245_s01_T1/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N02_S245_s01_T1/align_rgb/00050.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.439, 1.418]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.686, 1.615]). The trajectory involves 5 precise waypoints with total movement distance of 0.344." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31224, + "action": "open", + "object": "Safe", + "frame_index": 50, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_31231", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N02_S245_s01_T1/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N02_S245_s01_T1/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N02_S245_s01_T1/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.384, 1.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.747, 1.469]). The trajectory involves 5 precise waypoints with total movement distance of 0.483." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31231, + "action": "open", + "object": "Safe", + "frame_index": 64, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_31251", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N02_S245_s01_T1/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N02_S245_s01_T1/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N02_S245_s01_T1/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.527, 1.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.752, 1.451]). The trajectory involves 5 precise waypoints with total movement distance of 0.288." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31251, + "action": "open", + "object": "Safe", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_31292", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N01_S245_s01_T1/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N01_S245_s01_T1/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N01_S245_s01_T1/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.502, 1.405]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.662, 1.597]). The trajectory involves 5 precise waypoints with total movement distance of 0.274." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31292, + "action": "open", + "object": "Safe", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_31296", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N01_S245_s01_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N01_S245_s01_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N01_S245_s01_T1/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.372, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.757, 1.665]). The trajectory involves 5 precise waypoints with total movement distance of 0.503." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31296, + "action": "open", + "object": "Safe", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_31297", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C6_N01_S245_s01_T1/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N01_S245_s01_T1/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800002_H2_C6_N01_S245_s01_T1/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.395, 1.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.684, 1.685]). The trajectory involves 5 precise waypoints with total movement distance of 0.404." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31297, + "action": "open", + "object": "Safe", + "frame_index": 212, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Door", + "Body of the Safe" + ] + } + }, + { + "id": "hoi4d_31441", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T2/align_rgb/00156.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T2/align_rgb/00157.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T2/align_rgb/00158.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.689, 1.238]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.073, 1.196]). The trajectory involves 5 precise waypoints with total movement distance of 0.622." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31441, + "action": "carry", + "object": "Bottle", + "frame_index": 158, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_31442", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T2/align_rgb/00158.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T2/align_rgb/00159.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T2/align_rgb/00160.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.658, 1.229]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.991, 1.174]). The trajectory involves 5 precise waypoints with total movement distance of 0.672." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31442, + "action": "carry", + "object": "Bottle", + "frame_index": 160, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_31443", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T2/align_rgb/00160.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T2/align_rgb/00161.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T2/align_rgb/00162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.674, 1.238]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.994, 1.197]). The trajectory involves 5 precise waypoints with total movement distance of 0.694." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31443, + "action": "carry", + "object": "Bottle", + "frame_index": 162, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_31445", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T2/align_rgb/00164.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T2/align_rgb/00165.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T2/align_rgb/00166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.698, 1.217]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.004, 1.208]). The trajectory involves 5 precise waypoints with total movement distance of 0.703." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31445, + "action": "carry", + "object": "Bottle", + "frame_index": 166, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_31481", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T1/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N49_S37_s02_T1/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.461, 1.374]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.462, 1.463]). The trajectory involves 5 precise waypoints with total movement distance of 0.089." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31481, + "action": "putdown", + "object": "Bottle", + "frame_index": 92, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_31529", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N49_S265_s05_T5/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N49_S265_s05_T5/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N49_S265_s05_T5/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.688, 1.534]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.699, 1.627]). The trajectory involves 5 precise waypoints with total movement distance of 0.102." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31529, + "action": "putdown", + "object": "Bottle", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_31534", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N49_S265_s05_T5/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N49_S265_s05_T5/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N49_S265_s05_T5/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.561, 1.411]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.770, 1.735]). The trajectory involves 5 precise waypoints with total movement distance of 1.285." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31534, + "action": "carry", + "object": "Bottle", + "frame_index": 195, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_31539", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N49_S265_s05_T5/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N49_S265_s05_T5/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N49_S265_s05_T5/align_rgb/00225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.687, 1.246]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.712, 1.487]). The trajectory involves 5 precise waypoints with total movement distance of 0.245." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31539, + "action": "putdown", + "object": "Bottle", + "frame_index": 225, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_31550", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N49_S261_s03_T3/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N49_S261_s03_T3/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N49_S261_s03_T3/align_rgb/00065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.227, 1.478]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.995, 1.339]). The trajectory involves 5 precise waypoints with total movement distance of 0.836." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31550, + "action": "carry", + "object": "Bottle", + "frame_index": 65, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_31589", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.685, 1.165]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.681, 1.311]). The trajectory involves 5 precise waypoints with total movement distance of 0.149." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31589, + "action": "putdown", + "object": "Bottle", + "frame_index": 81, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_31596", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.727, 1.221]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.704, 1.307]). The trajectory involves 5 precise waypoints with total movement distance of 0.090." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31596, + "action": "putdown", + "object": "Bottle", + "frame_index": 95, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_31608", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00164.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00165.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.743, 1.138]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.865, 1.071]). The trajectory involves 5 precise waypoints with total movement distance of 0.898." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31608, + "action": "carry", + "object": "Bottle", + "frame_index": 166, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_31609", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00166.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00167.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00168.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.754, 1.158]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.812, 1.133]). The trajectory involves 5 precise waypoints with total movement distance of 0.944." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31609, + "action": "carry", + "object": "Bottle", + "frame_index": 168, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_31614", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00176.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00177.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.797, 1.152]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.822, 1.143]). The trajectory involves 5 precise waypoints with total movement distance of 0.986." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31614, + "action": "carry", + "object": "Bottle", + "frame_index": 178, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_31616", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00181.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.807, 1.146]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.023, 1.162]). The trajectory involves 5 precise waypoints with total movement distance of 0.838." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31616, + "action": "carry", + "object": "Bottle", + "frame_index": 182, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_31622", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T2/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.746, 1.216]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.688, 1.439]). The trajectory involves 5 precise waypoints with total movement distance of 0.239." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31622, + "action": "putdown", + "object": "Bottle", + "frame_index": 214, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_31648", + "task": "pick up the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T1/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T1/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N48_S37_s01_T1/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.394, 1.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.411, 1.366]). The trajectory involves 5 precise waypoints with total movement distance of 0.123." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31648, + "action": "pickup", + "object": "Bottle", + "frame_index": 66, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_31865", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.577, 1.230]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.580, 1.365]). The trajectory involves 5 precise waypoints with total movement distance of 0.135." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31865, + "action": "putdown", + "object": "Bottle", + "frame_index": 96, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_31879", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00173.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00174.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00175.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.566, 1.188]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.921, 1.448]). The trajectory involves 5 precise waypoints with total movement distance of 0.709." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31879, + "action": "carry", + "object": "Bottle", + "frame_index": 175, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_31881", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00177.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.597, 1.179]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.032, 1.400]). The trajectory involves 5 precise waypoints with total movement distance of 0.610." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31881, + "action": "carry", + "object": "Bottle", + "frame_index": 179, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_31884", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.544, 1.200]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.056, 1.402]). The trajectory involves 5 precise waypoints with total movement distance of 0.532." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31884, + "action": "carry", + "object": "Bottle", + "frame_index": 185, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_31885", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00187.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.536, 1.214]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.048, 1.403]). The trajectory involves 5 precise waypoints with total movement distance of 0.524." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31885, + "action": "carry", + "object": "Bottle", + "frame_index": 187, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_31886", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.505, 1.206]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.013, 1.420]). The trajectory involves 5 precise waypoints with total movement distance of 0.539." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31886, + "action": "carry", + "object": "Bottle", + "frame_index": 189, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_31888", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N46_S39_s05_T2/align_rgb/00193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.499, 1.206]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.083, 1.416]). The trajectory involves 5 precise waypoints with total movement distance of 0.475." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31888, + "action": "carry", + "object": "Bottle", + "frame_index": 193, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_31914", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N46_S265_s04_T4/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N46_S265_s04_T4/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N46_S265_s04_T4/align_rgb/00230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.802, 0.977]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.034, 0.918]). The trajectory involves 5 precise waypoints with total movement distance of 0.804." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31914, + "action": "carry", + "object": "Bottle", + "frame_index": 230, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_31931", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N46_S261_s02_T2/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N46_S261_s02_T2/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N46_S261_s02_T2/align_rgb/00226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.454, 1.343]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.607, 1.527]). The trajectory involves 5 precise waypoints with total movement distance of 0.252." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 31931, + "action": "putdown", + "object": "Bottle", + "frame_index": 226, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32095", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N44_S269_s01_T6/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N44_S269_s01_T6/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N44_S269_s01_T6/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.354, 1.403]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.100, 1.420]). The trajectory involves 5 precise waypoints with total movement distance of 0.762." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32095, + "action": "carry", + "object": "Bottle", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32109", + "task": "pick up the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N44_S265_s04_T4/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N44_S265_s04_T4/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N44_S265_s04_T4/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.506, 1.708]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.571, 1.318]). The trajectory involves 5 precise waypoints with total movement distance of 0.395." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32109, + "action": "pickup", + "object": "Bottle", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32118", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N44_S265_s04_T4/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N44_S265_s04_T4/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N44_S265_s04_T4/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.693, 1.453]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.937, 1.045]). The trajectory involves 5 precise waypoints with total movement distance of 0.888." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32118, + "action": "carry", + "object": "Bottle", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32119", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N44_S265_s04_T4/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N44_S265_s04_T4/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N44_S265_s04_T4/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.676, 1.402]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.905, 1.033]). The trajectory involves 5 precise waypoints with total movement distance of 0.886." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32119, + "action": "carry", + "object": "Bottle", + "frame_index": 212, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32157", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.612, 1.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.752, 1.482]). The trajectory involves 5 precise waypoints with total movement distance of 0.895." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32157, + "action": "carry", + "object": "Bottle", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32161", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.666, 1.337]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.857, 1.474]). The trajectory involves 5 precise waypoints with total movement distance of 0.863." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32161, + "action": "carry", + "object": "Bottle", + "frame_index": 86, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32170", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.391, 1.241]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.192, 1.371]). The trajectory involves 5 precise waypoints with total movement distance of 0.882." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32170, + "action": "carry", + "object": "Bottle", + "frame_index": 224, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32172", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.406, 1.249]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.284, 1.473]). The trajectory involves 5 precise waypoints with total movement distance of 0.933." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32172, + "action": "carry", + "object": "Bottle", + "frame_index": 228, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32173", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.421, 1.263]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.303, 1.486]). The trajectory involves 5 precise waypoints with total movement distance of 0.937." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32173, + "action": "carry", + "object": "Bottle", + "frame_index": 230, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32175", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N43_S269_s01_T6/align_rgb/00234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.353, 1.245]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.130, 1.420]). The trajectory involves 5 precise waypoints with total movement distance of 0.808." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32175, + "action": "carry", + "object": "Bottle", + "frame_index": 234, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32186", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N43_S265_s04_T4/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N43_S265_s04_T4/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N43_S265_s04_T4/align_rgb/00193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.911, 1.254]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.096, 0.984]). The trajectory involves 5 precise waypoints with total movement distance of 0.881." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32186, + "action": "carry", + "object": "Bottle", + "frame_index": 193, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32188", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N43_S265_s04_T4/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N43_S265_s04_T4/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N43_S265_s04_T4/align_rgb/00197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.878, 1.235]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.131, 1.047]). The trajectory involves 5 precise waypoints with total movement distance of 0.797." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32188, + "action": "carry", + "object": "Bottle", + "frame_index": 197, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32228", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N42_S269_s01_T6/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N42_S269_s01_T6/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N42_S269_s01_T6/align_rgb/00228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.429, 1.230]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.348, 1.406]). The trajectory involves 5 precise waypoints with total movement distance of 0.956." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32228, + "action": "carry", + "object": "Bottle", + "frame_index": 228, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32230", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N42_S269_s01_T6/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N42_S269_s01_T6/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N42_S269_s01_T6/align_rgb/00232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.419, 1.193]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.263, 1.337]). The trajectory involves 5 precise waypoints with total movement distance of 0.871." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32230, + "action": "carry", + "object": "Bottle", + "frame_index": 232, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32231", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N42_S269_s01_T6/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N42_S269_s01_T6/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N42_S269_s01_T6/align_rgb/00234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.452, 1.221]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.218, 1.364]). The trajectory involves 5 precise waypoints with total movement distance of 0.791." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32231, + "action": "carry", + "object": "Bottle", + "frame_index": 234, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32232", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N42_S269_s01_T6/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N42_S269_s01_T6/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N42_S269_s01_T6/align_rgb/00235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.449, 1.202]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.190, 1.347]). The trajectory involves 5 precise waypoints with total movement distance of 0.769." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32232, + "action": "carry", + "object": "Bottle", + "frame_index": 235, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32247", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N42_S265_s03_T4/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N42_S265_s03_T4/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N42_S265_s03_T4/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.897, 1.222]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.128, 0.905]). The trajectory involves 5 precise waypoints with total movement distance of 0.864." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32247, + "action": "carry", + "object": "Bottle", + "frame_index": 207, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32256", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N42_S261_s01_T2/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N42_S261_s01_T2/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N42_S261_s01_T2/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.681, 1.432]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.886, 1.471]). The trajectory involves 5 precise waypoints with total movement distance of 0.848." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32256, + "action": "carry", + "object": "Bottle", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32284", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N41_S269_s01_T6/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N41_S269_s01_T6/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N41_S269_s01_T6/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.499, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.416, 1.519]). The trajectory involves 5 precise waypoints with total movement distance of 0.955." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32284, + "action": "carry", + "object": "Bottle", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32286", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N41_S269_s01_T6/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N41_S269_s01_T6/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N41_S269_s01_T6/align_rgb/00084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.505, 1.343]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.310, 1.490]). The trajectory involves 5 precise waypoints with total movement distance of 0.850." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32286, + "action": "carry", + "object": "Bottle", + "frame_index": 84, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32287", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N41_S269_s01_T6/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N41_S269_s01_T6/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N41_S269_s01_T6/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.475, 1.370]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.219, 1.502]). The trajectory involves 5 precise waypoints with total movement distance of 0.780." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32287, + "action": "carry", + "object": "Bottle", + "frame_index": 85, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32309", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N41_S265_s03_T4/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N41_S265_s03_T4/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N41_S265_s03_T4/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.866, 1.386]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.904, 1.024]). The trajectory involves 5 precise waypoints with total movement distance of 1.065." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32309, + "action": "carry", + "object": "Bottle", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32311", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N41_S265_s03_T4/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N41_S265_s03_T4/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N41_S265_s03_T4/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.874, 1.340]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.964, 1.072]). The trajectory involves 5 precise waypoints with total movement distance of 0.981." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32311, + "action": "carry", + "object": "Bottle", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32339", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N41_S261_s01_T2/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N41_S261_s01_T2/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N41_S261_s01_T2/align_rgb/00242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.614, 1.512]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.638, 1.706]). The trajectory involves 5 precise waypoints with total movement distance of 0.199." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32339, + "action": "putdown", + "object": "Bottle", + "frame_index": 242, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32342", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N40_S268_s05_T6/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N40_S268_s05_T6/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N40_S268_s05_T6/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.472, 1.355]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.527, 1.391]). The trajectory involves 5 precise waypoints with total movement distance of 1.183." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32342, + "action": "carry", + "object": "Bottle", + "frame_index": 64, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32344", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N40_S268_s05_T6/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N40_S268_s05_T6/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N40_S268_s05_T6/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.463, 1.284]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.525, 1.426]). The trajectory involves 5 precise waypoints with total movement distance of 1.146." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32344, + "action": "carry", + "object": "Bottle", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32352", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N40_S268_s05_T6/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N40_S268_s05_T6/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N40_S268_s05_T6/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.824, 1.259]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.869, 1.250]). The trajectory involves 5 precise waypoints with total movement distance of 0.983." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32352, + "action": "carry", + "object": "Bottle", + "frame_index": 199, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32353", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N40_S268_s05_T6/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N40_S268_s05_T6/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N40_S268_s05_T6/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.827, 1.262]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.965, 1.285]). The trajectory involves 5 precise waypoints with total movement distance of 0.901." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32353, + "action": "carry", + "object": "Bottle", + "frame_index": 201, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32368", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N40_S265_s03_T4/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N40_S265_s03_T4/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N40_S265_s03_T4/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.697, 1.277]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.829, 0.954]). The trajectory involves 5 precise waypoints with total movement distance of 0.947." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32368, + "action": "carry", + "object": "Bottle", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32369", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N40_S265_s03_T4/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N40_S265_s03_T4/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N40_S265_s03_T4/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.723, 1.295]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.904, 1.027]). The trajectory involves 5 precise waypoints with total movement distance of 0.891." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32369, + "action": "carry", + "object": "Bottle", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32399", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N39_S268_s05_T6/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N39_S268_s05_T6/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N39_S268_s05_T6/align_rgb/00075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.353, 1.501]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.181, 1.540]). The trajectory involves 5 precise waypoints with total movement distance of 0.883." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32399, + "action": "carry", + "object": "Bottle", + "frame_index": 75, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32404", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N39_S268_s05_T6/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N39_S268_s05_T6/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N39_S268_s05_T6/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.369, 1.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.295, 1.602]). The trajectory involves 5 precise waypoints with total movement distance of 0.986." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32404, + "action": "carry", + "object": "Bottle", + "frame_index": 85, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32426", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N39_S265_s03_T4/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N39_S265_s03_T4/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N39_S265_s03_T4/align_rgb/00193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.676, 1.418]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.782, 1.028]). The trajectory involves 5 precise waypoints with total movement distance of 1.027." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32426, + "action": "carry", + "object": "Bottle", + "frame_index": 193, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32431", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N39_S265_s03_T4/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N39_S265_s03_T4/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N39_S265_s03_T4/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.727, 1.177]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.947, 0.951]). The trajectory involves 5 precise waypoints with total movement distance of 0.831." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32431, + "action": "carry", + "object": "Bottle", + "frame_index": 203, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32439", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N39_S258_s05_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N39_S258_s05_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N39_S258_s05_T2/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.620, 1.318]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.942, 1.363]). The trajectory involves 5 precise waypoints with total movement distance of 0.739." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32439, + "action": "carry", + "object": "Bottle", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32466", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.408, 1.602]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.246, 1.593]). The trajectory involves 5 precise waypoints with total movement distance of 0.879." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32466, + "action": "carry", + "object": "Bottle", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32467", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.407, 1.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.271, 1.612]). The trajectory involves 5 precise waypoints with total movement distance of 0.920." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32467, + "action": "carry", + "object": "Bottle", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32468", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.425, 1.559]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.272, 1.570]). The trajectory involves 5 precise waypoints with total movement distance of 0.910." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32468, + "action": "carry", + "object": "Bottle", + "frame_index": 75, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32469", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.404, 1.524]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.235, 1.571]). The trajectory involves 5 precise waypoints with total movement distance of 0.893." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32469, + "action": "carry", + "object": "Bottle", + "frame_index": 77, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32470", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.422, 1.561]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.224, 1.621]). The trajectory involves 5 precise waypoints with total movement distance of 0.848." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32470, + "action": "carry", + "object": "Bottle", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32479", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N38_S268_s05_T6/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.506, 1.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.561, 1.678]). The trajectory involves 5 precise waypoints with total movement distance of 0.982." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32479, + "action": "carry", + "object": "Bottle", + "frame_index": 208, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32493", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N38_S265_s02_T4/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N38_S265_s02_T4/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N38_S265_s02_T4/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.791, 1.280]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.891, 0.892]). The trajectory involves 5 precise waypoints with total movement distance of 1.027." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32493, + "action": "carry", + "object": "Bottle", + "frame_index": 195, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32494", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N38_S265_s02_T4/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N38_S265_s02_T4/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N38_S265_s02_T4/align_rgb/00197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.859, 1.189]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.069, 0.881]). The trajectory involves 5 precise waypoints with total movement distance of 0.872." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32494, + "action": "carry", + "object": "Bottle", + "frame_index": 197, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32498", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N38_S265_s02_T4/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N38_S265_s02_T4/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N38_S265_s02_T4/align_rgb/00205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.793, 1.217]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.216, 1.097]). The trajectory involves 5 precise waypoints with total movement distance of 0.605." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32498, + "action": "carry", + "object": "Bottle", + "frame_index": 205, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32617", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N36_S41_s05_T2/align_rgb/00172.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N36_S41_s05_T2/align_rgb/00173.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N36_S41_s05_T2/align_rgb/00174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.691, 1.184]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.330, 1.591]). The trajectory involves 5 precise waypoints with total movement distance of 0.769." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32617, + "action": "carry", + "object": "Bottle", + "frame_index": 174, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32619", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N36_S41_s05_T2/align_rgb/00176.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N36_S41_s05_T2/align_rgb/00177.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N36_S41_s05_T2/align_rgb/00178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.701, 1.198]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.299, 1.541]). The trajectory involves 5 precise waypoints with total movement distance of 0.696." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32619, + "action": "carry", + "object": "Bottle", + "frame_index": 178, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32621", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N36_S41_s05_T2/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N36_S41_s05_T2/align_rgb/00181.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N36_S41_s05_T2/align_rgb/00182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.769, 1.139]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.358, 1.453]). The trajectory involves 5 precise waypoints with total movement distance of 0.702." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32621, + "action": "carry", + "object": "Bottle", + "frame_index": 182, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32625", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N36_S41_s05_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N36_S41_s05_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N36_S41_s05_T2/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.791, 1.213]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.768, 1.400]). The trajectory involves 5 precise waypoints with total movement distance of 0.192." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32625, + "action": "putdown", + "object": "Bottle", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32650", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N36_S268_s04_T6/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N36_S268_s04_T6/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N36_S268_s04_T6/align_rgb/00205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.764, 1.439]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.914, 1.410]). The trajectory involves 5 precise waypoints with total movement distance of 0.892." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32650, + "action": "carry", + "object": "Bottle", + "frame_index": 205, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32665", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N36_S265_s02_T4/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N36_S265_s02_T4/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N36_S265_s02_T4/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.537, 1.397]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.402, 1.195]). The trajectory involves 5 precise waypoints with total movement distance of 1.190." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32665, + "action": "carry", + "object": "Bottle", + "frame_index": 214, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32675", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N36_S258_s04_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N36_S258_s04_T2/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N36_S258_s04_T2/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.484, 1.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.500, 1.682]). The trajectory involves 5 precise waypoints with total movement distance of 1.007." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32675, + "action": "carry", + "object": "Bottle", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32714", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00134.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00135.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00136.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.683, 1.100]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.328, 1.417]). The trajectory involves 5 precise waypoints with total movement distance of 0.730." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32714, + "action": "carry", + "object": "Bottle", + "frame_index": 136, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32715", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00136.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00137.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00138.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.718, 1.087]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.360, 1.413]). The trajectory involves 5 precise waypoints with total movement distance of 0.735." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32715, + "action": "carry", + "object": "Bottle", + "frame_index": 138, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32717", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00140.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00141.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00142.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.686, 1.084]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.280, 1.473]). The trajectory involves 5 precise waypoints with total movement distance of 0.723." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32717, + "action": "carry", + "object": "Bottle", + "frame_index": 142, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32719", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00144.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00145.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00146.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.730, 1.052]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.287, 1.511]). The trajectory involves 5 precise waypoints with total movement distance of 0.737." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32719, + "action": "carry", + "object": "Bottle", + "frame_index": 146, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32723", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00151.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00152.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T2/align_rgb/00153.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.708, 1.072]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.143, 1.538]). The trajectory involves 5 precise waypoints with total movement distance of 0.664." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32723, + "action": "carry", + "object": "Bottle", + "frame_index": 153, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32757", + "task": "pick up the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T1/align_rgb/00033.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T1/align_rgb/00034.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N35_S41_s05_T1/align_rgb/00035.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.705, 1.223]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.743, 1.088]). The trajectory involves 5 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32757, + "action": "pickup", + "object": "Bottle", + "frame_index": 35, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32827", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N35_S268_s04_T6/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N35_S268_s04_T6/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N35_S268_s04_T6/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.732, 1.384]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.444, 1.600]). The trajectory involves 5 precise waypoints with total movement distance of 0.366." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32827, + "action": "putdown", + "object": "Bottle", + "frame_index": 214, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32834", + "task": "pick up the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00052.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.577, 1.617]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.590, 1.185]). The trajectory involves 5 precise waypoints with total movement distance of 0.458." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32834, + "action": "pickup", + "object": "Bottle", + "frame_index": 52, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32838", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.761, 1.297]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.798, 0.967]). The trajectory involves 5 precise waypoints with total movement distance of 1.092." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32838, + "action": "carry", + "object": "Bottle", + "frame_index": 186, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32840", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.838, 1.230]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.865, 0.949]). The trajectory involves 5 precise waypoints with total movement distance of 1.041." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32840, + "action": "carry", + "object": "Bottle", + "frame_index": 190, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32842", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.866, 1.189]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.986, 0.974]). The trajectory involves 5 precise waypoints with total movement distance of 0.924." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32842, + "action": "carry", + "object": "Bottle", + "frame_index": 194, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_32843", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N35_S265_s02_T4/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.869, 1.179]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.061, 1.008]). The trajectory involves 5 precise waypoints with total movement distance of 0.840." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 32843, + "action": "carry", + "object": "Bottle", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33057", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.775, 0.841]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.750, 0.989]). The trajectory involves 5 precise waypoints with total movement distance of 0.150." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33057, + "action": "putdown", + "object": "Bottle", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33059", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.711, 0.919]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.694, 1.043]). The trajectory involves 5 precise waypoints with total movement distance of 0.127." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33059, + "action": "putdown", + "object": "Bottle", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33068", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00161.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00162.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00163.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.806, 0.947]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.418, 0.934]). The trajectory involves 5 precise waypoints with total movement distance of 0.397." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33068, + "action": "carry", + "object": "Bottle", + "frame_index": 163, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33070", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00165.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00166.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00167.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.782, 0.967]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.358, 0.970]). The trajectory involves 5 precise waypoints with total movement distance of 0.429." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33070, + "action": "carry", + "object": "Bottle", + "frame_index": 167, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33072", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00169.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00170.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.814, 0.930]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.389, 0.949]). The trajectory involves 5 precise waypoints with total movement distance of 0.431." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33072, + "action": "carry", + "object": "Bottle", + "frame_index": 171, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33073", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00171.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00172.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.811, 0.925]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.410, 0.946]). The trajectory involves 5 precise waypoints with total movement distance of 0.403." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33073, + "action": "carry", + "object": "Bottle", + "frame_index": 173, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33074", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00173.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00174.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00175.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.743, 0.952]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.372, 0.962]). The trajectory involves 5 precise waypoints with total movement distance of 0.375." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33074, + "action": "carry", + "object": "Bottle", + "frame_index": 175, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33077", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.770, 0.911]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.307, 1.035]). The trajectory involves 5 precise waypoints with total movement distance of 0.488." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33077, + "action": "carry", + "object": "Bottle", + "frame_index": 181, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33079", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N33_S41_s04_T2/align_rgb/00185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.758, 0.969]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.330, 1.114]). The trajectory involves 5 precise waypoints with total movement distance of 0.464." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33079, + "action": "carry", + "object": "Bottle", + "frame_index": 185, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33100", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N33_S268_s04_T6/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N33_S268_s04_T6/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N33_S268_s04_T6/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.509, 1.426]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.456, 1.753]). The trajectory involves 5 precise waypoints with total movement distance of 1.043." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33100, + "action": "carry", + "object": "Bottle", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33134", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N33_S258_s04_T2/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N33_S258_s04_T2/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N33_S258_s04_T2/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.569, 1.664]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.908, 1.531]). The trajectory involves 5 precise waypoints with total movement distance of 0.779." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33134, + "action": "carry", + "object": "Bottle", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33135", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N33_S258_s04_T2/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N33_S258_s04_T2/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N33_S258_s04_T2/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.555, 1.670]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.811, 1.634]). The trajectory involves 5 precise waypoints with total movement distance of 0.842." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33135, + "action": "carry", + "object": "Bottle", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33136", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N33_S258_s04_T2/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N33_S258_s04_T2/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N33_S258_s04_T2/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.542, 1.655]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.732, 1.691]). The trajectory involves 5 precise waypoints with total movement distance of 0.893." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33136, + "action": "carry", + "object": "Bottle", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33191", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00180.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.881, 1.117]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.386, 1.126]). The trajectory involves 5 precise waypoints with total movement distance of 0.504." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33191, + "action": "carry", + "object": "Bottle", + "frame_index": 180, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33192", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00181.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.912, 1.085]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.374, 1.084]). The trajectory involves 5 precise waypoints with total movement distance of 0.561." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33192, + "action": "carry", + "object": "Bottle", + "frame_index": 182, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33196", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.907, 1.091]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.338, 1.227]). The trajectory involves 5 precise waypoints with total movement distance of 0.606." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33196, + "action": "carry", + "object": "Bottle", + "frame_index": 190, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33197", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.886, 1.098]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.345, 1.253]). The trajectory involves 5 precise waypoints with total movement distance of 0.583." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33197, + "action": "carry", + "object": "Bottle", + "frame_index": 192, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33201", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.677, 1.318]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.571, 1.534]). The trajectory involves 5 precise waypoints with total movement distance of 0.243." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33201, + "action": "putdown", + "object": "Bottle", + "frame_index": 220, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33204", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N32_S41_s03_T2/align_rgb/00226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.682, 1.419]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.621, 1.604]). The trajectory involves 5 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33204, + "action": "putdown", + "object": "Bottle", + "frame_index": 226, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33222", + "task": "pick up the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.513, 1.600]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.554, 1.160]). The trajectory involves 5 precise waypoints with total movement distance of 0.444." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33222, + "action": "pickup", + "object": "Bottle", + "frame_index": 58, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33225", + "task": "pick up the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.556, 1.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.583, 1.214]). The trajectory involves 5 precise waypoints with total movement distance of 0.254." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33225, + "action": "pickup", + "object": "Bottle", + "frame_index": 181, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33227", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.510, 1.345]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.448, 1.169]). The trajectory involves 5 precise waypoints with total movement distance of 1.141." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33227, + "action": "carry", + "object": "Bottle", + "frame_index": 195, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33228", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.489, 1.322]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.439, 1.220]). The trajectory involves 5 precise waypoints with total movement distance of 1.112." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33228, + "action": "carry", + "object": "Bottle", + "frame_index": 197, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33229", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N32_S265_s01_T4/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.520, 1.261]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.515, 1.200]). The trajectory involves 5 precise waypoints with total movement distance of 1.046." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33229, + "action": "carry", + "object": "Bottle", + "frame_index": 199, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33258", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N31_S268_s03_T6/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N31_S268_s03_T6/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N31_S268_s03_T6/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.561, 1.309]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.578, 1.600]). The trajectory involves 5 precise waypoints with total movement distance of 1.127." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33258, + "action": "carry", + "object": "Bottle", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33273", + "task": "pick up the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N31_S265_s01_T4/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N31_S265_s01_T4/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N31_S265_s01_T4/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.462, 1.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.423, 1.306]). The trajectory involves 5 precise waypoints with total movement distance of 0.186." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33273, + "action": "carry", + "object": "Bottle", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33281", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N31_S265_s01_T4/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N31_S265_s01_T4/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N31_S265_s01_T4/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.661, 1.387]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.022, 1.262]). The trajectory involves 5 precise waypoints with total movement distance of 0.656." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33281, + "action": "carry", + "object": "Bottle", + "frame_index": 208, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33282", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N31_S265_s01_T4/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N31_S265_s01_T4/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N31_S265_s01_T4/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.656, 1.358]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.060, 1.269]). The trajectory involves 5 precise waypoints with total movement distance of 0.608." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33282, + "action": "carry", + "object": "Bottle", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33284", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N31_S265_s01_T4/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N31_S265_s01_T4/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N31_S265_s01_T4/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.673, 1.331]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.199, 1.249]). The trajectory involves 5 precise waypoints with total movement distance of 0.490." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33284, + "action": "carry", + "object": "Bottle", + "frame_index": 214, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33289", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N31_S258_s03_T2/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N31_S258_s03_T2/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N31_S258_s03_T2/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.679, 1.608]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.909, 1.643]). The trajectory involves 5 precise waypoints with total movement distance of 0.836." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33289, + "action": "carry", + "object": "Bottle", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33343", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.686, 0.874]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.688, 0.980]). The trajectory involves 5 precise waypoints with total movement distance of 0.106." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33343, + "action": "putdown", + "object": "Bottle", + "frame_index": 92, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33361", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00182.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.753, 0.923]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.510, 0.894]). The trajectory involves 5 precise waypoints with total movement distance of 0.252." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33361, + "action": "carry", + "object": "Bottle", + "frame_index": 184, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33362", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.730, 0.936]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.472, 0.928]). The trajectory involves 5 precise waypoints with total movement distance of 0.267." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33362, + "action": "carry", + "object": "Bottle", + "frame_index": 186, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33367", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.617, 0.916]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.333, 0.960]). The trajectory involves 5 precise waypoints with total movement distance of 0.300." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33367, + "action": "carry", + "object": "Bottle", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33370", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.613, 0.934]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.343, 1.037]). The trajectory involves 5 precise waypoints with total movement distance of 0.291." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33370, + "action": "carry", + "object": "Bottle", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33372", + "task": "put the bottle to the drawer", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N30_S41_s03_T2/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put the bottle to the drawer?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put the bottle to the drawer, execute the following phases: 1) Initial approach phase (start at [1.633, 0.953]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.380, 1.058]). The trajectory involves 5 precise waypoints with total movement distance of 0.288." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33372, + "action": "carry", + "object": "Bottle", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33385", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N30_S268_s03_T6/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N30_S268_s03_T6/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N30_S268_s03_T6/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.581, 1.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.661, 1.629]). The trajectory involves 5 precise waypoints with total movement distance of 1.134." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33385, + "action": "carry", + "object": "Bottle", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33409", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N30_S263_s05_T4/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N30_S263_s05_T4/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N30_S263_s05_T4/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.712, 1.333]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.771, 1.166]). The trajectory involves 5 precise waypoints with total movement distance of 1.002." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33409, + "action": "carry", + "object": "Bottle", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33413", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N30_S263_s05_T4/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N30_S263_s05_T4/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N30_S263_s05_T4/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.684, 1.285]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.842, 1.263]). The trajectory involves 5 precise waypoints with total movement distance of 0.851." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33413, + "action": "carry", + "object": "Bottle", + "frame_index": 212, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33414", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N30_S263_s05_T4/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N30_S263_s05_T4/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N30_S263_s05_T4/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.679, 1.278]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.917, 1.286]). The trajectory involves 5 precise waypoints with total movement distance of 0.776." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33414, + "action": "carry", + "object": "Bottle", + "frame_index": 214, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33441", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N30_S258_s03_T2/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N30_S258_s03_T2/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N30_S258_s03_T2/align_rgb/00237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.596, 1.676]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.616, 1.852]). The trajectory involves 5 precise waypoints with total movement distance of 0.179." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33441, + "action": "putdown", + "object": "Bottle", + "frame_index": 237, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33458", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N29_S41_s02_T1/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N29_S41_s02_T1/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N29_S41_s02_T1/align_rgb/00084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.542, 0.981]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.535, 1.111]). The trajectory involves 5 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33458, + "action": "putdown", + "object": "Bottle", + "frame_index": 84, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33459", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N29_S41_s02_T1/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N29_S41_s02_T1/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N29_S41_s02_T1/align_rgb/00086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.554, 1.002]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.546, 1.121]). The trajectory involves 5 precise waypoints with total movement distance of 0.120." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33459, + "action": "putdown", + "object": "Bottle", + "frame_index": 86, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33487", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N29_S41_s02_T1/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N29_S41_s02_T1/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N29_S41_s02_T1/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.554, 0.892]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.542, 1.028]). The trajectory involves 5 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33487, + "action": "putdown", + "object": "Bottle", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33507", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.514, 1.476]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.150, 1.406]). The trajectory involves 5 precise waypoints with total movement distance of 0.646." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33507, + "action": "carry", + "object": "Bottle", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33508", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.497, 1.489]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.176, 1.453]). The trajectory involves 5 precise waypoints with total movement distance of 0.686." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33508, + "action": "carry", + "object": "Bottle", + "frame_index": 70, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33511", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.515, 1.559]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.318, 1.579]). The trajectory involves 5 precise waypoints with total movement distance of 0.828." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33511, + "action": "carry", + "object": "Bottle", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33512", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.531, 1.551]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.363, 1.607]). The trajectory involves 5 precise waypoints with total movement distance of 0.870." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33512, + "action": "carry", + "object": "Bottle", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33520", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.761, 1.487]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.110, 1.571]). The trajectory involves 5 precise waypoints with total movement distance of 0.666." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33520, + "action": "carry", + "object": "Bottle", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33521", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N29_S268_s03_T6/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.767, 1.490]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.137, 1.581]). The trajectory involves 5 precise waypoints with total movement distance of 0.638." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33521, + "action": "carry", + "object": "Bottle", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33538", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N29_S263_s05_T4/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N29_S263_s05_T4/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N29_S263_s05_T4/align_rgb/00205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.704, 1.089]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.710, 0.882]). The trajectory involves 5 precise waypoints with total movement distance of 1.048." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33538, + "action": "carry", + "object": "Bottle", + "frame_index": 205, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33539", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N29_S263_s05_T4/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N29_S263_s05_T4/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N29_S263_s05_T4/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.711, 1.095]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.716, 0.923]). The trajectory involves 5 precise waypoints with total movement distance of 1.031." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33539, + "action": "carry", + "object": "Bottle", + "frame_index": 207, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33600", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T2/align_rgb/00182.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T2/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T2/align_rgb/00184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.903, 0.863]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.406, 0.882]). The trajectory involves 5 precise waypoints with total movement distance of 0.512." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33600, + "action": "carry", + "object": "Bottle", + "frame_index": 184, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33601", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T2/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T2/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T2/align_rgb/00186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.876, 0.878]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.376, 0.904]). The trajectory involves 5 precise waypoints with total movement distance of 0.518." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33601, + "action": "carry", + "object": "Bottle", + "frame_index": 186, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33607", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T2/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T2/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T2/align_rgb/00218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.684, 1.051]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.570, 1.239]). The trajectory involves 5 precise waypoints with total movement distance of 0.223." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33607, + "action": "putdown", + "object": "Bottle", + "frame_index": 218, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33627", + "task": "pick up the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T1/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T1/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T1/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.534, 1.281]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.553, 1.152]). The trajectory involves 5 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33627, + "action": "pickup", + "object": "Bottle", + "frame_index": 58, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33683", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T1/align_rgb/00254.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T1/align_rgb/00255.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N28_S41_s02_T1/align_rgb/00256.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.603, 1.177]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.570, 1.242]). The trajectory involves 5 precise waypoints with total movement distance of 0.076." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33683, + "action": "putdown", + "object": "Bottle", + "frame_index": 256, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33688", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N28_S268_s02_T6/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N28_S268_s02_T6/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N28_S268_s02_T6/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.483, 1.552]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.545, 1.843]). The trajectory involves 5 precise waypoints with total movement distance of 1.148." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33688, + "action": "carry", + "object": "Bottle", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33690", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N28_S268_s02_T6/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N28_S268_s02_T6/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N28_S268_s02_T6/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.471, 1.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.363, 1.767]). The trajectory involves 5 precise waypoints with total movement distance of 0.963." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33690, + "action": "carry", + "object": "Bottle", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33704", + "task": "pick up the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N28_S263_s05_T4/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N28_S263_s05_T4/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N28_S263_s05_T4/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.396, 1.456]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.401, 1.093]). The trajectory involves 5 precise waypoints with total movement distance of 0.368." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33704, + "action": "carry", + "object": "Bottle", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33716", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N28_S258_s02_T2/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N28_S258_s02_T2/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N28_S258_s02_T2/align_rgb/00077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.655, 1.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.859, 1.207]). The trajectory involves 5 precise waypoints with total movement distance of 0.888." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33716, + "action": "carry", + "object": "Bottle", + "frame_index": 77, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33766", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00161.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00162.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00163.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.381, 1.087]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.754, 1.224]). The trajectory involves 5 precise waypoints with total movement distance of 0.406." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33766, + "action": "carry", + "object": "Bottle", + "frame_index": 163, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33767", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00163.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00164.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00165.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.393, 1.072]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.735, 1.200]). The trajectory involves 5 precise waypoints with total movement distance of 0.383." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33767, + "action": "carry", + "object": "Bottle", + "frame_index": 165, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33772", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00173.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00174.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00175.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.392, 1.070]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.604, 1.233]). The trajectory involves 5 precise waypoints with total movement distance of 0.280." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33772, + "action": "carry", + "object": "Bottle", + "frame_index": 175, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33780", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.429, 1.239]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.472, 1.434]). The trajectory involves 5 precise waypoints with total movement distance of 0.200." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33780, + "action": "putdown", + "object": "Bottle", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33781", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.426, 1.255]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.455, 1.450]). The trajectory involves 5 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33781, + "action": "putdown", + "object": "Bottle", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33782", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S41_s01_T2/align_rgb/00215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.434, 1.245]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.456, 1.433]). The trajectory involves 5 precise waypoints with total movement distance of 0.190." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33782, + "action": "putdown", + "object": "Bottle", + "frame_index": 215, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33857", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N27_S268_s02_T6/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S268_s02_T6/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S268_s02_T6/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.488, 1.377]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.478, 1.690]). The trajectory involves 5 precise waypoints with total movement distance of 1.084." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33857, + "action": "carry", + "object": "Bottle", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33858", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N27_S268_s02_T6/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S268_s02_T6/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S268_s02_T6/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.489, 1.346]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.413, 1.668]). The trajectory involves 5 precise waypoints with total movement distance of 1.021." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33858, + "action": "carry", + "object": "Bottle", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33859", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N27_S268_s02_T6/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S268_s02_T6/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S268_s02_T6/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.463, 1.340]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.344, 1.654]). The trajectory involves 5 precise waypoints with total movement distance of 0.981." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33859, + "action": "carry", + "object": "Bottle", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33863", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N27_S268_s02_T6/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S268_s02_T6/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S268_s02_T6/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.651, 1.429]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.981, 1.477]). The trajectory involves 5 precise waypoints with total movement distance of 0.724." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33863, + "action": "carry", + "object": "Bottle", + "frame_index": 201, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33880", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N27_S263_s05_T4/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S263_s05_T4/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S263_s05_T4/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.669, 1.259]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.978, 0.990]). The trajectory involves 5 precise waypoints with total movement distance of 0.762." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33880, + "action": "carry", + "object": "Bottle", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33881", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N27_S263_s05_T4/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S263_s05_T4/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S263_s05_T4/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.666, 1.232]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.959, 1.003]). The trajectory involves 5 precise waypoints with total movement distance of 0.759." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33881, + "action": "carry", + "object": "Bottle", + "frame_index": 198, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33885", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N27_S263_s05_T4/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S263_s05_T4/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S263_s05_T4/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.629, 1.141]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.956, 1.008]). The trajectory involves 5 precise waypoints with total movement distance of 0.694." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33885, + "action": "carry", + "object": "Bottle", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33886", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N27_S263_s05_T4/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S263_s05_T4/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S263_s05_T4/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.623, 1.144]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.994, 1.024]). The trajectory involves 5 precise waypoints with total movement distance of 0.649." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33886, + "action": "carry", + "object": "Bottle", + "frame_index": 208, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33893", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N27_S258_s02_T2/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S258_s02_T2/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N27_S258_s02_T2/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.698, 1.540]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.961, 1.531]). The trajectory involves 5 precise waypoints with total movement distance of 0.751." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33893, + "action": "carry", + "object": "Bottle", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33942", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N26_S41_s01_T2/align_rgb/00168.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N26_S41_s01_T2/align_rgb/00169.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N26_S41_s01_T2/align_rgb/00170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.323, 1.132]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.625, 1.221]). The trajectory involves 5 precise waypoints with total movement distance of 0.324." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33942, + "action": "carry", + "object": "Bottle", + "frame_index": 170, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33945", + "task": "put the bottle to the drawer", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N26_S41_s01_T2/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N26_S41_s01_T2/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N26_S41_s01_T2/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put the bottle to the drawer?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put the bottle to the drawer, execute the following phases: 1) Initial approach phase (start at [1.351, 1.188]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.520, 1.448]). The trajectory involves 5 precise waypoints with total movement distance of 0.321." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33945, + "action": "putdown", + "object": "Bottle", + "frame_index": 195, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33952", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N26_S41_s01_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N26_S41_s01_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N26_S41_s01_T2/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.418, 1.273]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.444, 1.429]). The trajectory involves 5 precise waypoints with total movement distance of 0.162." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33952, + "action": "putdown", + "object": "Bottle", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33967", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N26_S268_s02_T6/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N26_S268_s02_T6/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N26_S268_s02_T6/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.461, 1.303]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.394, 1.413]). The trajectory involves 5 precise waypoints with total movement distance of 0.966." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33967, + "action": "carry", + "object": "Bottle", + "frame_index": 70, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33992", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N26_S263_s04_T4/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N26_S263_s04_T4/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N26_S263_s04_T4/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.629, 1.208]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.747, 0.976]). The trajectory involves 5 precise waypoints with total movement distance of 0.934." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33992, + "action": "carry", + "object": "Bottle", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_33993", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N26_S263_s04_T4/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N26_S263_s04_T4/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N26_S263_s04_T4/align_rgb/00215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.608, 1.206]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.748, 1.037]). The trajectory involves 5 precise waypoints with total movement distance of 0.893." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 33993, + "action": "carry", + "object": "Bottle", + "frame_index": 215, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34002", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N26_S258_s02_T2/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N26_S258_s02_T2/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N26_S258_s02_T2/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.656, 1.553]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.895, 1.228]). The trajectory involves 5 precise waypoints with total movement distance of 0.862." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34002, + "action": "carry", + "object": "Bottle", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34005", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N26_S258_s02_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N26_S258_s02_T2/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N26_S258_s02_T2/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.620, 1.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.765, 1.388]). The trajectory involves 5 precise waypoints with total movement distance of 0.902." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34005, + "action": "carry", + "object": "Bottle", + "frame_index": 85, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34048", + "task": "pick up the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N25_S263_s04_T4/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N25_S263_s04_T4/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N25_S263_s04_T4/align_rgb/00065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.626, 1.717]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.673, 1.511]). The trajectory involves 5 precise waypoints with total movement distance of 0.215." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34048, + "action": "pickup", + "object": "Bottle", + "frame_index": 65, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34051", + "task": "pick up the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N25_S263_s04_T4/align_rgb/00181.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N25_S263_s04_T4/align_rgb/00182.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N25_S263_s04_T4/align_rgb/00183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.625, 1.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.643, 1.114]). The trajectory involves 5 precise waypoints with total movement distance of 0.352." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34051, + "action": "pickup", + "object": "Bottle", + "frame_index": 183, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34054", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N25_S263_s04_T4/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N25_S263_s04_T4/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N25_S263_s04_T4/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.637, 1.257]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.720, 1.018]). The trajectory involves 5 precise waypoints with total movement distance of 0.956." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34054, + "action": "carry", + "object": "Bottle", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34086", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N24_S268_s01_T6/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N24_S268_s01_T6/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N24_S268_s01_T6/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.458, 1.406]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.393, 1.581]). The trajectory involves 5 precise waypoints with total movement distance of 1.040." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34086, + "action": "carry", + "object": "Bottle", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34087", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N24_S268_s01_T6/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N24_S268_s01_T6/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N24_S268_s01_T6/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.435, 1.381]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.353, 1.626]). The trajectory involves 5 precise waypoints with total movement distance of 1.022." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34087, + "action": "carry", + "object": "Bottle", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34112", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N24_S263_s04_T4/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N24_S263_s04_T4/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N24_S263_s04_T4/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.447, 1.195]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.763, 1.163]). The trajectory involves 5 precise waypoints with total movement distance of 0.703." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34112, + "action": "carry", + "object": "Bottle", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34122", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N24_S258_s01_T1/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N24_S258_s01_T1/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N24_S258_s01_T1/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.958, 1.403]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.610, 1.215]). The trajectory involves 5 precise waypoints with total movement distance of 0.429." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34122, + "action": "carry", + "object": "Bottle", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34126", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N24_S258_s01_T1/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N24_S258_s01_T1/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N24_S258_s01_T1/align_rgb/00230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.556, 1.306]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.470, 1.486]). The trajectory involves 5 precise waypoints with total movement distance of 0.210." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34126, + "action": "putdown", + "object": "Bottle", + "frame_index": 230, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34307", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00153.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00154.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.474, 0.908]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.368, 1.010]). The trajectory involves 5 precise waypoints with total movement distance of 0.933." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34307, + "action": "carry", + "object": "Bottle", + "frame_index": 155, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34308", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00155.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00156.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00157.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.491, 0.923]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.361, 1.072]). The trajectory involves 5 precise waypoints with total movement distance of 0.909." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34308, + "action": "carry", + "object": "Bottle", + "frame_index": 157, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34313", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00187.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.708, 1.017]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.777, 1.346]). The trajectory involves 5 precise waypoints with total movement distance of 0.341." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34313, + "action": "putdown", + "object": "Bottle", + "frame_index": 187, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34318", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.704, 1.147]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.712, 1.337]). The trajectory involves 5 precise waypoints with total movement distance of 0.191." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34318, + "action": "putdown", + "object": "Bottle", + "frame_index": 197, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34319", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.693, 1.186]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.701, 1.353]). The trajectory involves 5 precise waypoints with total movement distance of 0.167." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34319, + "action": "putdown", + "object": "Bottle", + "frame_index": 199, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34321", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N22_S56_s04_T2/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.694, 1.226]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.704, 1.353]). The trajectory involves 5 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34321, + "action": "putdown", + "object": "Bottle", + "frame_index": 203, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34385", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N22_S268_s01_T6/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N22_S268_s01_T6/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N22_S268_s01_T6/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.425, 1.296]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.343, 1.607]). The trajectory involves 5 precise waypoints with total movement distance of 1.023." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34385, + "action": "carry", + "object": "Bottle", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34432", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N22_S258_s01_T1/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N22_S258_s01_T1/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N22_S258_s01_T1/align_rgb/00192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.910, 1.448]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.439, 1.264]). The trajectory involves 5 precise waypoints with total movement distance of 0.561." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34432, + "action": "carry", + "object": "Bottle", + "frame_index": 192, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34441", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00029.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00030.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00031.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.872, 0.768]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.599, 0.710]). The trajectory involves 5 precise waypoints with total movement distance of 0.279." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34441, + "action": "carry", + "object": "Bottle", + "frame_index": 31, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34442", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00031.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00032.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00033.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.826, 0.736]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.495, 0.662]). The trajectory involves 5 precise waypoints with total movement distance of 0.341." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34442, + "action": "carry", + "object": "Bottle", + "frame_index": 33, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34446", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00040.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00041.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.830, 0.771]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.370, 0.791]). The trajectory involves 5 precise waypoints with total movement distance of 0.469." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34446, + "action": "carry", + "object": "Bottle", + "frame_index": 41, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34451", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00051.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.853, 0.689]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.100, 0.889]). The trajectory involves 5 precise waypoints with total movement distance of 0.786." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34451, + "action": "carry", + "object": "Bottle", + "frame_index": 51, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34456", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.827, 0.679]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.047, 0.965]). The trajectory involves 5 precise waypoints with total movement distance of 0.840." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34456, + "action": "carry", + "object": "Bottle", + "frame_index": 61, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34461", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N21_S56_s03_T2/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.752, 0.741]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.155, 1.018]). The trajectory involves 5 precise waypoints with total movement distance of 0.666." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34461, + "action": "carry", + "object": "Bottle", + "frame_index": 70, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34557", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N21_S268_s01_T6/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N21_S268_s01_T6/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N21_S268_s01_T6/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.228, 1.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.145, 1.388]). The trajectory involves 5 precise waypoints with total movement distance of 1.014." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34557, + "action": "carry", + "object": "Bottle", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34566", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N21_S268_s01_T6/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N21_S268_s01_T6/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N21_S268_s01_T6/align_rgb/00192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.485, 1.374]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.881, 1.451]). The trajectory involves 5 precise waypoints with total movement distance of 0.643." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34566, + "action": "carry", + "object": "Bottle", + "frame_index": 192, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34567", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N21_S268_s01_T6/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N21_S268_s01_T6/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N21_S268_s01_T6/align_rgb/00194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.470, 1.359]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.899, 1.489]). The trajectory involves 5 precise waypoints with total movement distance of 0.604." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34567, + "action": "carry", + "object": "Bottle", + "frame_index": 194, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34582", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N21_S263_s03_T3/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N21_S263_s03_T3/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N21_S263_s03_T3/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.452, 1.267]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.604, 1.661]). The trajectory involves 5 precise waypoints with total movement distance of 1.262." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34582, + "action": "carry", + "object": "Bottle", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34583", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N21_S263_s03_T3/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N21_S263_s03_T3/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N21_S263_s03_T3/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.417, 1.253]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.477, 1.605]). The trajectory involves 5 precise waypoints with total movement distance of 1.151." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34583, + "action": "carry", + "object": "Bottle", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34613", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N21_S258_s01_T1/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N21_S258_s01_T1/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N21_S258_s01_T1/align_rgb/00232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.712, 1.315]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.619, 1.491]). The trajectory involves 5 precise waypoints with total movement distance of 0.211." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34613, + "action": "putdown", + "object": "Bottle", + "frame_index": 232, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34619", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00046.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00047.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00048.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.867, 1.104]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.408, 1.139]). The trajectory involves 5 precise waypoints with total movement distance of 0.468." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34619, + "action": "carry", + "object": "Bottle", + "frame_index": 48, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34621", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00052.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.832, 1.115]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.335, 1.218]). The trajectory involves 5 precise waypoints with total movement distance of 0.511." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34621, + "action": "carry", + "object": "Bottle", + "frame_index": 52, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34622", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00053.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00054.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.789, 1.130]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.296, 1.255]). The trajectory involves 5 precise waypoints with total movement distance of 0.511." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34622, + "action": "carry", + "object": "Bottle", + "frame_index": 54, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34624", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.737, 1.100]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.276, 1.261]). The trajectory involves 5 precise waypoints with total movement distance of 0.491." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34624, + "action": "carry", + "object": "Bottle", + "frame_index": 58, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34628", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.687, 1.100]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.197, 1.282]). The trajectory involves 5 precise waypoints with total movement distance of 0.524." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34628, + "action": "carry", + "object": "Bottle", + "frame_index": 66, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34632", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.693, 1.145]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.196, 1.332]). The trajectory involves 5 precise waypoints with total movement distance of 0.532." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34632, + "action": "carry", + "object": "Bottle", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34635", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.653, 1.202]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.168, 1.369]). The trajectory involves 5 precise waypoints with total movement distance of 0.516." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34635, + "action": "carry", + "object": "Bottle", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34642", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.625, 1.200]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.295, 1.343]). The trajectory involves 5 precise waypoints with total movement distance of 0.363." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34642, + "action": "carry", + "object": "Bottle", + "frame_index": 94, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34643", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.632, 1.233]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.338, 1.370]). The trajectory involves 5 precise waypoints with total movement distance of 0.326." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34643, + "action": "carry", + "object": "Bottle", + "frame_index": 96, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34644", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.614, 1.207]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.329, 1.358]). The trajectory involves 5 precise waypoints with total movement distance of 0.326." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34644, + "action": "carry", + "object": "Bottle", + "frame_index": 97, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34650", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.608, 1.330]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.562, 1.514]). The trajectory involves 5 precise waypoints with total movement distance of 0.192." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34650, + "action": "putdown", + "object": "Bottle", + "frame_index": 190, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34655", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N20_S56_s03_T2/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.620, 1.397]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.548, 1.537]). The trajectory involves 5 precise waypoints with total movement distance of 0.159." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34655, + "action": "putdown", + "object": "Bottle", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34713", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N20_S263_s03_T3/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N20_S263_s03_T3/align_rgb/00102.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N20_S263_s03_T3/align_rgb/00103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.570, 1.272]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.579, 1.391]). The trajectory involves 5 precise waypoints with total movement distance of 0.122." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34713, + "action": "putdown", + "object": "Bottle", + "frame_index": 103, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34766", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N19_S263_s03_T3/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N19_S263_s03_T3/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N19_S263_s03_T3/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.383, 1.399]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.477, 1.770]). The trajectory involves 5 precise waypoints with total movement distance of 1.196." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34766, + "action": "carry", + "object": "Bottle", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34783", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N19_S263_s03_T3/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N19_S263_s03_T3/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N19_S263_s03_T3/align_rgb/00231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.624, 1.476]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.520, 1.657]). The trajectory involves 5 precise waypoints with total movement distance of 0.209." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34783, + "action": "putdown", + "object": "Bottle", + "frame_index": 231, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34804", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N19_S255_s05_T1/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N19_S255_s05_T1/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N19_S255_s05_T1/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [2.006, 1.326]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.629, 1.286]). The trajectory involves 5 precise waypoints with total movement distance of 0.415." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34804, + "action": "carry", + "object": "Bottle", + "frame_index": 212, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34997", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N17_S263_s02_T3/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N17_S263_s02_T3/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N17_S263_s02_T3/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.366, 1.433]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.396, 1.719]). The trajectory involves 5 precise waypoints with total movement distance of 1.090." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34997, + "action": "carry", + "object": "Bottle", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_34999", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N17_S263_s02_T3/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N17_S263_s02_T3/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N17_S263_s02_T3/align_rgb/00075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.333, 1.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.353, 1.847]). The trajectory involves 5 precise waypoints with total movement distance of 1.087." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 34999, + "action": "carry", + "object": "Bottle", + "frame_index": 75, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_35033", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N17_S255_s05_T1/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N17_S255_s05_T1/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N17_S255_s05_T1/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.911, 1.404]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.480, 1.280]). The trajectory involves 5 precise waypoints with total movement distance of 0.474." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35033, + "action": "carry", + "object": "Bottle", + "frame_index": 201, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_35059", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N16_S56_s01_T2/align_rgb/00170.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N16_S56_s01_T2/align_rgb/00171.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N16_S56_s01_T2/align_rgb/00172.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.315, 1.114]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.873, 1.243]). The trajectory involves 5 precise waypoints with total movement distance of 0.582." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35059, + "action": "putdown", + "object": "Bottle", + "frame_index": 172, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_35121", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N16_S263_s02_T3/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N16_S263_s02_T3/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N16_S263_s02_T3/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.395, 1.457]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.581, 1.688]). The trajectory involves 5 precise waypoints with total movement distance of 1.230." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35121, + "action": "carry", + "object": "Bottle", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_35136", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N16_S263_s02_T3/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N16_S263_s02_T3/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N16_S263_s02_T3/align_rgb/00238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.497, 1.356]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.460, 1.675]). The trajectory involves 5 precise waypoints with total movement distance of 0.324." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35136, + "action": "putdown", + "object": "Bottle", + "frame_index": 238, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_35166", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N15_S267_s04_T5/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N15_S267_s04_T5/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N15_S267_s04_T5/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.471, 1.050]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.714, 1.394]). The trajectory involves 5 precise waypoints with total movement distance of 1.316." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35166, + "action": "carry", + "object": "Bottle", + "frame_index": 207, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_35168", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N15_S267_s04_T5/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N15_S267_s04_T5/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N15_S267_s04_T5/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.457, 1.079]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.540, 1.453]). The trajectory involves 5 precise waypoints with total movement distance of 1.177." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35168, + "action": "carry", + "object": "Bottle", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_35174", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N15_S267_s04_T5/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N15_S267_s04_T5/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N15_S267_s04_T5/align_rgb/00242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.671, 1.242]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.672, 1.396]). The trajectory involves 5 precise waypoints with total movement distance of 0.159." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35174, + "action": "putdown", + "object": "Bottle", + "frame_index": 242, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_35178", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N15_S263_s02_T3/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N15_S263_s02_T3/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N15_S263_s02_T3/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.494, 1.450]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.584, 1.760]). The trajectory involves 5 precise waypoints with total movement distance of 1.161." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35178, + "action": "carry", + "object": "Bottle", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_35216", + "task": "pick up the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N15_S121_s03_T3/align_rgb/00043.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N15_S121_s03_T3/align_rgb/00044.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N15_S121_s03_T3/align_rgb/00045.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bottle, execute the following phases: 1) Initial approach phase (start at [1.374, 1.094]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.405, 0.943]). The trajectory involves 5 precise waypoints with total movement distance of 0.155." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35216, + "action": "pickup", + "object": "Bottle", + "frame_index": 45, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_35219", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N15_S121_s03_T3/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N15_S121_s03_T3/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N15_S121_s03_T3/align_rgb/00095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.415, 1.083]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.375, 1.266]). The trajectory involves 5 precise waypoints with total movement distance of 0.189." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35219, + "action": "putdown", + "object": "Bottle", + "frame_index": 95, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_35242", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N14_S267_s04_T5/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N14_S267_s04_T5/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N14_S267_s04_T5/align_rgb/00194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.482, 1.317]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.697, 1.842]). The trajectory involves 5 precise waypoints with total movement distance of 1.382." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35242, + "action": "carry", + "object": "Bottle", + "frame_index": 194, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_35257", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N14_S263_s01_T3/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N14_S263_s01_T3/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N14_S263_s01_T3/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.367, 1.523]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.515, 1.878]). The trajectory involves 5 precise waypoints with total movement distance of 1.227." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35257, + "action": "carry", + "object": "Bottle", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_35258", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N14_S263_s01_T3/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N14_S263_s01_T3/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N14_S263_s01_T3/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.356, 1.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.464, 1.858]). The trajectory involves 5 precise waypoints with total movement distance of 1.193." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35258, + "action": "carry", + "object": "Bottle", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_35286", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N14_S255_s04_T1/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N14_S255_s04_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N14_S255_s04_T1/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.542, 1.478]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.969, 1.414]). The trajectory involves 5 precise waypoints with total movement distance of 0.465." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35286, + "action": "carry", + "object": "Bottle", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_35302", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N14_S121_s02_T3/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N14_S121_s02_T3/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N14_S121_s02_T3/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.487, 1.437]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.467, 1.651]). The trajectory involves 5 precise waypoints with total movement distance of 0.217." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35302, + "action": "putdown", + "object": "Bottle", + "frame_index": 195, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_35303", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N14_S121_s02_T3/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N14_S121_s02_T3/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N14_S121_s02_T3/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.527, 1.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.513, 1.638]). The trajectory involves 5 precise waypoints with total movement distance of 0.186." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35303, + "action": "putdown", + "object": "Bottle", + "frame_index": 199, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_35403", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N12_S267_s03_T5/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N12_S267_s03_T5/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N12_S267_s03_T5/align_rgb/00226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.762, 1.165]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.770, 1.421]). The trajectory involves 5 precise waypoints with total movement distance of 0.258." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35403, + "action": "putdown", + "object": "Bottle", + "frame_index": 226, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_35404", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N12_S267_s03_T5/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N12_S267_s03_T5/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N12_S267_s03_T5/align_rgb/00228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.744, 1.141]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.720, 1.367]). The trajectory involves 5 precise waypoints with total movement distance of 0.230." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35404, + "action": "putdown", + "object": "Bottle", + "frame_index": 228, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_35409", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N12_S263_s01_T3/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N12_S263_s01_T3/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N12_S263_s01_T3/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.520, 1.411]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.659, 1.762]). The trajectory involves 5 precise waypoints with total movement distance of 1.228." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35409, + "action": "carry", + "object": "Bottle", + "frame_index": 64, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_35410", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N12_S263_s01_T3/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N12_S263_s01_T3/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N12_S263_s01_T3/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.548, 1.418]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.638, 1.794]). The trajectory involves 5 precise waypoints with total movement distance of 1.182." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35410, + "action": "carry", + "object": "Bottle", + "frame_index": 66, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_35411", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N12_S263_s01_T3/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N12_S263_s01_T3/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N12_S263_s01_T3/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.535, 1.421]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.541, 1.824]). The trajectory involves 5 precise waypoints with total movement distance of 1.111." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35411, + "action": "carry", + "object": "Bottle", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_35429", + "task": "carry Bottle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N12_S255_s03_T1/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N12_S255_s03_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N12_S255_s03_T1/align_rgb/00077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the right, execute the following phases: 1) Initial approach phase (start at [1.568, 1.308]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.985, 1.211]). The trajectory involves 5 precise waypoints with total movement distance of 0.450." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35429, + "action": "carry", + "object": "Bottle", + "frame_index": 77, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_35453", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N12_S121_s01_T3/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N12_S121_s01_T3/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N12_S121_s01_T3/align_rgb/00191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.415, 1.479]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.380, 1.748]). The trajectory involves 5 precise waypoints with total movement distance of 0.272." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35453, + "action": "putdown", + "object": "Bottle", + "frame_index": 191, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_35454", + "task": "put down the bottle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C5_N12_S121_s01_T3/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N12_S121_s01_T3/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800002_H2_C5_N12_S121_s01_T3/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the bottle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the bottle, execute the following phases: 1) Initial approach phase (start at [1.399, 1.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.377, 1.783]). The trajectory involves 5 precise waypoints with total movement distance of 0.261." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35454, + "action": "putdown", + "object": "Bottle", + "frame_index": 195, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_35686", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00000.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.555, 1.367]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.583, 1.684]). The trajectory involves 5 precise waypoints with total movement distance of 0.319." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35686, + "action": "open", + "object": "Storage Furniture", + "frame_index": 0, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_35687", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00005.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00006.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00007.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.472, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.486, 1.688]). The trajectory involves 5 precise waypoints with total movement distance of 0.325." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35687, + "action": "open", + "object": "Storage Furniture", + "frame_index": 7, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_35689", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00020.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00021.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00022.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.612, 1.528]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.609, 1.859]). The trajectory involves 5 precise waypoints with total movement distance of 0.331." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35689, + "action": "open", + "object": "Storage Furniture", + "frame_index": 22, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_35693", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.634, 1.690]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.619, 1.425]). The trajectory involves 5 precise waypoints with total movement distance of 0.265." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35693, + "action": "close", + "object": "Storage Furniture", + "frame_index": 82, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_35696", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00143.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00144.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.620, 1.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.621, 1.730]). The trajectory involves 5 precise waypoints with total movement distance of 0.257." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35696, + "action": "open", + "object": "Storage Furniture", + "frame_index": 145, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_35697", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00146.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00147.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.656, 1.474]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.656, 1.732]). The trajectory involves 5 precise waypoints with total movement distance of 0.258." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35697, + "action": "open", + "object": "Storage Furniture", + "frame_index": 148, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_35698", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00150.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00151.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.724, 1.538]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.723, 1.807]). The trajectory involves 5 precise waypoints with total movement distance of 0.270." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35698, + "action": "open", + "object": "Storage Furniture", + "frame_index": 152, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_35699", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00153.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00154.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.766, 1.580]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.770, 1.858]). The trajectory involves 5 precise waypoints with total movement distance of 0.278." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35699, + "action": "open", + "object": "Storage Furniture", + "frame_index": 155, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_35700", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00157.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00158.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00159.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.782, 1.573]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.785, 1.859]). The trajectory involves 5 precise waypoints with total movement distance of 0.286." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35700, + "action": "open", + "object": "Storage Furniture", + "frame_index": 159, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_35704", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.614, 1.887]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.606, 1.571]). The trajectory involves 5 precise waypoints with total movement distance of 0.316." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35704, + "action": "close", + "object": "Storage Furniture", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_35705", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.695, 1.895]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.670, 1.581]). The trajectory involves 5 precise waypoints with total movement distance of 0.315." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35705, + "action": "close", + "object": "Storage Furniture", + "frame_index": 217, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_35706", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.610, 1.787]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.596, 1.472]). The trajectory involves 5 precise waypoints with total movement distance of 0.316." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35706, + "action": "close", + "object": "Storage Furniture", + "frame_index": 221, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_35707", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N10_S105_s02_T1/align_rgb/00223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.708, 1.837]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.691, 1.533]). The trajectory involves 5 precise waypoints with total movement distance of 0.305." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35707, + "action": "close", + "object": "Storage Furniture", + "frame_index": 223, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_35724", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C4_N08_S105_s03_T2/align_rgb/00167.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N08_S105_s03_T2/align_rgb/00168.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N08_S105_s03_T2/align_rgb/00169.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.888, 1.468]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.879, 1.594]). The trajectory involves 5 precise waypoints with total movement distance of 0.127." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35724, + "action": "open", + "object": "Storage Furniture", + "frame_index": 169, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_35732", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C4_N08_S105_s03_T2/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N08_S105_s03_T2/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N08_S105_s03_T2/align_rgb/00239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.908, 1.378]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.887, 1.282]). The trajectory involves 5 precise waypoints with total movement distance of 0.114." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35732, + "action": "close", + "object": "Storage Furniture", + "frame_index": 239, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_35764", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C4_N01_S105_s01_T2/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N01_S105_s01_T2/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N01_S105_s01_T2/align_rgb/00087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.859, 1.938]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.929, 1.699]). The trajectory involves 5 precise waypoints with total movement distance of 0.256." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35764, + "action": "close", + "object": "Storage Furniture", + "frame_index": 87, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_35777", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C4_N01_S105_s01_T2/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N01_S105_s01_T2/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800002_H2_C4_N01_S105_s01_T2/align_rgb/00218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.954, 1.715]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.994, 1.503]). The trajectory involves 5 precise waypoints with total movement distance of 0.217." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35777, + "action": "close", + "object": "Storage Furniture", + "frame_index": 218, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_35806", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C3_N50_S354_s05_T2/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800002_H2_C3_N50_S354_s05_T2/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800002_H2_C3_N50_S354_s05_T2/align_rgb/00189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.905, 1.550]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.144, 0.796]). The trajectory involves 5 precise waypoints with total movement distance of 0.793." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35806, + "action": "open", + "object": "Laptop", + "frame_index": 189, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_35808", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C3_N50_S354_s05_T2/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800002_H2_C3_N50_S354_s05_T2/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800002_H2_C3_N50_S354_s05_T2/align_rgb/00193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.840, 1.385]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.984, 0.949]). The trajectory involves 5 precise waypoints with total movement distance of 0.460." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35808, + "action": "open", + "object": "Laptop", + "frame_index": 193, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_35852", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C3_N28_S354_s05_T2/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800002_H2_C3_N28_S354_s05_T2/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800002_H2_C3_N28_S354_s05_T2/align_rgb/00192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.800, 1.878]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.955, 1.581]). The trajectory involves 5 precise waypoints with total movement distance of 0.335." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35852, + "action": "open", + "object": "Laptop", + "frame_index": 192, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_35887", + "task": "carry Laptop to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C3_N26_S353_s04_T1/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800002_H2_C3_N26_S353_s04_T1/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800002_H2_C3_N26_S353_s04_T1/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the right, execute the following phases: 1) Initial approach phase (start at [1.470, 1.590]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.035, 1.605]). The trajectory involves 5 precise waypoints with total movement distance of 0.613." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35887, + "action": "carry", + "object": "Laptop", + "frame_index": 64, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_35916", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C3_N25_S353_s04_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800002_H2_C3_N25_S353_s04_T1/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800002_H2_C3_N25_S353_s04_T1/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [2.014, 1.605]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.594, 1.452]). The trajectory involves 5 precise waypoints with total movement distance of 0.467." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 35916, + "action": "carry", + "object": "Laptop", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_36039", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C3_N17_S353_s02_T1/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800002_H2_C3_N17_S353_s02_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800002_H2_C3_N17_S353_s02_T1/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.842, 1.392]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.414, 1.371]). The trajectory involves 5 precise waypoints with total movement distance of 0.442." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 36039, + "action": "carry", + "object": "Laptop", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_36057", + "task": "carry Laptop to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C3_N15_S353_s02_T1/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800002_H2_C3_N15_S353_s02_T1/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800002_H2_C3_N15_S353_s02_T1/align_rgb/00205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Laptop to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Laptop to the left, execute the following phases: 1) Initial approach phase (start at [1.813, 1.468]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.350, 1.409]). The trajectory involves 5 precise waypoints with total movement distance of 0.517." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 36057, + "action": "carry", + "object": "Laptop", + "frame_index": 205, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen" + ] + } + }, + { + "id": "hoi4d_36167", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C3_N02_S354_s01_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800002_H2_C3_N02_S354_s01_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800002_H2_C3_N02_S354_s01_T2/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.738, 1.559]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.914, 1.098]). The trajectory involves 5 precise waypoints with total movement distance of 0.494." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 36167, + "action": "open", + "object": "Laptop", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_36172", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C3_N02_S354_s01_T2/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800002_H2_C3_N02_S354_s01_T2/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800002_H2_C3_N02_S354_s01_T2/align_rgb/00242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.705, 1.240]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.512, 1.826]). The trajectory involves 5 precise waypoints with total movement distance of 0.617." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 36172, + "action": "close", + "object": "Laptop", + "frame_index": 242, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_36281", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N50_S29_s05_T3/align_rgb/00053.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N50_S29_s05_T3/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N50_S29_s05_T3/align_rgb/00055.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.747, 0.924]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.347, 0.753]). The trajectory involves 5 precise waypoints with total movement distance of 0.449." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 36281, + "action": "carry", + "object": "Mug", + "frame_index": 55, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_36285", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N50_S29_s05_T3/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N50_S29_s05_T3/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N50_S29_s05_T3/align_rgb/00063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.696, 0.984]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.337, 0.918]). The trajectory involves 5 precise waypoints with total movement distance of 0.373." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 36285, + "action": "carry", + "object": "Mug", + "frame_index": 63, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_36289", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N50_S29_s05_T3/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N50_S29_s05_T3/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N50_S29_s05_T3/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.706, 0.848]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.421, 0.816]). The trajectory involves 5 precise waypoints with total movement distance of 0.288." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 36289, + "action": "carry", + "object": "Mug", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_36301", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N50_S29_s05_T3/align_rgb/00162.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N50_S29_s05_T3/align_rgb/00163.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N50_S29_s05_T3/align_rgb/00164.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.562, 1.036]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.568, 0.893]). The trajectory involves 5 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 36301, + "action": "pickup", + "object": "Mug", + "frame_index": 164, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_36466", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N48_S29_s04_T3/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N48_S29_s04_T3/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N48_S29_s04_T3/align_rgb/00065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.757, 0.952]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.483, 0.872]). The trajectory involves 5 precise waypoints with total movement distance of 0.286." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 36466, + "action": "carry", + "object": "Mug", + "frame_index": 65, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_36468", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N48_S29_s04_T3/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N48_S29_s04_T3/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N48_S29_s04_T3/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.730, 1.031]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.481, 0.972]). The trajectory involves 5 precise waypoints with total movement distance of 0.258." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 36468, + "action": "carry", + "object": "Mug", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_36572", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T3/align_rgb/00038.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T3/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T3/align_rgb/00040.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.940, 1.113]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.906, 0.855]). The trajectory involves 5 precise waypoints with total movement distance of 0.273." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 36572, + "action": "pickup", + "object": "Mug", + "frame_index": 40, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_36575", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T3/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T3/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T3/align_rgb/00059.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.826, 0.971]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.557, 0.916]). The trajectory involves 5 precise waypoints with total movement distance of 0.281." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 36575, + "action": "carry", + "object": "Mug", + "frame_index": 59, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_36581", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T3/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T3/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T3/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.788, 0.905]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.541, 0.935]). The trajectory involves 5 precise waypoints with total movement distance of 0.253." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 36581, + "action": "carry", + "object": "Mug", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_36625", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T3/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T3/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T3/align_rgb/00240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.756, 0.890]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.722, 0.972]). The trajectory involves 5 precise waypoints with total movement distance of 0.091." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 36625, + "action": "putdown", + "object": "Mug", + "frame_index": 240, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_36658", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T1/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T1/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T1/align_rgb/00102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.647, 0.955]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.651, 1.053]). The trajectory involves 5 precise waypoints with total movement distance of 0.101." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 36658, + "action": "putdown", + "object": "Mug", + "frame_index": 102, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_36660", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T1/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T1/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N47_S29_s04_T1/align_rgb/00106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.661, 0.976]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.649, 1.064]). The trajectory involves 5 precise waypoints with total movement distance of 0.089." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 36660, + "action": "putdown", + "object": "Mug", + "frame_index": 106, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_36728", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N46_S29_s03_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N46_S29_s03_T1/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N46_S29_s03_T1/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.622, 0.961]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.639, 1.054]). The trajectory involves 5 precise waypoints with total movement distance of 0.095." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 36728, + "action": "putdown", + "object": "Mug", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_36781", + "task": "take the mug out of the drawer", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T3/align_rgb/00043.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T3/align_rgb/00044.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T3/align_rgb/00045.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: take the mug out of the drawer?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: take the mug out of the drawer, execute the following phases: 1) Initial approach phase (start at [1.515, 1.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.593, 1.217]). The trajectory involves 5 precise waypoints with total movement distance of 0.302." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 36781, + "action": "carry", + "object": "Mug", + "frame_index": 45, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_36813", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T3/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T3/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T3/align_rgb/00197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.819, 0.962]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.783, 1.039]). The trajectory involves 5 precise waypoints with total movement distance of 0.088." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 36813, + "action": "putdown", + "object": "Mug", + "frame_index": 197, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_36852", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T1/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T1/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T1/align_rgb/00052.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.636, 0.961]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.649, 0.869]). The trajectory involves 5 precise waypoints with total movement distance of 0.095." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 36852, + "action": "pickup", + "object": "Mug", + "frame_index": 52, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_36869", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T1/align_rgb/00103.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T1/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T1/align_rgb/00105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.680, 0.892]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.679, 0.979]). The trajectory involves 5 precise waypoints with total movement distance of 0.087." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 36869, + "action": "putdown", + "object": "Mug", + "frame_index": 105, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_36883", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T1/align_rgb/00182.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T1/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N45_S29_s03_T1/align_rgb/00184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.691, 1.125]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.731, 1.025]). The trajectory involves 5 precise waypoints with total movement distance of 0.108." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 36883, + "action": "pickup", + "object": "Mug", + "frame_index": 184, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_37058", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T3/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T3/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T3/align_rgb/00053.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.845, 1.118]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.117, 1.036]). The trajectory involves 5 precise waypoints with total movement distance of 0.740." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 37058, + "action": "carry", + "object": "Mug", + "frame_index": 53, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_37061", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T3/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T3/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T3/align_rgb/00059.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.839, 1.137]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.982, 1.099]). The trajectory involves 5 precise waypoints with total movement distance of 0.883." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 37061, + "action": "carry", + "object": "Mug", + "frame_index": 59, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_37063", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T3/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T3/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T3/align_rgb/00063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.860, 1.117]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.054, 1.085]). The trajectory involves 5 precise waypoints with total movement distance of 0.839." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 37063, + "action": "carry", + "object": "Mug", + "frame_index": 63, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_37074", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T3/align_rgb/00103.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T3/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T3/align_rgb/00105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.708, 1.198]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.657, 1.341]). The trajectory involves 5 precise waypoints with total movement distance of 0.153." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 37074, + "action": "putdown", + "object": "Mug", + "frame_index": 105, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_37151", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T1/align_rgb/00171.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T1/align_rgb/00172.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T1/align_rgb/00173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.733, 1.092]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.754, 1.011]). The trajectory involves 5 precise waypoints with total movement distance of 0.086." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 37151, + "action": "pickup", + "object": "Mug", + "frame_index": 173, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_37154", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T1/align_rgb/00177.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T1/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T1/align_rgb/00179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.749, 1.058]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.761, 0.993]). The trajectory involves 5 precise waypoints with total movement distance of 0.067." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 37154, + "action": "pickup", + "object": "Mug", + "frame_index": 179, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_37167", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T1/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T1/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N39_S30_s05_T1/align_rgb/00224.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.765, 0.976]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.747, 1.037]). The trajectory involves 5 precise waypoints with total movement distance of 0.064." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 37167, + "action": "putdown", + "object": "Mug", + "frame_index": 224, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_37184", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N37_S30_s04_T3/align_rgb/00047.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N37_S30_s04_T3/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N37_S30_s04_T3/align_rgb/00049.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.316, 1.141]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.795, 1.748]). The trajectory involves 5 precise waypoints with total movement distance of 1.643." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 37184, + "action": "carry", + "object": "Mug", + "frame_index": 49, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_37185", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N37_S30_s04_T3/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N37_S30_s04_T3/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N37_S30_s04_T3/align_rgb/00051.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.339, 1.159]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.771, 1.814]). The trajectory involves 5 precise waypoints with total movement distance of 1.623." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 37185, + "action": "carry", + "object": "Mug", + "frame_index": 51, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_37225", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N37_S30_s04_T3/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N37_S30_s04_T3/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N37_S30_s04_T3/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.930, 1.501]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.881, 1.599]). The trajectory involves 5 precise waypoints with total movement distance of 0.111." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 37225, + "action": "putdown", + "object": "Mug", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_37441", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N30_S2_s05_T1/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N30_S2_s05_T1/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N30_S2_s05_T1/align_rgb/00052.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.399, 0.979]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.394, 0.816]). The trajectory involves 5 precise waypoints with total movement distance of 0.167." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 37441, + "action": "pickup", + "object": "Mug", + "frame_index": 52, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_37480", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N30_S2_s05_T1/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N30_S2_s05_T1/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N30_S2_s05_T1/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.518, 0.940]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.528, 0.843]). The trajectory involves 5 precise waypoints with total movement distance of 0.100." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 37480, + "action": "pickup", + "object": "Mug", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_37482", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N30_S2_s05_T1/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N30_S2_s05_T1/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N30_S2_s05_T1/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.518, 0.921]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.524, 0.832]). The trajectory involves 5 precise waypoints with total movement distance of 0.089." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 37482, + "action": "pickup", + "object": "Mug", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_37639", + "task": "take the mug of the drawer", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N24_S2_s02_T3/align_rgb/00033.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N24_S2_s02_T3/align_rgb/00034.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N24_S2_s02_T3/align_rgb/00035.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: take the mug of the drawer?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: take the mug of the drawer, execute the following phases: 1) Initial approach phase (start at [1.493, 1.129]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.580, 0.689]). The trajectory involves 5 precise waypoints with total movement distance of 0.455." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 37639, + "action": "carry", + "object": "Mug", + "frame_index": 35, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_37753", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N24_S2_s02_T1/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N24_S2_s02_T1/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N24_S2_s02_T1/align_rgb/00190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.698, 0.850]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.713, 0.773]). The trajectory involves 5 precise waypoints with total movement distance of 0.080." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 37753, + "action": "pickup", + "object": "Mug", + "frame_index": 190, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_37783", + "task": "take the mug out of the drawer", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N22_S2_s01_T3/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N22_S2_s01_T3/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N22_S2_s01_T3/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: take the mug out of the drawer?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: take the mug out of the drawer, execute the following phases: 1) Initial approach phase (start at [1.506, 1.337]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.648, 0.884]). The trajectory involves 5 precise waypoints with total movement distance of 0.475." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 37783, + "action": "pickup", + "object": "Mug", + "frame_index": 70, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_37784", + "task": "take the mug out of the drawer", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N22_S2_s01_T3/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N22_S2_s01_T3/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N22_S2_s01_T3/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: take the mug out of the drawer?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: take the mug out of the drawer, execute the following phases: 1) Initial approach phase (start at [1.496, 1.277]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.630, 0.835]). The trajectory involves 5 precise waypoints with total movement distance of 0.462." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 37784, + "action": "pickup", + "object": "Mug", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_37785", + "task": "take the mug out of the drawer", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N22_S2_s01_T3/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N22_S2_s01_T3/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N22_S2_s01_T3/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: take the mug out of the drawer?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: take the mug out of the drawer, execute the following phases: 1) Initial approach phase (start at [1.492, 1.238]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.618, 0.823]). The trajectory involves 5 precise waypoints with total movement distance of 0.437." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 37785, + "action": "pickup", + "object": "Mug", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_37996", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N19_S25_s05_T3/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N19_S25_s05_T3/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N19_S25_s05_T3/align_rgb/00236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.583, 1.643]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.598, 1.765]). The trajectory involves 5 precise waypoints with total movement distance of 0.123." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 37996, + "action": "putdown", + "object": "Mug", + "frame_index": 236, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38037", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N19_S25_s05_T1/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N19_S25_s05_T1/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N19_S25_s05_T1/align_rgb/00234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.537, 1.258]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.540, 1.326]). The trajectory involves 5 precise waypoints with total movement distance of 0.069." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38037, + "action": "putdown", + "object": "Mug", + "frame_index": 234, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38151", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00047.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00049.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.882, 0.986]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.456, 0.686]). The trajectory involves 5 precise waypoints with total movement distance of 0.536." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38151, + "action": "carry", + "object": "Mug", + "frame_index": 49, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38152", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00051.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.879, 0.898]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.443, 0.603]). The trajectory involves 5 precise waypoints with total movement distance of 0.535." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38152, + "action": "carry", + "object": "Mug", + "frame_index": 51, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38155", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00057.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.786, 0.843]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.347, 0.676]). The trajectory involves 5 precise waypoints with total movement distance of 0.485." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38155, + "action": "carry", + "object": "Mug", + "frame_index": 57, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38157", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.751, 0.814]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.260, 0.726]). The trajectory involves 5 precise waypoints with total movement distance of 0.507." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38157, + "action": "carry", + "object": "Mug", + "frame_index": 61, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38158", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.734, 0.803]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.210, 0.728]). The trajectory involves 5 precise waypoints with total movement distance of 0.540." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38158, + "action": "carry", + "object": "Mug", + "frame_index": 63, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38165", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.655, 0.787]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.001, 0.850]). The trajectory involves 5 precise waypoints with total movement distance of 0.660." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38165, + "action": "carry", + "object": "Mug", + "frame_index": 77, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38167", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.661, 0.726]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.011, 0.800]). The trajectory involves 5 precise waypoints with total movement distance of 0.660." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38167, + "action": "carry", + "object": "Mug", + "frame_index": 81, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38169", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.568, 0.757]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.902, 0.871]). The trajectory involves 5 precise waypoints with total movement distance of 0.680." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38169, + "action": "carry", + "object": "Mug", + "frame_index": 85, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38171", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.502, 0.753]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.912, 0.885]). The trajectory involves 5 precise waypoints with total movement distance of 0.609." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38171, + "action": "carry", + "object": "Mug", + "frame_index": 89, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38174", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T3/align_rgb/00095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.373, 0.789]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.880, 0.933]). The trajectory involves 5 precise waypoints with total movement distance of 0.516." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38174, + "action": "carry", + "object": "Mug", + "frame_index": 95, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38203", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T1/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T1/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N17_S25_s04_T1/align_rgb/00050.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.493, 1.534]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.517, 1.425]). The trajectory involves 5 precise waypoints with total movement distance of 0.112." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38203, + "action": "pickup", + "object": "Mug", + "frame_index": 50, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38264", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00051.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.848, 1.273]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.378, 0.937]). The trajectory involves 5 precise waypoints with total movement distance of 0.605." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38264, + "action": "carry", + "object": "Mug", + "frame_index": 51, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38266", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00053.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00055.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.815, 1.248]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.246, 0.946]). The trajectory involves 5 precise waypoints with total movement distance of 0.671." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38266, + "action": "carry", + "object": "Mug", + "frame_index": 55, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38267", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00057.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.811, 1.233]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.221, 0.979]). The trajectory involves 5 precise waypoints with total movement distance of 0.687." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38267, + "action": "carry", + "object": "Mug", + "frame_index": 57, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38268", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00059.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.806, 1.241]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.163, 1.054]). The trajectory involves 5 precise waypoints with total movement distance of 0.723." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38268, + "action": "carry", + "object": "Mug", + "frame_index": 59, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38269", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.779, 1.232]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.076, 1.100]). The trajectory involves 5 precise waypoints with total movement distance of 0.766." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38269, + "action": "carry", + "object": "Mug", + "frame_index": 61, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38271", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.767, 1.246]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.063, 1.226]). The trajectory involves 5 precise waypoints with total movement distance of 0.737." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38271, + "action": "carry", + "object": "Mug", + "frame_index": 65, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38272", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.750, 1.201]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.039, 1.209]). The trajectory involves 5 precise waypoints with total movement distance of 0.752." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38272, + "action": "carry", + "object": "Mug", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38288", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T3/align_rgb/00191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.449, 1.198]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.427, 1.365]). The trajectory involves 5 precise waypoints with total movement distance of 0.174." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38288, + "action": "putdown", + "object": "Mug", + "frame_index": 191, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38332", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T1/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T1/align_rgb/00102.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T1/align_rgb/00103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.534, 1.039]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.531, 1.126]). The trajectory involves 5 precise waypoints with total movement distance of 0.088." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38332, + "action": "putdown", + "object": "Mug", + "frame_index": 103, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38341", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T1/align_rgb/00169.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T1/align_rgb/00170.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N16_S25_s03_T1/align_rgb/00171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.563, 1.063]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.571, 0.950]). The trajectory involves 5 precise waypoints with total movement distance of 0.113." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38341, + "action": "pickup", + "object": "Mug", + "frame_index": 171, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38380", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00032.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00033.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00034.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.669, 1.046]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.660, 0.862]). The trajectory involves 5 precise waypoints with total movement distance of 0.185." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38380, + "action": "pickup", + "object": "Mug", + "frame_index": 34, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38383", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00050.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.692, 0.967]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.033, 0.895]). The trajectory involves 5 precise waypoints with total movement distance of 0.745." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38383, + "action": "carry", + "object": "Mug", + "frame_index": 50, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38388", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.709, 0.919]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.040, 1.032]). The trajectory involves 5 precise waypoints with total movement distance of 0.696." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38388, + "action": "carry", + "object": "Mug", + "frame_index": 60, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38395", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.724, 0.919]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.268, 1.123]). The trajectory involves 5 precise waypoints with total movement distance of 0.510." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38395, + "action": "carry", + "object": "Mug", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38415", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T3/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.709, 0.826]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.689, 0.982]). The trajectory involves 5 precise waypoints with total movement distance of 0.159." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38415, + "action": "putdown", + "object": "Mug", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38442", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T1/align_rgb/00038.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T1/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T1/align_rgb/00040.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.607, 1.188]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.618, 1.107]). The trajectory involves 5 precise waypoints with total movement distance of 0.083." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38442, + "action": "pickup", + "object": "Mug", + "frame_index": 40, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38446", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T1/align_rgb/00046.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T1/align_rgb/00047.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T1/align_rgb/00048.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.598, 1.157]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.608, 1.065]). The trajectory involves 5 precise waypoints with total movement distance of 0.093." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38446, + "action": "pickup", + "object": "Mug", + "frame_index": 48, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38447", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T1/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T1/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T1/align_rgb/00050.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.604, 1.152]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.617, 1.065]). The trajectory involves 5 precise waypoints with total movement distance of 0.091." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38447, + "action": "pickup", + "object": "Mug", + "frame_index": 50, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38450", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T1/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T1/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N15_S25_s03_T1/align_rgb/00056.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.611, 1.113]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.623, 1.032]). The trajectory involves 5 precise waypoints with total movement distance of 0.082." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38450, + "action": "pickup", + "object": "Mug", + "frame_index": 56, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38529", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N14_S25_s02_T3/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N14_S25_s02_T3/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N14_S25_s02_T3/align_rgb/00062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.508, 1.180]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.276, 1.095]). The trajectory involves 5 precise waypoints with total movement distance of 0.255." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38529, + "action": "carry", + "object": "Mug", + "frame_index": 62, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38560", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N14_S25_s02_T3/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N14_S25_s02_T3/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N14_S25_s02_T3/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.689, 1.318]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.665, 1.450]). The trajectory involves 5 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38560, + "action": "putdown", + "object": "Mug", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38564", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N14_S25_s02_T3/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N14_S25_s02_T3/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N14_S25_s02_T3/align_rgb/00218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.697, 1.373]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.666, 1.474]). The trajectory involves 5 precise waypoints with total movement distance of 0.106." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38564, + "action": "putdown", + "object": "Mug", + "frame_index": 218, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38582", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N13_S25_s02_T3/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N13_S25_s02_T3/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N13_S25_s02_T3/align_rgb/00063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.635, 1.212]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.020, 1.580]). The trajectory involves 5 precise waypoints with total movement distance of 0.723." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38582, + "action": "putdown", + "object": "Mug", + "frame_index": 63, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38585", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C2_N13_S25_s02_T3/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N13_S25_s02_T3/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800002_H2_C2_N13_S25_s02_T3/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.596, 1.282]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.072, 1.587]). The trajectory involves 5 precise waypoints with total movement distance of 0.619." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38585, + "action": "putdown", + "object": "Mug", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_38782", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C18_N50_S241_s02_T2/align_rgb/00163.jpg", + "hoi4d_frame/ZY20210800002_H2_C18_N50_S241_s02_T2/align_rgb/00164.jpg", + "hoi4d_frame/ZY20210800002_H2_C18_N50_S241_s02_T2/align_rgb/00165.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.561, 1.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.569, 1.760]). The trajectory involves 5 precise waypoints with total movement distance of 1.079." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38782, + "action": "carry", + "object": "Stapler", + "frame_index": 165, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_38900", + "task": "put down the stapler", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C18_N46_S135_s01_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800002_H2_C18_N46_S135_s01_T1/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800002_H2_C18_N46_S135_s01_T1/align_rgb/00100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the stapler?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the stapler, execute the following phases: 1) Initial approach phase (start at [1.504, 1.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.551, 1.605]). The trajectory involves 5 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38900, + "action": "putdown", + "object": "Stapler", + "frame_index": 100, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_38922", + "task": "put down the stapler", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C18_N43_S183_s05_T2/align_rgb/00102.jpg", + "hoi4d_frame/ZY20210800002_H2_C18_N43_S183_s05_T2/align_rgb/00103.jpg", + "hoi4d_frame/ZY20210800002_H2_C18_N43_S183_s05_T2/align_rgb/00104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the stapler?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the stapler, execute the following phases: 1) Initial approach phase (start at [1.431, 1.252]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.283, 1.544]). The trajectory involves 5 precise waypoints with total movement distance of 0.348." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 38922, + "action": "putdown", + "object": "Stapler", + "frame_index": 104, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_39037", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C18_N37_S131_s03_T1/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800002_H2_C18_N37_S131_s03_T1/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800002_H2_C18_N37_S131_s03_T1/align_rgb/00087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.579, 1.322]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.332, 1.339]). The trajectory involves 5 precise waypoints with total movement distance of 0.261." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 39037, + "action": "carry", + "object": "Stapler", + "frame_index": 87, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Base", + "Lid" + ] + } + }, + { + "id": "hoi4d_39041", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C18_N37_S131_s03_T1/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800002_H2_C18_N37_S131_s03_T1/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800002_H2_C18_N37_S131_s03_T1/align_rgb/00222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.365, 1.277]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.613, 1.248]). The trajectory involves 5 precise waypoints with total movement distance of 0.257." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 39041, + "action": "carry", + "object": "Stapler", + "frame_index": 222, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_39049", + "task": "put down the stapler", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C18_N36_S183_s03_T2/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800002_H2_C18_N36_S183_s03_T2/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800002_H2_C18_N36_S183_s03_T2/align_rgb/00095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the stapler?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the stapler, execute the following phases: 1) Initial approach phase (start at [1.534, 1.065]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.722, 1.397]). The trajectory involves 5 precise waypoints with total movement distance of 0.388." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 39049, + "action": "putdown", + "object": "Stapler", + "frame_index": 95, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_39973", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N50_S163_s03_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N50_S163_s03_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N50_S163_s03_T1/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.390, 1.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.385, 1.237]). The trajectory involves 5 precise waypoints with total movement distance of 0.293." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 39973, + "action": "open", + "object": "Trash Can", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_39981", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N50_S163_s03_T1/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N50_S163_s03_T1/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N50_S163_s03_T1/align_rgb/00108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.686, 1.234]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.679, 1.555]). The trajectory involves 5 precise waypoints with total movement distance of 0.321." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 39981, + "action": "close", + "object": "Trash Can", + "frame_index": 108, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_39988", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N50_S163_s03_T1/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N50_S163_s03_T1/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N50_S163_s03_T1/align_rgb/00222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.388, 1.550]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.387, 1.277]). The trajectory involves 5 precise waypoints with total movement distance of 0.273." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 39988, + "action": "open", + "object": "Trash Can", + "frame_index": 222, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_40045", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N48_S163_s03_T1/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N48_S163_s03_T1/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N48_S163_s03_T1/align_rgb/00239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.400, 1.274]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.336, 1.316]). The trajectory involves 5 precise waypoints with total movement distance of 0.080." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 40045, + "action": "close", + "object": "Trash Can", + "frame_index": 239, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_40086", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N46_S163_s03_T1/align_rgb/00250.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N46_S163_s03_T1/align_rgb/00251.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N46_S163_s03_T1/align_rgb/00252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.375, 1.229]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.309, 1.676]). The trajectory involves 5 precise waypoints with total movement distance of 0.452." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 40086, + "action": "close", + "object": "Trash Can", + "frame_index": 252, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_40097", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N44_S187_s02_T2/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N44_S187_s02_T2/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N44_S187_s02_T2/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.452, 1.212]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.422, 1.352]). The trajectory involves 5 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 40097, + "action": "close", + "object": "Trash Can", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_40252", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N25_S163_s02_T1/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N25_S163_s02_T1/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N25_S163_s02_T1/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.477, 1.445]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.473, 1.276]). The trajectory involves 5 precise waypoints with total movement distance of 0.180." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 40252, + "action": "open", + "object": "Trash Can", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_40289", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N24_S359_s02_T1/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N24_S359_s02_T1/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N24_S359_s02_T1/align_rgb/00227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.502, 1.209]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.510, 1.380]). The trajectory involves 5 precise waypoints with total movement distance of 0.172." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 40289, + "action": "close", + "object": "Trash Can", + "frame_index": 227, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_40293", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N24_S163_s01_T1/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N24_S163_s01_T1/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N24_S163_s01_T1/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.526, 1.439]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.534, 1.251]). The trajectory involves 5 precise waypoints with total movement distance of 0.188." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 40293, + "action": "open", + "object": "Trash Can", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_40310", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N24_S163_s01_T1/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N24_S163_s01_T1/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N24_S163_s01_T1/align_rgb/00236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.414, 1.255]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.401, 1.447]). The trajectory involves 5 precise waypoints with total movement distance of 0.193." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 40310, + "action": "close", + "object": "Trash Can", + "frame_index": 236, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_40331", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N23_S163_s01_T1/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N23_S163_s01_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N23_S163_s01_T1/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.519, 1.421]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.752, 1.477]). The trajectory involves 5 precise waypoints with total movement distance of 0.244." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 40331, + "action": "open", + "object": "Trash Can", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_40334", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N23_S163_s01_T1/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N23_S163_s01_T1/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N23_S163_s01_T1/align_rgb/00097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.711, 1.579]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.561, 1.514]). The trajectory involves 5 precise waypoints with total movement distance of 0.166." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 40334, + "action": "close", + "object": "Trash Can", + "frame_index": 97, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_40336", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N23_S163_s01_T1/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N23_S163_s01_T1/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N23_S163_s01_T1/align_rgb/00101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.698, 1.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.567, 1.494]). The trajectory involves 5 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 40336, + "action": "close", + "object": "Trash Can", + "frame_index": 101, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_40343", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N23_S163_s01_T1/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N23_S163_s01_T1/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N23_S163_s01_T1/align_rgb/00237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.691, 1.702]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.540, 1.590]). The trajectory involves 5 precise waypoints with total movement distance of 0.194." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 40343, + "action": "close", + "object": "Trash Can", + "frame_index": 237, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_40357", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N22_S163_s01_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N22_S163_s01_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N22_S163_s01_T1/align_rgb/00099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.429, 1.361]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.416, 1.676]). The trajectory involves 5 precise waypoints with total movement distance of 0.316." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 40357, + "action": "close", + "object": "Trash Can", + "frame_index": 99, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_40369", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N22_S163_s01_T1/align_rgb/00242.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N22_S163_s01_T1/align_rgb/00243.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N22_S163_s01_T1/align_rgb/00244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.389, 1.404]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.385, 1.630]). The trajectory involves 5 precise waypoints with total movement distance of 0.227." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 40369, + "action": "close", + "object": "Trash Can", + "frame_index": 244, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_40416", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N20_S185_s05_T2/align_rgb/00046.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N20_S185_s05_T2/align_rgb/00047.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N20_S185_s05_T2/align_rgb/00048.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.550, 1.433]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.578, 1.170]). The trajectory involves 5 precise waypoints with total movement distance of 0.265." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 40416, + "action": "open", + "object": "Trash Can", + "frame_index": 48, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_40454", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N19_S185_s05_T2/align_rgb/00044.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N19_S185_s05_T2/align_rgb/00045.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N19_S185_s05_T2/align_rgb/00046.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.523, 1.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.535, 1.132]). The trajectory involves 5 precise waypoints with total movement distance of 0.251." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 40454, + "action": "open", + "object": "Trash Can", + "frame_index": 46, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_40455", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N19_S185_s05_T2/align_rgb/00045.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N19_S185_s05_T2/align_rgb/00046.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N19_S185_s05_T2/align_rgb/00047.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.504, 1.348]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.521, 1.144]). The trajectory involves 5 precise waypoints with total movement distance of 0.205." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 40455, + "action": "open", + "object": "Trash Can", + "frame_index": 47, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_40487", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N19_S161_s05_T1/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N19_S161_s05_T1/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N19_S161_s05_T1/align_rgb/00238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.514, 1.028]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.485, 1.194]). The trajectory involves 5 precise waypoints with total movement distance of 0.169." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 40487, + "action": "close", + "object": "Trash Can", + "frame_index": 238, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_40675", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N15_S161_s04_T1/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N15_S161_s04_T1/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N15_S161_s04_T1/align_rgb/00057.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.431, 1.366]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.563, 1.352]). The trajectory involves 5 precise waypoints with total movement distance of 0.134." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 40675, + "action": "open", + "object": "Trash Can", + "frame_index": 57, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_40749", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N13_S161_s04_T1/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N13_S161_s04_T1/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N13_S161_s04_T1/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.405, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.413, 1.085]). The trajectory involves 5 precise waypoints with total movement distance of 0.279." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 40749, + "action": "open", + "object": "Trash Can", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_40775", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N13_S161_s04_T1/align_rgb/00246.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N13_S161_s04_T1/align_rgb/00247.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N13_S161_s04_T1/align_rgb/00248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.417, 1.346]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.411, 1.583]). The trajectory involves 5 precise waypoints with total movement distance of 0.237." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 40775, + "action": "close", + "object": "Trash Can", + "frame_index": 248, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_40786", + "task": "carry Trash Can to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N12_S185_s03_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N12_S185_s03_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N12_S185_s03_T2/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Trash Can to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Trash Can to the left, execute the following phases: 1) Initial approach phase (start at [1.925, 1.773]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.789, 1.089]). The trajectory involves 5 precise waypoints with total movement distance of 1.468." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 40786, + "action": "carry", + "object": "Trash Can", + "frame_index": 212, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_40819", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N12_S161_s03_T1/align_rgb/00247.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N12_S161_s03_T1/align_rgb/00248.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N12_S161_s03_T1/align_rgb/00249.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.484, 1.188]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.481, 1.459]). The trajectory involves 5 precise waypoints with total movement distance of 0.271." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 40819, + "action": "close", + "object": "Trash Can", + "frame_index": 249, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_40827", + "task": "carry Trash Can to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N11_S185_s03_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N11_S185_s03_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N11_S185_s03_T2/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Trash Can to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Trash Can to the left, execute the following phases: 1) Initial approach phase (start at [1.815, 1.613]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.923, 0.951]). The trajectory involves 5 precise waypoints with total movement distance of 1.168." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 40827, + "action": "carry", + "object": "Trash Can", + "frame_index": 212, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_40834", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N11_S161_s03_T1/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N11_S161_s03_T1/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N11_S161_s03_T1/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.333, 1.566]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.395, 1.315]). The trajectory involves 5 precise waypoints with total movement distance of 0.259." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 40834, + "action": "open", + "object": "Trash Can", + "frame_index": 66, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_40838", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N11_S161_s03_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N11_S161_s03_T1/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N11_S161_s03_T1/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.304, 1.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.397, 1.158]). The trajectory involves 5 precise waypoints with total movement distance of 0.376." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 40838, + "action": "open", + "object": "Trash Can", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_40860", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C14_N11_S161_s03_T1/align_rgb/00247.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N11_S161_s03_T1/align_rgb/00248.jpg", + "hoi4d_frame/ZY20210800002_H2_C14_N11_S161_s03_T1/align_rgb/00249.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.437, 1.189]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.311, 1.357]). The trajectory involves 5 precise waypoints with total movement distance of 0.212." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 40860, + "action": "close", + "object": "Trash Can", + "frame_index": 249, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_40961", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C13_N32_S128_s03_T1/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800002_H2_C13_N32_S128_s03_T1/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800002_H2_C13_N32_S128_s03_T1/align_rgb/00233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.460, 1.511]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.488, 1.670]). The trajectory involves 5 precise waypoints with total movement distance of 0.161." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 40961, + "action": "putdown", + "object": "Knife", + "frame_index": 233, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_41007", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C13_N28_S128_s02_T1/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800002_H2_C13_N28_S128_s02_T1/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800002_H2_C13_N28_S128_s02_T1/align_rgb/00237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.384, 1.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.402, 1.633]). The trajectory involves 5 precise waypoints with total movement distance of 0.110." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41007, + "action": "putdown", + "object": "Knife", + "frame_index": 237, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_41147", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C13_N21_S192_s01_T3/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800002_H2_C13_N21_S192_s01_T3/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800002_H2_C13_N21_S192_s01_T3/align_rgb/00089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.495, 1.319]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.496, 1.456]). The trajectory involves 5 precise waypoints with total movement distance of 0.139." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41147, + "action": "putdown", + "object": "Knife", + "frame_index": 89, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_41353", + "task": "pick up the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C13_N15_S346_s01_T1/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800002_H2_C13_N15_S346_s01_T1/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800002_H2_C13_N15_S346_s01_T1/align_rgb/00186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.329, 1.652]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.381, 1.514]). The trajectory involves 5 precise waypoints with total movement distance of 0.150." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41353, + "action": "pickup", + "object": "Knife", + "frame_index": 186, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_41438", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C13_N12_S189_s03_T4/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800002_H2_C13_N12_S189_s03_T4/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800002_H2_C13_N12_S189_s03_T4/align_rgb/00098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.554, 1.194]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.504, 1.479]). The trajectory involves 5 precise waypoints with total movement distance of 0.295." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41438, + "action": "putdown", + "object": "Knife", + "frame_index": 98, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_41454", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C13_N12_S124_s03_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800002_H2_C13_N12_S124_s03_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800002_H2_C13_N12_S124_s03_T1/align_rgb/00099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.540, 1.634]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.537, 1.740]). The trajectory involves 5 precise waypoints with total movement distance of 0.107." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41454, + "action": "putdown", + "object": "Knife", + "frame_index": 99, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_41455", + "task": "pick up the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C13_N12_S124_s03_T1/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800002_H2_C13_N12_S124_s03_T1/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800002_H2_C13_N12_S124_s03_T1/align_rgb/00228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the knife, execute the following phases: 1) Initial approach phase (start at [1.552, 1.684]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.579, 1.565]). The trajectory involves 5 precise waypoints with total movement distance of 0.124." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41455, + "action": "pickup", + "object": "Knife", + "frame_index": 228, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_41456", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C13_N12_S124_s03_T1/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800002_H2_C13_N12_S124_s03_T1/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800002_H2_C13_N12_S124_s03_T1/align_rgb/00241.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.539, 1.594]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.525, 1.734]). The trajectory involves 5 precise waypoints with total movement distance of 0.145." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41456, + "action": "putdown", + "object": "Knife", + "frame_index": 241, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_41462", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C13_N11_S189_s03_T4/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800002_H2_C13_N11_S189_s03_T4/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800002_H2_C13_N11_S189_s03_T4/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.544, 1.188]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.493, 1.472]). The trajectory involves 5 precise waypoints with total movement distance of 0.292." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41462, + "action": "putdown", + "object": "Knife", + "frame_index": 88, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_41475", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C13_N11_S124_s03_T1/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800002_H2_C13_N11_S124_s03_T1/align_rgb/00102.jpg", + "hoi4d_frame/ZY20210800002_H2_C13_N11_S124_s03_T1/align_rgb/00103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.546, 1.415]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.524, 1.509]). The trajectory involves 5 precise waypoints with total movement distance of 0.098." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41475, + "action": "putdown", + "object": "Knife", + "frame_index": 103, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_41496", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N46_S346_s03_T2/align_rgb/00103.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N46_S346_s03_T2/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N46_S346_s03_T2/align_rgb/00105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.314, 1.291]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.891, 1.646]). The trajectory involves 5 precise waypoints with total movement distance of 0.758." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41496, + "action": "putdown", + "object": "Kettle", + "frame_index": 105, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41646", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N34_S198_s03_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N34_S198_s03_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N34_S198_s03_T2/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.798, 1.324]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.109, 1.774]). The trajectory involves 5 precise waypoints with total movement distance of 1.874." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41646, + "action": "carry", + "object": "Kettle", + "frame_index": 201, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41647", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N34_S198_s03_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N34_S198_s03_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N34_S198_s03_T2/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.778, 1.272]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.015, 1.847]). The trajectory involves 5 precise waypoints with total movement distance of 1.981." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41647, + "action": "carry", + "object": "Kettle", + "frame_index": 203, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41649", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N34_S198_s03_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N34_S198_s03_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N34_S198_s03_T2/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.716, 1.179]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.007, 1.829]). The trajectory involves 5 precise waypoints with total movement distance of 1.944." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41649, + "action": "carry", + "object": "Kettle", + "frame_index": 207, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41651", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N34_S198_s03_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N34_S198_s03_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N34_S198_s03_T2/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.669, 1.132]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.167, 1.709]). The trajectory involves 5 precise waypoints with total movement distance of 1.680." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41651, + "action": "carry", + "object": "Kettle", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41678", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N33_S346_s01_T1/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N33_S346_s01_T1/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N33_S346_s01_T1/align_rgb/00193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.955, 1.579]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.493, 1.385]). The trajectory involves 5 precise waypoints with total movement distance of 0.538." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41678, + "action": "carry", + "object": "Kettle", + "frame_index": 193, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41680", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N33_S346_s01_T1/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N33_S346_s01_T1/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N33_S346_s01_T1/align_rgb/00197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.929, 1.475]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.393, 1.362]). The trajectory involves 5 precise waypoints with total movement distance of 0.577." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41680, + "action": "carry", + "object": "Kettle", + "frame_index": 197, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41740", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N31_S346_s01_T1/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N31_S346_s01_T1/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N31_S346_s01_T1/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.914, 1.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.411, 1.525]). The trajectory involves 5 precise waypoints with total movement distance of 0.512." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41740, + "action": "carry", + "object": "Kettle", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41741", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N31_S346_s01_T1/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N31_S346_s01_T1/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N31_S346_s01_T1/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.875, 1.459]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.360, 1.546]). The trajectory involves 5 precise waypoints with total movement distance of 0.530." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41741, + "action": "carry", + "object": "Kettle", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41821", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N28_S198_s02_T2/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N28_S198_s02_T2/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N28_S198_s02_T2/align_rgb/00216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.690, 1.155]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.229, 1.697]). The trajectory involves 5 precise waypoints with total movement distance of 1.620." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41821, + "action": "carry", + "object": "Kettle", + "frame_index": 216, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41822", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N28_S198_s02_T2/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N28_S198_s02_T2/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N28_S198_s02_T2/align_rgb/00218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.678, 1.169]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.305, 1.690]). The trajectory involves 5 precise waypoints with total movement distance of 1.510." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41822, + "action": "carry", + "object": "Kettle", + "frame_index": 218, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41865", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N26_S198_s02_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N26_S198_s02_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N26_S198_s02_T2/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.746, 1.312]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.197, 1.572]). The trajectory involves 5 precise waypoints with total movement distance of 1.682." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41865, + "action": "carry", + "object": "Kettle", + "frame_index": 201, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41866", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N26_S198_s02_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N26_S198_s02_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N26_S198_s02_T2/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.752, 1.279]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.095, 1.639]). The trajectory involves 5 precise waypoints with total movement distance of 1.807." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41866, + "action": "carry", + "object": "Kettle", + "frame_index": 203, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41867", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N26_S198_s02_T2/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N26_S198_s02_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N26_S198_s02_T2/align_rgb/00205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.732, 1.233]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.027, 1.708]). The trajectory involves 5 precise waypoints with total movement distance of 1.881." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41867, + "action": "carry", + "object": "Kettle", + "frame_index": 205, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41871", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N26_S198_s02_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N26_S198_s02_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N26_S198_s02_T2/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.654, 1.196]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.202, 1.709]). The trajectory involves 5 precise waypoints with total movement distance of 1.636." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41871, + "action": "carry", + "object": "Kettle", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41915", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.624, 1.332]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.236, 1.763]). The trajectory involves 5 precise waypoints with total movement distance of 1.520." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41915, + "action": "carry", + "object": "Kettle", + "frame_index": 199, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41916", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.580, 1.302]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.126, 1.828]). The trajectory involves 5 precise waypoints with total movement distance of 1.595." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41916, + "action": "carry", + "object": "Kettle", + "frame_index": 201, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41917", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.549, 1.276]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.087, 1.833]). The trajectory involves 5 precise waypoints with total movement distance of 1.613." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41917, + "action": "carry", + "object": "Kettle", + "frame_index": 203, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41918", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.523, 1.271]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.110, 1.845]). The trajectory involves 5 precise waypoints with total movement distance of 1.570." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41918, + "action": "carry", + "object": "Kettle", + "frame_index": 205, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41921", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.431, 1.261]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.222, 1.856]). The trajectory involves 5 precise waypoints with total movement distance of 1.391." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41921, + "action": "carry", + "object": "Kettle", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41922", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.400, 1.257]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.263, 1.851]). The trajectory involves 5 precise waypoints with total movement distance of 1.333." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41922, + "action": "carry", + "object": "Kettle", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41923", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N25_S198_s02_T2/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.389, 1.248]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.292, 1.817]). The trajectory involves 5 precise waypoints with total movement distance of 1.287." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41923, + "action": "carry", + "object": "Kettle", + "frame_index": 214, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41958", + "task": "pick up the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the kettle, execute the following phases: 1) Initial approach phase (start at [1.637, 1.613]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.658, 1.437]). The trajectory involves 5 precise waypoints with total movement distance of 0.188." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41958, + "action": "pickup", + "object": "Kettle", + "frame_index": 186, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41959", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.716, 1.395]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.542, 1.252]). The trajectory involves 5 precise waypoints with total movement distance of 1.312." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41959, + "action": "carry", + "object": "Kettle", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41960", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.715, 1.311]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.435, 1.250]). The trajectory involves 5 precise waypoints with total movement distance of 1.394." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41960, + "action": "carry", + "object": "Kettle", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41962", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.667, 1.218]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.235, 1.322]). The trajectory involves 5 precise waypoints with total movement distance of 1.507." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41962, + "action": "carry", + "object": "Kettle", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41963", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.649, 1.166]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.206, 1.326]). The trajectory involves 5 precise waypoints with total movement distance of 1.502." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41963, + "action": "carry", + "object": "Kettle", + "frame_index": 208, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41967", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.579, 1.069]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.238, 1.335]). The trajectory involves 5 precise waypoints with total movement distance of 1.413." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41967, + "action": "carry", + "object": "Kettle", + "frame_index": 216, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41968", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N24_S198_s01_T2/align_rgb/00218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.539, 1.047]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.244, 1.332]). The trajectory involves 5 precise waypoints with total movement distance of 1.369." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41968, + "action": "carry", + "object": "Kettle", + "frame_index": 218, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_41988", + "task": "pick up the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N23_S198_s01_T2/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N23_S198_s01_T2/align_rgb/00040.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N23_S198_s01_T2/align_rgb/00041.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the kettle, execute the following phases: 1) Initial approach phase (start at [1.796, 1.550]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.798, 1.425]). The trajectory involves 5 precise waypoints with total movement distance of 0.127." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 41988, + "action": "pickup", + "object": "Kettle", + "frame_index": 41, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_42033", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N23_S157_s01_T1/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N23_S157_s01_T1/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N23_S157_s01_T1/align_rgb/00228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.619, 1.553]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.661, 1.684]). The trajectory involves 5 precise waypoints with total movement distance of 0.142." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42033, + "action": "putdown", + "object": "Kettle", + "frame_index": 228, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_42047", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N22_S198_s01_T2/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N22_S198_s01_T2/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N22_S198_s01_T2/align_rgb/00089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.560, 1.160]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.970, 1.512]). The trajectory involves 5 precise waypoints with total movement distance of 0.606." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42047, + "action": "putdown", + "object": "Kettle", + "frame_index": 89, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_42057", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N22_S198_s01_T2/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N22_S198_s01_T2/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N22_S198_s01_T2/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.751, 1.348]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.251, 1.378]). The trajectory involves 5 precise waypoints with total movement distance of 1.584." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42057, + "action": "carry", + "object": "Kettle", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_42106", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N21_S198_s01_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N21_S198_s01_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N21_S198_s01_T2/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.769, 1.352]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.213, 1.521]). The trajectory involves 5 precise waypoints with total movement distance of 1.673." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42106, + "action": "carry", + "object": "Kettle", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_42111", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N21_S198_s01_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N21_S198_s01_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N21_S198_s01_T2/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.591, 1.123]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.154, 1.565]). The trajectory involves 5 precise waypoints with total movement distance of 1.583." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42111, + "action": "carry", + "object": "Kettle", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_42120", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N21_S157_s01_T1/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N21_S157_s01_T1/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N21_S157_s01_T1/align_rgb/00102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.379, 1.263]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.436, 1.371]). The trajectory involves 5 precise waypoints with total movement distance of 0.122." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42120, + "action": "putdown", + "object": "Kettle", + "frame_index": 102, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_42150", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N20_S196_s05_T2/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N20_S196_s05_T2/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N20_S196_s05_T2/align_rgb/00194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.763, 1.284]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.124, 1.346]). The trajectory involves 5 precise waypoints with total movement distance of 1.868." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42150, + "action": "carry", + "object": "Kettle", + "frame_index": 194, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_42153", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N20_S196_s05_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N20_S196_s05_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N20_S196_s05_T2/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.734, 1.137]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.145, 1.645]). The trajectory involves 5 precise waypoints with total movement distance of 2.032." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42153, + "action": "carry", + "object": "Kettle", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_42156", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N20_S196_s05_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N20_S196_s05_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N20_S196_s05_T2/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.612, 1.036]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.046, 1.541]). The trajectory involves 5 precise waypoints with total movement distance of 1.816." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42156, + "action": "carry", + "object": "Kettle", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_42228", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N19_S196_s05_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N19_S196_s05_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N19_S196_s05_T2/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.749, 1.212]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.015, 1.415]). The trajectory involves 5 precise waypoints with total movement distance of 1.932." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42228, + "action": "carry", + "object": "Kettle", + "frame_index": 201, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_42279", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N18_S196_s05_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N18_S196_s05_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N18_S196_s05_T2/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.750, 1.203]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.054, 1.416]). The trajectory involves 5 precise waypoints with total movement distance of 1.880." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42279, + "action": "carry", + "object": "Kettle", + "frame_index": 203, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_42280", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N18_S196_s05_T2/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N18_S196_s05_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N18_S196_s05_T2/align_rgb/00205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.729, 1.151]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.065, 1.456]). The trajectory involves 5 precise waypoints with total movement distance of 1.857." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42280, + "action": "carry", + "object": "Kettle", + "frame_index": 205, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_42283", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N18_S196_s05_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N18_S196_s05_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N18_S196_s05_T2/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.615, 1.086]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.195, 1.406]). The trajectory involves 5 precise waypoints with total movement distance of 1.533." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42283, + "action": "carry", + "object": "Kettle", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_42354", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N16_S346_s02_T1/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N16_S346_s02_T1/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N16_S346_s02_T1/align_rgb/00061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.375, 1.497]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.994, 1.285]). The trajectory involves 5 precise waypoints with total movement distance of 0.729." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42354, + "action": "carry", + "object": "Kettle", + "frame_index": 61, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_42360", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N16_S346_s02_T1/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N16_S346_s02_T1/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N16_S346_s02_T1/align_rgb/00193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.960, 1.319]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.375, 1.204]). The trajectory involves 5 precise waypoints with total movement distance of 0.686." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42360, + "action": "carry", + "object": "Kettle", + "frame_index": 193, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_42389", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N16_S196_s04_T2/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N16_S196_s04_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N16_S196_s04_T2/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.734, 1.116]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [-0.106, 1.678]). The trajectory involves 5 precise waypoints with total movement distance of 2.037." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42389, + "action": "carry", + "object": "Kettle", + "frame_index": 199, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_42392", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N16_S196_s04_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N16_S196_s04_T2/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N16_S196_s04_T2/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.629, 1.043]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.029, 1.589]). The trajectory involves 5 precise waypoints with total movement distance of 1.775." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42392, + "action": "carry", + "object": "Kettle", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_42400", + "task": "pick up the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N16_S154_s05_T1/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N16_S154_s05_T1/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N16_S154_s05_T1/align_rgb/00081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the kettle, execute the following phases: 1) Initial approach phase (start at [1.533, 1.619]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.486, 1.502]). The trajectory involves 5 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42400, + "action": "pickup", + "object": "Kettle", + "frame_index": 81, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_42439", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N15_S196_s04_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N15_S196_s04_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N15_S196_s04_T2/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.767, 1.347]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.406, 1.502]). The trajectory involves 5 precise waypoints with total movement distance of 1.498." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42439, + "action": "carry", + "object": "Kettle", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_42443", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N15_S196_s04_T2/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N15_S196_s04_T2/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N15_S196_s04_T2/align_rgb/00217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.689, 1.169]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.172, 1.657]). The trajectory involves 5 precise waypoints with total movement distance of 1.661." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42443, + "action": "carry", + "object": "Kettle", + "frame_index": 217, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_42472", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N14_S196_s04_T2/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N14_S196_s04_T2/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N14_S196_s04_T2/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.502, 1.042]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.023, 1.217]). The trajectory involves 5 precise waypoints with total movement distance of 0.563." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42472, + "action": "putdown", + "object": "Kettle", + "frame_index": 90, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_42474", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N14_S196_s04_T2/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N14_S196_s04_T2/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N14_S196_s04_T2/align_rgb/00094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.409, 1.033]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.001, 1.066]). The trajectory involves 5 precise waypoints with total movement distance of 0.623." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42474, + "action": "putdown", + "object": "Kettle", + "frame_index": 94, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_42503", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N14_S154_s04_T1/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N14_S154_s04_T1/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N14_S154_s04_T1/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.462, 1.551]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.774, 1.547]). The trajectory involves 5 precise waypoints with total movement distance of 0.320." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42503, + "action": "carry", + "object": "Kettle", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_42533", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N13_S196_s04_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N13_S196_s04_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N13_S196_s04_T2/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.753, 1.135]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.174, 1.620]). The trajectory involves 5 precise waypoints with total movement distance of 1.769." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42533, + "action": "carry", + "object": "Kettle", + "frame_index": 207, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_42536", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N13_S196_s04_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N13_S196_s04_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N13_S196_s04_T2/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.550, 1.068]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.119, 1.750]). The trajectory involves 5 precise waypoints with total movement distance of 1.657." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42536, + "action": "carry", + "object": "Kettle", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_42572", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N12_S196_s03_T2/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N12_S196_s03_T2/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N12_S196_s03_T2/align_rgb/00100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.440, 1.109]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.980, 1.461]). The trajectory involves 5 precise waypoints with total movement distance of 0.715." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42572, + "action": "putdown", + "object": "Kettle", + "frame_index": 100, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_42640", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C12_N11_S196_s03_T2/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N11_S196_s03_T2/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800002_H2_C12_N11_S196_s03_T2/align_rgb/00218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.582, 1.082]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.269, 1.517]). The trajectory involves 5 precise waypoints with total movement distance of 1.442." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42640, + "action": "carry", + "object": "Kettle", + "frame_index": 218, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_42681", + "task": "carry Pliers to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C11_N50_S137_s03_T1/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800002_H2_C11_N50_S137_s03_T1/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800002_H2_C11_N50_S137_s03_T1/align_rgb/00234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Pliers to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Pliers to the right, execute the following phases: 1) Initial approach phase (start at [1.220, 1.349]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.593, 1.215]). The trajectory involves 5 precise waypoints with total movement distance of 0.449." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42681, + "action": "carry", + "object": "Pliers", + "frame_index": 234, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Left Part of the Pliers", + "Right Part of the Pliers" + ] + } + }, + { + "id": "hoi4d_42981", + "task": "carry Pliers to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C11_N18_S133_s05_T1/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800002_H2_C11_N18_S133_s05_T1/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800002_H2_C11_N18_S133_s05_T1/align_rgb/00225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Pliers to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Pliers to the right, execute the following phases: 1) Initial approach phase (start at [1.294, 1.394]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.664, 1.286]). The trajectory involves 5 precise waypoints with total movement distance of 0.463." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 42981, + "action": "carry", + "object": "Pliers", + "frame_index": 225, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Left Part of the Pliers", + "Right Part of the Pliers" + ] + } + }, + { + "id": "hoi4d_43037", + "task": "put down the pliers", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C11_N16_S133_s04_T1/align_rgb/00102.jpg", + "hoi4d_frame/ZY20210800002_H2_C11_N16_S133_s04_T1/align_rgb/00103.jpg", + "hoi4d_frame/ZY20210800002_H2_C11_N16_S133_s04_T1/align_rgb/00104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the pliers?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the pliers, execute the following phases: 1) Initial approach phase (start at [1.210, 1.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.230, 1.716]). The trajectory involves 5 precise waypoints with total movement distance of 0.165." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43037, + "action": "putdown", + "object": "Pliers", + "frame_index": 104, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Right Part of the Pliers", + "Left Part of the Pliers" + ] + } + }, + { + "id": "hoi4d_43099", + "task": "put down the pliers", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C11_N14_S133_s04_T1/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800002_H2_C11_N14_S133_s04_T1/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800002_H2_C11_N14_S133_s04_T1/align_rgb/00102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the pliers?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the pliers, execute the following phases: 1) Initial approach phase (start at [1.111, 1.393]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.075, 1.608]). The trajectory involves 5 precise waypoints with total movement distance of 0.220." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43099, + "action": "putdown", + "object": "Pliers", + "frame_index": 102, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Left Part of the Pliers", + "Right Part of the Pliers" + ] + } + }, + { + "id": "hoi4d_43170", + "task": "pick up the pliers", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C11_N11_S359_s02_T1/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800002_H2_C11_N11_S359_s02_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800002_H2_C11_N11_S359_s02_T1/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the pliers?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the pliers, execute the following phases: 1) Initial approach phase (start at [1.422, 1.490]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.504, 1.250]). The trajectory involves 5 precise waypoints with total movement distance of 0.261." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43170, + "action": "pickup", + "object": "Pliers", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Left Part of the Pliers", + "Right Part of the Pliers" + ] + } + }, + { + "id": "hoi4d_43176", + "task": "carry Pliers to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C11_N11_S359_s02_T1/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800002_H2_C11_N11_S359_s02_T1/align_rgb/00102.jpg", + "hoi4d_frame/ZY20210800002_H2_C11_N11_S359_s02_T1/align_rgb/00103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Pliers to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Pliers to the right, execute the following phases: 1) Initial approach phase (start at [1.462, 1.227]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.767, 1.236]). The trajectory involves 5 precise waypoints with total movement distance of 0.319." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43176, + "action": "carry", + "object": "Pliers", + "frame_index": 103, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Left Part of the Pliers", + "Right Part of the Pliers" + ] + } + }, + { + "id": "hoi4d_43372", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00025.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00026.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00027.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.230, 1.023]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.137, 1.027]). The trajectory involves 5 precise waypoints with total movement distance of 0.093." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43372, + "action": "push", + "object": "Toy Car", + "frame_index": 27, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_43388", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00059.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.341, 1.349]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.215, 1.353]). The trajectory involves 5 precise waypoints with total movement distance of 0.125." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43388, + "action": "push", + "object": "Toy Car", + "frame_index": 59, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_43398", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.375, 1.360]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.222, 1.345]). The trajectory involves 5 precise waypoints with total movement distance of 0.154." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43398, + "action": "push", + "object": "Toy Car", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_43401", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.162, 1.039]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.399, 1.113]). The trajectory involves 5 precise waypoints with total movement distance of 0.250." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43401, + "action": "pull", + "object": "Toy Car", + "frame_index": 108, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_43403", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00110.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00111.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.367, 1.451]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.586, 1.487]). The trajectory involves 5 precise waypoints with total movement distance of 0.222." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43403, + "action": "pull", + "object": "Toy Car", + "frame_index": 112, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_43409", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00122.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00123.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.184, 1.043]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.407, 1.135]). The trajectory involves 5 precise waypoints with total movement distance of 0.241." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43409, + "action": "pull", + "object": "Toy Car", + "frame_index": 124, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_43417", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00138.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00139.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00140.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.203, 1.082]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.414, 1.126]). The trajectory involves 5 precise waypoints with total movement distance of 0.216." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43417, + "action": "pull", + "object": "Toy Car", + "frame_index": 140, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_43424", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N50_S89_s05_T3/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.146, 1.691]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.127, 1.519]). The trajectory involves 5 precise waypoints with total movement distance of 0.173." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43424, + "action": "push", + "object": "Toy Car", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_43488", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N49_S89_s05_T1/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N49_S89_s05_T1/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N49_S89_s05_T1/align_rgb/00222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.654, 1.079]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.645, 1.140]). The trajectory involves 5 precise waypoints with total movement distance of 0.062." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43488, + "action": "putdown", + "object": "Toy Car", + "frame_index": 222, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_43511", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00019.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00020.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00021.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.593, 0.974]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.490, 0.964]). The trajectory involves 5 precise waypoints with total movement distance of 0.104." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43511, + "action": "push", + "object": "Toy Car", + "frame_index": 21, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_43538", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.410, 1.104]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.544, 1.146]). The trajectory involves 5 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43538, + "action": "pull", + "object": "Toy Car", + "frame_index": 109, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_43544", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00119.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00120.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00121.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.421, 1.113]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.566, 1.149]). The trajectory involves 5 precise waypoints with total movement distance of 0.150." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43544, + "action": "pull", + "object": "Toy Car", + "frame_index": 121, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_43546", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00123.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00124.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.466, 1.081]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.601, 1.107]). The trajectory involves 5 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43546, + "action": "pull", + "object": "Toy Car", + "frame_index": 125, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_43569", + "task": "push Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.340, 1.278]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.350, 1.129]). The trajectory involves 5 precise waypoints with total movement distance of 0.150." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43569, + "action": "push", + "object": "Toy Car", + "frame_index": 198, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_43580", + "task": "pull Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00243.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00244.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T3/align_rgb/00245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.386, 1.123]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.367, 1.235]). The trajectory involves 5 precise waypoints with total movement distance of 0.114." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43580, + "action": "pull", + "object": "Toy Car", + "frame_index": 245, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_43656", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T1/align_rgb/00257.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T1/align_rgb/00258.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N48_S89_s04_T1/align_rgb/00259.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.608, 1.232]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.581, 1.343]). The trajectory involves 5 precise waypoints with total movement distance of 0.114." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43656, + "action": "putdown", + "object": "Toy Car", + "frame_index": 259, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_43833", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00036.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00037.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00038.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.594, 1.332]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.466, 1.358]). The trajectory involves 5 precise waypoints with total movement distance of 0.132." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43833, + "action": "push", + "object": "Toy Car", + "frame_index": 38, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_43841", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00053.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00054.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.564, 1.400]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.451, 1.421]). The trajectory involves 5 precise waypoints with total movement distance of 0.115." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43841, + "action": "push", + "object": "Toy Car", + "frame_index": 54, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_43846", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.378, 1.296]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.513, 1.229]). The trajectory involves 5 precise waypoints with total movement distance of 0.151." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43846, + "action": "pull", + "object": "Toy Car", + "frame_index": 90, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_43848", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.434, 1.376]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.586, 1.304]). The trajectory involves 5 precise waypoints with total movement distance of 0.168." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43848, + "action": "pull", + "object": "Toy Car", + "frame_index": 97, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_43852", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.451, 1.393]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.628, 1.314]). The trajectory involves 5 precise waypoints with total movement distance of 0.194." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43852, + "action": "pull", + "object": "Toy Car", + "frame_index": 108, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_43855", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00112.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00113.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00114.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.490, 1.385]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.661, 1.312]). The trajectory involves 5 precise waypoints with total movement distance of 0.186." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43855, + "action": "pull", + "object": "Toy Car", + "frame_index": 114, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_43898", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00250.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00251.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T3/align_rgb/00252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.399, 1.561]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.414, 1.702]). The trajectory involves 5 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43898, + "action": "pull", + "object": "Toy Car", + "frame_index": 252, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_43931", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T1/align_rgb/00115.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T1/align_rgb/00116.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N46_S89_s03_T1/align_rgb/00117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.455, 1.564]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.461, 1.644]). The trajectory involves 5 precise waypoints with total movement distance of 0.084." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43931, + "action": "putdown", + "object": "Toy Car", + "frame_index": 117, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_43967", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N45_S94_s02_T3/align_rgb/00019.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N45_S94_s02_T3/align_rgb/00020.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N45_S94_s02_T3/align_rgb/00021.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.316, 0.639]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.139, 0.620]). The trajectory involves 5 precise waypoints with total movement distance of 0.179." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43967, + "action": "push", + "object": "Toy Car", + "frame_index": 21, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_43992", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N45_S94_s02_T3/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N45_S94_s02_T3/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N45_S94_s02_T3/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.807, 0.838]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.574, 0.802]). The trajectory involves 5 precise waypoints with total movement distance of 0.236." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 43992, + "action": "push", + "object": "Toy Car", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44005", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N45_S94_s02_T3/align_rgb/00123.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N45_S94_s02_T3/align_rgb/00124.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N45_S94_s02_T3/align_rgb/00125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.802, 0.896]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.080, 0.997]). The trajectory involves 5 precise waypoints with total movement distance of 0.300." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44005, + "action": "pull", + "object": "Toy Car", + "frame_index": 125, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44131", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N41_S94_s01_T3/align_rgb/00017.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N41_S94_s01_T3/align_rgb/00018.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N41_S94_s01_T3/align_rgb/00019.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.037, 0.745]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.887, 0.646]). The trajectory involves 5 precise waypoints with total movement distance of 0.181." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44131, + "action": "push", + "object": "Toy Car", + "frame_index": 19, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44138", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N41_S94_s01_T3/align_rgb/00031.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N41_S94_s01_T3/align_rgb/00032.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N41_S94_s01_T3/align_rgb/00033.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.696, 0.957]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.407, 0.903]). The trajectory involves 5 precise waypoints with total movement distance of 0.296." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44138, + "action": "push", + "object": "Toy Car", + "frame_index": 33, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44142", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N41_S94_s01_T3/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N41_S94_s01_T3/align_rgb/00040.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N41_S94_s01_T3/align_rgb/00041.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.779, 0.942]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.522, 0.890]). The trajectory involves 5 precise waypoints with total movement distance of 0.262." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44142, + "action": "push", + "object": "Toy Car", + "frame_index": 41, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44158", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N41_S94_s01_T3/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N41_S94_s01_T3/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N41_S94_s01_T3/align_rgb/00102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [2.028, 0.734]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.258, 0.825]). The trajectory involves 5 precise waypoints with total movement distance of 0.248." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44158, + "action": "pull", + "object": "Toy Car", + "frame_index": 102, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44237", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T3/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T3/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T3/align_rgb/00095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.451, 1.608]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.633, 1.656]). The trajectory involves 5 precise waypoints with total movement distance of 0.190." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44237, + "action": "pull", + "object": "Toy Car", + "frame_index": 95, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44246", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T3/align_rgb/00111.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T3/align_rgb/00112.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T3/align_rgb/00113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.447, 1.587]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.626, 1.627]). The trajectory involves 5 precise waypoints with total movement distance of 0.185." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44246, + "action": "pull", + "object": "Toy Car", + "frame_index": 113, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44286", + "task": "pull Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T3/align_rgb/00243.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T3/align_rgb/00244.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T3/align_rgb/00245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.607, 1.595]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.589, 1.707]). The trajectory involves 5 precise waypoints with total movement distance of 0.113." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44286, + "action": "pull", + "object": "Toy Car", + "frame_index": 245, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44303", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T1/align_rgb/00044.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T1/align_rgb/00045.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T1/align_rgb/00046.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.580, 1.566]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.594, 1.508]). The trajectory involves 5 precise waypoints with total movement distance of 0.061." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44303, + "action": "pickup", + "object": "Toy Car", + "frame_index": 46, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44338", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T1/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T1/align_rgb/00181.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N39_S88_s05_T1/align_rgb/00182.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.577, 1.585]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.578, 1.513]). The trajectory involves 5 precise waypoints with total movement distance of 0.075." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44338, + "action": "pickup", + "object": "Toy Car", + "frame_index": 182, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44450", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00034.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00035.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00036.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.579, 1.458]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.427, 1.464]). The trajectory involves 5 precise waypoints with total movement distance of 0.153." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44450, + "action": "push", + "object": "Toy Car", + "frame_index": 36, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44453", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00040.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00041.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00042.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.573, 1.446]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.425, 1.440]). The trajectory involves 5 precise waypoints with total movement distance of 0.151." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44453, + "action": "push", + "object": "Toy Car", + "frame_index": 42, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44456", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00046.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00047.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00048.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.547, 1.468]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.395, 1.460]). The trajectory involves 5 precise waypoints with total movement distance of 0.154." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44456, + "action": "push", + "object": "Toy Car", + "frame_index": 48, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44459", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.523, 1.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.676, 1.533]). The trajectory involves 5 precise waypoints with total movement distance of 0.156." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44459, + "action": "pull", + "object": "Toy Car", + "frame_index": 83, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44463", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.562, 1.451]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.718, 1.470]). The trajectory involves 5 precise waypoints with total movement distance of 0.159." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44463, + "action": "pull", + "object": "Toy Car", + "frame_index": 92, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44471", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.570, 1.444]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.763, 1.457]). The trajectory involves 5 precise waypoints with total movement distance of 0.194." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44471, + "action": "pull", + "object": "Toy Car", + "frame_index": 108, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44472", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T3/align_rgb/00110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.576, 1.429]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.760, 1.444]). The trajectory involves 5 precise waypoints with total movement distance of 0.186." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44472, + "action": "pull", + "object": "Toy Car", + "frame_index": 110, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44560", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T1/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T1/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N37_S88_s04_T1/align_rgb/00237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.592, 1.482]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.590, 1.557]). The trajectory involves 5 precise waypoints with total movement distance of 0.076." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44560, + "action": "putdown", + "object": "Toy Car", + "frame_index": 237, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44666", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00033.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00034.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00035.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.631, 1.363]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.444, 1.256]). The trajectory involves 5 precise waypoints with total movement distance of 0.217." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44666, + "action": "push", + "object": "Toy Car", + "frame_index": 35, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44670", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00041.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00042.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00043.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.628, 1.322]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.456, 1.207]). The trajectory involves 5 precise waypoints with total movement distance of 0.207." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44670, + "action": "push", + "object": "Toy Car", + "frame_index": 43, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44677", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00057.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.700, 1.255]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.532, 1.139]). The trajectory involves 5 precise waypoints with total movement distance of 0.205." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44677, + "action": "push", + "object": "Toy Car", + "frame_index": 57, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44679", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.711, 1.242]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.512, 1.137]). The trajectory involves 5 precise waypoints with total movement distance of 0.226." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44679, + "action": "push", + "object": "Toy Car", + "frame_index": 61, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44688", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.506, 1.201]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.703, 1.374]). The trajectory involves 5 precise waypoints with total movement distance of 0.262." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44688, + "action": "pull", + "object": "Toy Car", + "frame_index": 107, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44692", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00113.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00114.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.540, 1.204]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.762, 1.371]). The trajectory involves 5 precise waypoints with total movement distance of 0.278." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44692, + "action": "pull", + "object": "Toy Car", + "frame_index": 115, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44699", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00127.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00128.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00129.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.591, 1.238]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.824, 1.414]). The trajectory involves 5 precise waypoints with total movement distance of 0.293." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44699, + "action": "pull", + "object": "Toy Car", + "frame_index": 129, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44726", + "task": "pull Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.543, 1.122]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.476, 1.293]). The trajectory involves 5 precise waypoints with total movement distance of 0.185." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44726, + "action": "pull", + "object": "Toy Car", + "frame_index": 238, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44732", + "task": "pull Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00248.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00249.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N35_S94_s03_T3/align_rgb/00250.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.452, 1.190]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.396, 1.339]). The trajectory involves 5 precise waypoints with total movement distance of 0.160." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44732, + "action": "pull", + "object": "Toy Car", + "frame_index": 250, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44767", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N34_S94_s02_T1/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N34_S94_s02_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N34_S94_s02_T1/align_rgb/00098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.730, 0.767]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.729, 0.880]). The trajectory involves 5 precise waypoints with total movement distance of 0.114." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44767, + "action": "putdown", + "object": "Toy Car", + "frame_index": 98, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44792", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N34_S94_s02_T1/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N34_S94_s02_T1/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N34_S94_s02_T1/align_rgb/00218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.738, 0.797]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.726, 0.897]). The trajectory involves 5 precise waypoints with total movement distance of 0.103." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44792, + "action": "putdown", + "object": "Toy Car", + "frame_index": 218, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44805", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N34_S336_s01_T1/align_rgb/00038.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N34_S336_s01_T1/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N34_S336_s01_T1/align_rgb/00040.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.569, 1.206]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.566, 1.107]). The trajectory involves 5 precise waypoints with total movement distance of 0.100." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44805, + "action": "pickup", + "object": "Toy Car", + "frame_index": 40, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44806", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N34_S336_s01_T1/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N34_S336_s01_T1/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N34_S336_s01_T1/align_rgb/00062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.548, 1.083]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.591, 1.216]). The trajectory involves 5 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44806, + "action": "putdown", + "object": "Toy Car", + "frame_index": 62, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44818", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N34_S336_s01_T1/align_rgb/00135.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N34_S336_s01_T1/align_rgb/00136.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N34_S336_s01_T1/align_rgb/00137.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.630, 1.281]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.622, 1.160]). The trajectory involves 5 precise waypoints with total movement distance of 0.122." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44818, + "action": "pickup", + "object": "Toy Car", + "frame_index": 137, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44822", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N34_S336_s01_T1/align_rgb/00143.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N34_S336_s01_T1/align_rgb/00144.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N34_S336_s01_T1/align_rgb/00145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.652, 1.208]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.645, 1.100]). The trajectory involves 5 precise waypoints with total movement distance of 0.110." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44822, + "action": "pickup", + "object": "Toy Car", + "frame_index": 145, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44871", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00050.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.778, 1.742]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.648, 1.700]). The trajectory involves 5 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44871, + "action": "push", + "object": "Toy Car", + "frame_index": 50, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44872", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00052.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.792, 1.623]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.658, 1.585]). The trajectory involves 5 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44872, + "action": "push", + "object": "Toy Car", + "frame_index": 52, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44876", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.761, 1.687]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.966, 1.735]). The trajectory involves 5 precise waypoints with total movement distance of 0.214." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44876, + "action": "pull", + "object": "Toy Car", + "frame_index": 93, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44878", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.797, 1.598]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.997, 1.643]). The trajectory involves 5 precise waypoints with total movement distance of 0.209." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44878, + "action": "pull", + "object": "Toy Car", + "frame_index": 98, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44881", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00102.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00103.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.796, 1.651]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.980, 1.710]). The trajectory involves 5 precise waypoints with total movement distance of 0.193." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44881, + "action": "pull", + "object": "Toy Car", + "frame_index": 104, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44883", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.795, 1.711]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.975, 1.763]). The trajectory involves 5 precise waypoints with total movement distance of 0.189." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44883, + "action": "pull", + "object": "Toy Car", + "frame_index": 108, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44884", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T3/align_rgb/00110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.800, 1.718]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.972, 1.771]). The trajectory involves 5 precise waypoints with total movement distance of 0.183." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44884, + "action": "pull", + "object": "Toy Car", + "frame_index": 110, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44956", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T1/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T1/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T1/align_rgb/00109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.544, 1.652]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.554, 1.727]). The trajectory involves 5 precise waypoints with total movement distance of 0.076." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44956, + "action": "putdown", + "object": "Toy Car", + "frame_index": 109, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_44981", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T1/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T1/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N32_S88_s01_T1/align_rgb/00223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.519, 1.610]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.520, 1.705]). The trajectory involves 5 precise waypoints with total movement distance of 0.095." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 44981, + "action": "putdown", + "object": "Toy Car", + "frame_index": 223, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45005", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00027.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00028.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00029.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.589, 1.067]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.442, 0.963]). The trajectory involves 5 precise waypoints with total movement distance of 0.181." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45005, + "action": "push", + "object": "Toy Car", + "frame_index": 29, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45008", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00033.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00034.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00035.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.666, 1.040]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.491, 0.929]). The trajectory involves 5 precise waypoints with total movement distance of 0.207." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45008, + "action": "push", + "object": "Toy Car", + "frame_index": 35, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45009", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00035.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00036.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00037.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.659, 1.034]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.481, 0.917]). The trajectory involves 5 precise waypoints with total movement distance of 0.212." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45009, + "action": "push", + "object": "Toy Car", + "frame_index": 37, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45017", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00053.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.627, 0.971]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.373, 0.788]). The trajectory involves 5 precise waypoints with total movement distance of 0.315." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45017, + "action": "push", + "object": "Toy Car", + "frame_index": 53, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45022", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.635, 0.863]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.364, 0.702]). The trajectory involves 5 precise waypoints with total movement distance of 0.317." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45022, + "action": "push", + "object": "Toy Car", + "frame_index": 63, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45034", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00114.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00115.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.667, 0.823]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.859, 0.987]). The trajectory involves 5 precise waypoints with total movement distance of 0.255." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45034, + "action": "pull", + "object": "Toy Car", + "frame_index": 116, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45038", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00122.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00123.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.639, 0.848]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.827, 1.021]). The trajectory involves 5 precise waypoints with total movement distance of 0.257." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45038, + "action": "pull", + "object": "Toy Car", + "frame_index": 124, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45039", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00124.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00125.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00126.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.640, 0.781]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.849, 0.945]). The trajectory involves 5 precise waypoints with total movement distance of 0.266." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45039, + "action": "pull", + "object": "Toy Car", + "frame_index": 126, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45041", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00128.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00129.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00130.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.622, 0.883]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.831, 1.042]). The trajectory involves 5 precise waypoints with total movement distance of 0.263." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45041, + "action": "pull", + "object": "Toy Car", + "frame_index": 130, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45073", + "task": "pull Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00249.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00250.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N30_S94_s05_T3/align_rgb/00251.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.655, 0.829]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.588, 0.999]). The trajectory involves 5 precise waypoints with total movement distance of 0.183." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45073, + "action": "pull", + "object": "Toy Car", + "frame_index": 251, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45167", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00023.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00024.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00025.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.888, 1.228]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.720, 1.229]). The trajectory involves 5 precise waypoints with total movement distance of 0.169." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45167, + "action": "push", + "object": "Toy Car", + "frame_index": 25, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45172", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00033.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00034.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00035.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.847, 1.206]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.709, 1.208]). The trajectory involves 5 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45172, + "action": "push", + "object": "Toy Car", + "frame_index": 35, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45191", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.696, 1.300]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.907, 1.335]). The trajectory involves 5 precise waypoints with total movement distance of 0.214." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45191, + "action": "pull", + "object": "Toy Car", + "frame_index": 97, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45193", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.702, 1.381]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.934, 1.419]). The trajectory involves 5 precise waypoints with total movement distance of 0.236." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45193, + "action": "pull", + "object": "Toy Car", + "frame_index": 101, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45196", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.745, 1.379]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.002, 1.385]). The trajectory involves 5 precise waypoints with total movement distance of 0.257." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45196, + "action": "pull", + "object": "Toy Car", + "frame_index": 107, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45203", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00119.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00120.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00121.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.785, 1.347]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.999, 1.357]). The trajectory involves 5 precise waypoints with total movement distance of 0.216." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45203, + "action": "pull", + "object": "Toy Car", + "frame_index": 121, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45222", + "task": "push Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.503, 1.672]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.527, 1.409]). The trajectory involves 5 precise waypoints with total movement distance of 0.264." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45222, + "action": "push", + "object": "Toy Car", + "frame_index": 190, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45237", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00246.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00247.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.570, 1.357]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.580, 1.486]). The trajectory involves 5 precise waypoints with total movement distance of 0.131." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45237, + "action": "pull", + "object": "Toy Car", + "frame_index": 248, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45241", + "task": "pull Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00254.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00255.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00256.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.524, 1.443]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.526, 1.565]). The trajectory involves 5 precise waypoints with total movement distance of 0.124." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45241, + "action": "pull", + "object": "Toy Car", + "frame_index": 256, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45244", + "task": "pull Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00260.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00261.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00262.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.506, 1.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.502, 1.595]). The trajectory involves 5 precise waypoints with total movement distance of 0.127." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45244, + "action": "pull", + "object": "Toy Car", + "frame_index": 262, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45245", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00262.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00263.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N28_S87_s04_T3/align_rgb/00264.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.545, 1.432]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.557, 1.577]). The trajectory involves 5 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45245, + "action": "pull", + "object": "Toy Car", + "frame_index": 264, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45321", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00020.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00021.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00022.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.681, 1.015]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.436, 0.966]). The trajectory involves 5 precise waypoints with total movement distance of 0.251." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45321, + "action": "push", + "object": "Toy Car", + "frame_index": 22, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45332", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00042.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00043.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00044.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.727, 1.020]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.520, 0.973]). The trajectory involves 5 precise waypoints with total movement distance of 0.214." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45332, + "action": "push", + "object": "Toy Car", + "frame_index": 44, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45335", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.554, 0.926]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.789, 0.980]). The trajectory involves 5 precise waypoints with total movement distance of 0.242." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45335, + "action": "pull", + "object": "Toy Car", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45336", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.580, 0.934]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.820, 0.992]). The trajectory involves 5 precise waypoints with total movement distance of 0.249." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45336, + "action": "pull", + "object": "Toy Car", + "frame_index": 81, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45337", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.619, 0.924]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.855, 0.985]). The trajectory involves 5 precise waypoints with total movement distance of 0.246." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45337, + "action": "pull", + "object": "Toy Car", + "frame_index": 84, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45341", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.647, 0.897]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.975, 0.994]). The trajectory involves 5 precise waypoints with total movement distance of 0.342." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45341, + "action": "pull", + "object": "Toy Car", + "frame_index": 94, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45342", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.629, 0.915]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.993, 1.040]). The trajectory involves 5 precise waypoints with total movement distance of 0.385." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45342, + "action": "pull", + "object": "Toy Car", + "frame_index": 96, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45343", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.654, 0.936]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.024, 1.054]). The trajectory involves 5 precise waypoints with total movement distance of 0.389." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45343, + "action": "pull", + "object": "Toy Car", + "frame_index": 98, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45347", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.603, 0.965]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.896, 1.052]). The trajectory involves 5 precise waypoints with total movement distance of 0.306." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45347, + "action": "pull", + "object": "Toy Car", + "frame_index": 106, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45352", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00114.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00115.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.606, 1.005]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.957, 1.104]). The trajectory involves 5 precise waypoints with total movement distance of 0.366." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45352, + "action": "pull", + "object": "Toy Car", + "frame_index": 116, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45388", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.548, 0.917]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.558, 1.010]). The trajectory involves 5 precise waypoints with total movement distance of 0.093." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45388, + "action": "pull", + "object": "Toy Car", + "frame_index": 239, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45393", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00247.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00248.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N26_S94_s03_T3/align_rgb/00249.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.527, 1.021]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.540, 1.104]). The trajectory involves 5 precise waypoints with total movement distance of 0.084." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45393, + "action": "pull", + "object": "Toy Car", + "frame_index": 249, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45469", + "task": "pull Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N24_S87_s02_T3/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N24_S87_s02_T3/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N24_S87_s02_T3/align_rgb/00229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.559, 1.553]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.560, 1.794]). The trajectory involves 5 precise waypoints with total movement distance of 0.241." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45469, + "action": "pull", + "object": "Toy Car", + "frame_index": 229, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45470", + "task": "pull Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N24_S87_s02_T3/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N24_S87_s02_T3/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N24_S87_s02_T3/align_rgb/00232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.591, 1.547]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.590, 1.779]). The trajectory involves 5 precise waypoints with total movement distance of 0.233." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45470, + "action": "pull", + "object": "Toy Car", + "frame_index": 232, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45472", + "task": "pull Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N24_S87_s02_T3/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N24_S87_s02_T3/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N24_S87_s02_T3/align_rgb/00240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.657, 1.540]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.647, 1.760]). The trajectory involves 5 precise waypoints with total movement distance of 0.221." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45472, + "action": "pull", + "object": "Toy Car", + "frame_index": 240, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45560", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N23_S87_s02_T3/align_rgb/00036.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N23_S87_s02_T3/align_rgb/00037.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N23_S87_s02_T3/align_rgb/00038.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.424, 1.850]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.244, 1.823]). The trajectory involves 5 precise waypoints with total movement distance of 0.182." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45560, + "action": "push", + "object": "Toy Car", + "frame_index": 38, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45582", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N23_S87_s02_T3/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N23_S87_s02_T3/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N23_S87_s02_T3/align_rgb/00108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.472, 1.715]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.709, 1.856]). The trajectory involves 5 precise waypoints with total movement distance of 0.277." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45582, + "action": "pull", + "object": "Toy Car", + "frame_index": 108, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45628", + "task": "pull Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N23_S87_s02_T3/align_rgb/00252.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N23_S87_s02_T3/align_rgb/00253.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N23_S87_s02_T3/align_rgb/00254.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.352, 1.695]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.323, 1.898]). The trajectory involves 5 precise waypoints with total movement distance of 0.207." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45628, + "action": "pull", + "object": "Toy Car", + "frame_index": 254, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45761", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N21_S87_s01_T3/align_rgb/00155.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N21_S87_s01_T3/align_rgb/00156.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N21_S87_s01_T3/align_rgb/00157.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.493, 1.604]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.679, 1.697]). The trajectory involves 5 precise waypoints with total movement distance of 0.210." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45761, + "action": "pull", + "object": "Toy Car", + "frame_index": 157, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45766", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N21_S87_s01_T3/align_rgb/00165.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N21_S87_s01_T3/align_rgb/00166.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N21_S87_s01_T3/align_rgb/00167.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.495, 1.627]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.701, 1.702]). The trajectory involves 5 precise waypoints with total movement distance of 0.220." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45766, + "action": "pull", + "object": "Toy Car", + "frame_index": 167, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45767", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N21_S87_s01_T3/align_rgb/00167.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N21_S87_s01_T3/align_rgb/00168.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N21_S87_s01_T3/align_rgb/00169.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.483, 1.594]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.681, 1.673]). The trajectory involves 5 precise waypoints with total movement distance of 0.216." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45767, + "action": "pull", + "object": "Toy Car", + "frame_index": 169, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45798", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00020.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00021.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00022.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.431, 1.512]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.278, 1.500]). The trajectory involves 5 precise waypoints with total movement distance of 0.155." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45798, + "action": "push", + "object": "Toy Car", + "frame_index": 22, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45811", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00046.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00047.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00048.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.410, 1.559]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.257, 1.560]). The trajectory involves 5 precise waypoints with total movement distance of 0.154." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45811, + "action": "push", + "object": "Toy Car", + "frame_index": 48, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45813", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00052.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.410, 1.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.265, 1.537]). The trajectory involves 5 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45813, + "action": "push", + "object": "Toy Car", + "frame_index": 52, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45818", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.417, 1.543]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.273, 1.559]). The trajectory involves 5 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45818, + "action": "push", + "object": "Toy Car", + "frame_index": 62, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45822", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.332, 1.598]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.513, 1.618]). The trajectory involves 5 precise waypoints with total movement distance of 0.184." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45822, + "action": "pull", + "object": "Toy Car", + "frame_index": 93, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45824", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.277, 1.603]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.461, 1.630]). The trajectory involves 5 precise waypoints with total movement distance of 0.188." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45824, + "action": "pull", + "object": "Toy Car", + "frame_index": 97, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45835", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00117.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00118.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00119.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.342, 1.671]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.551, 1.680]). The trajectory involves 5 precise waypoints with total movement distance of 0.211." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45835, + "action": "pull", + "object": "Toy Car", + "frame_index": 119, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45836", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00119.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00120.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00121.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.347, 1.677]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.554, 1.690]). The trajectory involves 5 precise waypoints with total movement distance of 0.208." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45836, + "action": "pull", + "object": "Toy Car", + "frame_index": 121, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45837", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00121.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00122.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.318, 1.619]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.520, 1.637]). The trajectory involves 5 precise waypoints with total movement distance of 0.203." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45837, + "action": "pull", + "object": "Toy Car", + "frame_index": 123, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45844", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00135.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00136.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T2/align_rgb/00137.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.463, 1.715]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.676, 1.712]). The trajectory involves 5 precise waypoints with total movement distance of 0.215." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45844, + "action": "pull", + "object": "Toy Car", + "frame_index": 137, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45901", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.371, 1.244]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.376, 1.074]). The trajectory involves 5 precise waypoints with total movement distance of 0.180." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45901, + "action": "pickup", + "object": "Toy Car", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45904", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.359, 1.088]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.369, 1.325]). The trajectory involves 5 precise waypoints with total movement distance of 0.239." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45904, + "action": "putdown", + "object": "Toy Car", + "frame_index": 93, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45905", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.384, 1.107]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.389, 1.338]). The trajectory involves 5 precise waypoints with total movement distance of 0.232." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45905, + "action": "putdown", + "object": "Toy Car", + "frame_index": 95, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45907", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.393, 1.202]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.408, 1.431]). The trajectory involves 5 precise waypoints with total movement distance of 0.231." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45907, + "action": "putdown", + "object": "Toy Car", + "frame_index": 99, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45908", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.391, 1.213]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.412, 1.430]). The trajectory involves 5 precise waypoints with total movement distance of 0.218." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45908, + "action": "putdown", + "object": "Toy Car", + "frame_index": 101, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45924", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00182.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.548, 1.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.553, 1.277]). The trajectory involves 5 precise waypoints with total movement distance of 0.212." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45924, + "action": "pickup", + "object": "Toy Car", + "frame_index": 184, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45946", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00246.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00247.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N20_S339_s05_T1/align_rgb/00248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.498, 1.304]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.513, 1.471]). The trajectory involves 5 precise waypoints with total movement distance of 0.170." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45946, + "action": "putdown", + "object": "Toy Car", + "frame_index": 248, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45960", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00025.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00026.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00027.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.503, 1.622]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.370, 1.654]). The trajectory involves 5 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45960, + "action": "push", + "object": "Toy Car", + "frame_index": 27, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45961", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00027.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00028.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00029.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.533, 1.641]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.397, 1.667]). The trajectory involves 5 precise waypoints with total movement distance of 0.140." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45961, + "action": "push", + "object": "Toy Car", + "frame_index": 29, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45967", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00040.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00041.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.476, 1.641]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.314, 1.672]). The trajectory involves 5 precise waypoints with total movement distance of 0.165." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45967, + "action": "push", + "object": "Toy Car", + "frame_index": 41, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45969", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00043.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00044.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00045.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.457, 1.642]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.282, 1.675]). The trajectory involves 5 precise waypoints with total movement distance of 0.178." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45969, + "action": "push", + "object": "Toy Car", + "frame_index": 45, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45974", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00053.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00055.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.412, 1.651]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.217, 1.680]). The trajectory involves 5 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45974, + "action": "push", + "object": "Toy Car", + "frame_index": 55, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45975", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00056.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.413, 1.653]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.225, 1.680]). The trajectory involves 5 precise waypoints with total movement distance of 0.190." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45975, + "action": "push", + "object": "Toy Car", + "frame_index": 56, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_45978", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.321, 1.670]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.582, 1.670]). The trajectory involves 5 precise waypoints with total movement distance of 0.262." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 45978, + "action": "pull", + "object": "Toy Car", + "frame_index": 91, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46005", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00163.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00164.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T2/align_rgb/00165.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.415, 1.743]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.373, 1.567]). The trajectory involves 5 precise waypoints with total movement distance of 0.181." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46005, + "action": "push", + "object": "Toy Car", + "frame_index": 165, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46033", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00031.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00032.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00033.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.448, 1.494]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.455, 1.272]). The trajectory involves 5 precise waypoints with total movement distance of 0.224." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46033, + "action": "pickup", + "object": "Toy Car", + "frame_index": 33, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46036", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00037.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00038.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00039.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.433, 1.440]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.454, 1.255]). The trajectory involves 5 precise waypoints with total movement distance of 0.186." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46036, + "action": "pickup", + "object": "Toy Car", + "frame_index": 39, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46037", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00040.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00041.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.418, 1.409]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.439, 1.222]). The trajectory involves 5 precise waypoints with total movement distance of 0.189." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46037, + "action": "pickup", + "object": "Toy Car", + "frame_index": 41, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46053", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.386, 1.278]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.392, 1.455]). The trajectory involves 5 precise waypoints with total movement distance of 0.179." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46053, + "action": "putdown", + "object": "Toy Car", + "frame_index": 93, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46054", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N19_S339_s05_T1/align_rgb/00095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.396, 1.295]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.407, 1.456]). The trajectory involves 5 precise waypoints with total movement distance of 0.163." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46054, + "action": "putdown", + "object": "Toy Car", + "frame_index": 95, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46189", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00000.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.444, 1.600]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.325, 1.628]). The trajectory involves 5 precise waypoints with total movement distance of 0.127." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46189, + "action": "push", + "object": "Toy Car", + "frame_index": 0, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46215", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.326, 1.636]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.540, 1.628]). The trajectory involves 5 precise waypoints with total movement distance of 0.215." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46215, + "action": "pull", + "object": "Toy Car", + "frame_index": 93, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46217", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.336, 1.646]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.552, 1.640]). The trajectory involves 5 precise waypoints with total movement distance of 0.218." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46217, + "action": "pull", + "object": "Toy Car", + "frame_index": 97, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46219", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.312, 1.606]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.522, 1.604]). The trajectory involves 5 precise waypoints with total movement distance of 0.211." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46219, + "action": "pull", + "object": "Toy Car", + "frame_index": 101, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46222", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.330, 1.600]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.563, 1.595]). The trajectory involves 5 precise waypoints with total movement distance of 0.233." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46222, + "action": "pull", + "object": "Toy Car", + "frame_index": 107, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46224", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00110.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.344, 1.619]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.566, 1.593]). The trajectory involves 5 precise waypoints with total movement distance of 0.226." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46224, + "action": "pull", + "object": "Toy Car", + "frame_index": 111, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46236", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00133.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00134.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00135.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.432, 1.606]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.620, 1.588]). The trajectory involves 5 precise waypoints with total movement distance of 0.189." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46236, + "action": "pull", + "object": "Toy Car", + "frame_index": 135, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46237", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00134.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00135.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00136.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.438, 1.583]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.629, 1.567]). The trajectory involves 5 precise waypoints with total movement distance of 0.191." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46237, + "action": "pull", + "object": "Toy Car", + "frame_index": 136, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46272", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00252.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00253.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N16_S339_s03_T2/align_rgb/00254.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.328, 1.414]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.336, 1.567]). The trajectory involves 5 precise waypoints with total movement distance of 0.154." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46272, + "action": "pull", + "object": "Toy Car", + "frame_index": 254, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46359", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N13_S339_s02_T1/align_rgb/00036.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N13_S339_s02_T1/align_rgb/00037.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N13_S339_s02_T1/align_rgb/00038.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.645, 1.371]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.626, 1.206]). The trajectory involves 5 precise waypoints with total movement distance of 0.167." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46359, + "action": "pickup", + "object": "Toy Car", + "frame_index": 38, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46408", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N13_S339_s02_T1/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N13_S339_s02_T1/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N13_S339_s02_T1/align_rgb/00193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.613, 1.427]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.573, 1.214]). The trajectory involves 5 precise waypoints with total movement distance of 0.218." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46408, + "action": "pickup", + "object": "Toy Car", + "frame_index": 193, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46417", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N13_S339_s02_T1/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N13_S339_s02_T1/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N13_S339_s02_T1/align_rgb/00241.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.547, 1.200]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.591, 1.391]). The trajectory involves 5 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46417, + "action": "putdown", + "object": "Toy Car", + "frame_index": 241, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46433", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00010.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00011.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00012.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.590, 1.579]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.378, 1.550]). The trajectory involves 5 precise waypoints with total movement distance of 0.215." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46433, + "action": "push", + "object": "Toy Car", + "frame_index": 12, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46444", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00034.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00035.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00036.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.511, 1.594]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.329, 1.550]). The trajectory involves 5 precise waypoints with total movement distance of 0.187." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46444, + "action": "push", + "object": "Toy Car", + "frame_index": 36, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46447", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00040.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00041.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00042.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.462, 1.555]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.294, 1.503]). The trajectory involves 5 precise waypoints with total movement distance of 0.179." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46447, + "action": "push", + "object": "Toy Car", + "frame_index": 42, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46458", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.374, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.199, 1.473]). The trajectory involves 5 precise waypoints with total movement distance of 0.180." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46458, + "action": "push", + "object": "Toy Car", + "frame_index": 64, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46476", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00121.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00122.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.365, 1.462]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.619, 1.529]). The trajectory involves 5 precise waypoints with total movement distance of 0.265." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46476, + "action": "pull", + "object": "Toy Car", + "frame_index": 123, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46478", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00125.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00126.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00127.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.386, 1.459]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.648, 1.534]). The trajectory involves 5 precise waypoints with total movement distance of 0.273." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46478, + "action": "pull", + "object": "Toy Car", + "frame_index": 127, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46479", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00127.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00128.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00129.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.390, 1.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.671, 1.546]). The trajectory involves 5 precise waypoints with total movement distance of 0.295." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46479, + "action": "pull", + "object": "Toy Car", + "frame_index": 129, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46481", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00131.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00132.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00133.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.402, 1.477]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.706, 1.573]). The trajectory involves 5 precise waypoints with total movement distance of 0.319." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46481, + "action": "pull", + "object": "Toy Car", + "frame_index": 133, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46482", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00133.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00134.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00135.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.400, 1.481]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.707, 1.574]). The trajectory involves 5 precise waypoints with total movement distance of 0.322." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46482, + "action": "pull", + "object": "Toy Car", + "frame_index": 135, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46504", + "task": "pull Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.487, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.473, 1.511]). The trajectory involves 5 precise waypoints with total movement distance of 0.149." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46504, + "action": "pull", + "object": "Toy Car", + "frame_index": 227, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46508", + "task": "pull Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T2/align_rgb/00236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.448, 1.427]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.429, 1.572]). The trajectory involves 5 precise waypoints with total movement distance of 0.147." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46508, + "action": "pull", + "object": "Toy Car", + "frame_index": 236, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46539", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00053.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00055.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.538, 1.067]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.542, 0.864]). The trajectory involves 5 precise waypoints with total movement distance of 0.203." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46539, + "action": "pickup", + "object": "Toy Car", + "frame_index": 55, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46542", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.551, 0.886]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.571, 0.729]). The trajectory involves 5 precise waypoints with total movement distance of 0.159." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46542, + "action": "pickup", + "object": "Toy Car", + "frame_index": 61, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46557", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00110.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.602, 1.052]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.591, 1.194]). The trajectory involves 5 precise waypoints with total movement distance of 0.142." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46557, + "action": "putdown", + "object": "Toy Car", + "frame_index": 111, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46564", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00171.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00172.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.608, 1.347]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.605, 1.149]). The trajectory involves 5 precise waypoints with total movement distance of 0.198." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46564, + "action": "pickup", + "object": "Toy Car", + "frame_index": 173, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46567", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00177.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.613, 1.132]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.614, 0.897]). The trajectory involves 5 precise waypoints with total movement distance of 0.235." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46567, + "action": "pickup", + "object": "Toy Car", + "frame_index": 179, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46569", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00181.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00182.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.607, 1.074]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.603, 0.824]). The trajectory involves 5 precise waypoints with total movement distance of 0.251." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46569, + "action": "pickup", + "object": "Toy Car", + "frame_index": 183, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46571", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00187.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.594, 1.027]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.575, 0.785]). The trajectory involves 5 precise waypoints with total movement distance of 0.244." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46571, + "action": "pickup", + "object": "Toy Car", + "frame_index": 187, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46582", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N12_S339_s01_T1/align_rgb/00228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.574, 1.089]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.586, 1.241]). The trajectory involves 5 precise waypoints with total movement distance of 0.153." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46582, + "action": "putdown", + "object": "Toy Car", + "frame_index": 228, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46762", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00056.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.361, 1.295]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.207, 1.265]). The trajectory involves 5 precise waypoints with total movement distance of 0.161." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46762, + "action": "push", + "object": "Toy Car", + "frame_index": 56, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46772", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.310, 1.295]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.568, 1.378]). The trajectory involves 5 precise waypoints with total movement distance of 0.272." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46772, + "action": "pull", + "object": "Toy Car", + "frame_index": 96, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46784", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00118.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00119.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.332, 1.376]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.608, 1.440]). The trajectory involves 5 precise waypoints with total movement distance of 0.285." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46784, + "action": "pull", + "object": "Toy Car", + "frame_index": 120, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46785", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00120.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00121.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.340, 1.386]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.622, 1.444]). The trajectory involves 5 precise waypoints with total movement distance of 0.288." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46785, + "action": "pull", + "object": "Toy Car", + "frame_index": 122, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46786", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00122.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00123.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00124.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.345, 1.390]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.637, 1.455]). The trajectory involves 5 precise waypoints with total movement distance of 0.299." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46786, + "action": "pull", + "object": "Toy Car", + "frame_index": 124, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46788", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00126.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00127.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00128.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.338, 1.391]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.621, 1.449]). The trajectory involves 5 precise waypoints with total movement distance of 0.289." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46788, + "action": "pull", + "object": "Toy Car", + "frame_index": 128, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46803", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00176.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00177.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N07_S336_s04_T2/align_rgb/00178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.303, 1.406]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.285, 1.243]). The trajectory involves 5 precise waypoints with total movement distance of 0.164." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46803, + "action": "push", + "object": "Toy Car", + "frame_index": 178, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46889", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N06_S336_s04_T1/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N06_S336_s04_T1/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N06_S336_s04_T1/align_rgb/00241.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.312, 1.065]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.348, 1.414]). The trajectory involves 5 precise waypoints with total movement distance of 0.351." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46889, + "action": "putdown", + "object": "Toy Car", + "frame_index": 241, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46890", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N06_S336_s04_T1/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N06_S336_s04_T1/align_rgb/00242.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N06_S336_s04_T1/align_rgb/00243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.303, 1.119]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.335, 1.437]). The trajectory involves 5 precise waypoints with total movement distance of 0.320." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46890, + "action": "putdown", + "object": "Toy Car", + "frame_index": 243, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_46985", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00043.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00044.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00045.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.415, 1.208]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.382, 0.965]). The trajectory involves 5 precise waypoints with total movement distance of 0.247." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 46985, + "action": "pickup", + "object": "Toy Car", + "frame_index": 45, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47008", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.296, 0.857]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.328, 1.048]). The trajectory involves 5 precise waypoints with total movement distance of 0.195." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47008, + "action": "putdown", + "object": "Toy Car", + "frame_index": 109, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47012", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00115.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00116.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.329, 0.942]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.361, 1.105]). The trajectory involves 5 precise waypoints with total movement distance of 0.167." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47012, + "action": "putdown", + "object": "Toy Car", + "frame_index": 117, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47013", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00117.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00118.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00119.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.335, 0.968]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.360, 1.120]). The trajectory involves 5 precise waypoints with total movement distance of 0.156." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47013, + "action": "putdown", + "object": "Toy Car", + "frame_index": 119, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47015", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00121.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00122.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.329, 0.970]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.350, 1.135]). The trajectory involves 5 precise waypoints with total movement distance of 0.166." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47015, + "action": "putdown", + "object": "Toy Car", + "frame_index": 123, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47018", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00127.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00128.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00129.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.345, 1.021]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.366, 1.192]). The trajectory involves 5 precise waypoints with total movement distance of 0.173." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47018, + "action": "putdown", + "object": "Toy Car", + "frame_index": 129, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47019", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00129.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00130.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00131.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.354, 1.025]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.372, 1.202]). The trajectory involves 5 precise waypoints with total movement distance of 0.178." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47019, + "action": "putdown", + "object": "Toy Car", + "frame_index": 131, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47027", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00145.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00146.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00147.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.370, 1.120]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.382, 1.288]). The trajectory involves 5 precise waypoints with total movement distance of 0.169." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47027, + "action": "putdown", + "object": "Toy Car", + "frame_index": 147, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47028", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00147.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00148.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.372, 1.131]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.378, 1.298]). The trajectory involves 5 precise waypoints with total movement distance of 0.167." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47028, + "action": "putdown", + "object": "Toy Car", + "frame_index": 149, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47029", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00149.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00150.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.373, 1.136]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.380, 1.285]). The trajectory involves 5 precise waypoints with total movement distance of 0.149." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47029, + "action": "putdown", + "object": "Toy Car", + "frame_index": 151, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47044", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00255.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00256.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00257.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.295, 0.805]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.360, 1.253]). The trajectory involves 5 precise waypoints with total movement distance of 0.455." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47044, + "action": "putdown", + "object": "Toy Car", + "frame_index": 257, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47048", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00263.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00264.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N03_S336_s02_T1/align_rgb/00265.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.334, 0.927]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.388, 1.309]). The trajectory involves 5 precise waypoints with total movement distance of 0.390." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47048, + "action": "putdown", + "object": "Toy Car", + "frame_index": 265, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47059", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00024.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00025.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00026.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.443, 1.227]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.291, 1.229]). The trajectory involves 5 precise waypoints with total movement distance of 0.152." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47059, + "action": "push", + "object": "Toy Car", + "frame_index": 26, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47064", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00034.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00035.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00036.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.428, 1.234]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.242, 1.215]). The trajectory involves 5 precise waypoints with total movement distance of 0.188." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47064, + "action": "push", + "object": "Toy Car", + "frame_index": 36, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47065", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00036.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00037.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00038.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.422, 1.240]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.230, 1.216]). The trajectory involves 5 precise waypoints with total movement distance of 0.194." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47065, + "action": "push", + "object": "Toy Car", + "frame_index": 38, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47069", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00044.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00045.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00046.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.389, 1.209]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.198, 1.185]). The trajectory involves 5 precise waypoints with total movement distance of 0.194." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47069, + "action": "push", + "object": "Toy Car", + "frame_index": 46, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47070", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00046.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00047.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00048.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.381, 1.223]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.188, 1.199]). The trajectory involves 5 precise waypoints with total movement distance of 0.198." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47070, + "action": "push", + "object": "Toy Car", + "frame_index": 48, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47072", + "task": "push Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00052.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: push Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: push Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.358, 1.223]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.142, 1.187]). The trajectory involves 5 precise waypoints with total movement distance of 0.220." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47072, + "action": "push", + "object": "Toy Car", + "frame_index": 52, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47081", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.344, 1.159]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.461, 1.180]). The trajectory involves 5 precise waypoints with total movement distance of 0.120." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47081, + "action": "pull", + "object": "Toy Car", + "frame_index": 107, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47085", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00113.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00114.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.337, 1.189]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.522, 1.226]). The trajectory involves 5 precise waypoints with total movement distance of 0.192." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47085, + "action": "pull", + "object": "Toy Car", + "frame_index": 115, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47087", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00117.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00118.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00119.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.358, 1.189]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.571, 1.233]). The trajectory involves 5 precise waypoints with total movement distance of 0.220." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47087, + "action": "pull", + "object": "Toy Car", + "frame_index": 119, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47090", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00123.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00124.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.349, 1.192]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.593, 1.247]). The trajectory involves 5 precise waypoints with total movement distance of 0.250." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47090, + "action": "pull", + "object": "Toy Car", + "frame_index": 125, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47092", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00127.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00128.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00129.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.372, 1.191]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.608, 1.223]). The trajectory involves 5 precise waypoints with total movement distance of 0.240." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47092, + "action": "pull", + "object": "Toy Car", + "frame_index": 129, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47094", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00131.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00132.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00133.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.381, 1.194]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.635, 1.219]). The trajectory involves 5 precise waypoints with total movement distance of 0.255." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47094, + "action": "pull", + "object": "Toy Car", + "frame_index": 133, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47117", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00242.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N02_S336_s03_T2/align_rgb/00243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.612, 1.045]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.619, 1.235]). The trajectory involves 5 precise waypoints with total movement distance of 0.193." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47117, + "action": "pull", + "object": "Toy Car", + "frame_index": 243, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47130", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00029.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00030.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00031.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.614, 1.369]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.585, 1.119]). The trajectory involves 5 precise waypoints with total movement distance of 0.252." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47130, + "action": "pickup", + "object": "Toy Car", + "frame_index": 31, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47131", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00031.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00032.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00033.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.622, 1.360]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.584, 1.111]). The trajectory involves 5 precise waypoints with total movement distance of 0.254." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47131, + "action": "pickup", + "object": "Toy Car", + "frame_index": 33, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47135", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00040.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00041.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.608, 1.329]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.550, 1.081]). The trajectory involves 5 precise waypoints with total movement distance of 0.256." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47135, + "action": "pickup", + "object": "Toy Car", + "frame_index": 41, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47136", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00041.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00042.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00043.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.607, 1.276]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.553, 1.039]). The trajectory involves 5 precise waypoints with total movement distance of 0.244." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47136, + "action": "pickup", + "object": "Toy Car", + "frame_index": 43, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47145", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.529, 1.052]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.560, 1.227]). The trajectory involves 5 precise waypoints with total movement distance of 0.179." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47145, + "action": "putdown", + "object": "Toy Car", + "frame_index": 97, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47150", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.542, 1.078]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.576, 1.271]). The trajectory involves 5 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47150, + "action": "putdown", + "object": "Toy Car", + "frame_index": 107, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47155", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00115.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00116.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00117.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.563, 1.151]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.591, 1.339]). The trajectory involves 5 precise waypoints with total movement distance of 0.190." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47155, + "action": "putdown", + "object": "Toy Car", + "frame_index": 117, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47168", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.524, 0.936]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.574, 1.137]). The trajectory involves 5 precise waypoints with total movement distance of 0.208." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47168, + "action": "putdown", + "object": "Toy Car", + "frame_index": 219, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47174", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.582, 1.146]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.616, 1.317]). The trajectory involves 5 precise waypoints with total movement distance of 0.175." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47174, + "action": "putdown", + "object": "Toy Car", + "frame_index": 231, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_47175", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800002_H2_C1_N01_S336_s02_T1/align_rgb/00233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.590, 1.176]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.618, 1.336]). The trajectory involves 5 precise waypoints with total movement distance of 0.163." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 47175, + "action": "putdown", + "object": "Toy Car", + "frame_index": 233, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_50227", + "task": "carry Bucket to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C8_N48_S319_s05_T2/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N48_S319_s05_T2/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N48_S319_s05_T2/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bucket to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.077, 1.210]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.458, 1.305]). The trajectory involves 5 precise waypoints with total movement distance of 1.442." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 50227, + "action": "carry", + "object": "Bucket", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_50327", + "task": "carry Bucket to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C8_N46_S319_s04_T2/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N46_S319_s04_T2/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N46_S319_s04_T2/align_rgb/00098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bucket to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.153, 0.977]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.591, 1.133]). The trajectory involves 5 precise waypoints with total movement distance of 1.459." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 50327, + "action": "carry", + "object": "Bucket", + "frame_index": 98, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_50376", + "task": "carry Bucket to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C8_N45_S319_s04_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N45_S319_s04_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N45_S319_s04_T2/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bucket to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.204, 0.671]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.420, 0.913]). The trajectory involves 5 precise waypoints with total movement distance of 1.264." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 50376, + "action": "carry", + "object": "Bucket", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket" + ] + } + }, + { + "id": "hoi4d_50597", + "task": "carry Bucket to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C8_N42_S319_s03_T2/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N42_S319_s03_T2/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N42_S319_s03_T2/align_rgb/00087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bucket to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.352, 1.102]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.524, 1.411]). The trajectory involves 5 precise waypoints with total movement distance of 1.241." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 50597, + "action": "carry", + "object": "Bucket", + "frame_index": 87, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket" + ] + } + }, + { + "id": "hoi4d_50852", + "task": "carry Bucket to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C8_N40_S323_s05_T2/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N40_S323_s05_T2/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N40_S323_s05_T2/align_rgb/00087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bucket to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.592, 0.917]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.770, 1.364]). The trajectory involves 5 precise waypoints with total movement distance of 1.293." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 50852, + "action": "carry", + "object": "Bucket", + "frame_index": 87, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket" + ] + } + }, + { + "id": "hoi4d_50874", + "task": "carry Bucket to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C8_N40_S319_s03_T2/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N40_S319_s03_T2/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N40_S319_s03_T2/align_rgb/00065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bucket to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.228, 0.825]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.607, 1.075]). The trajectory involves 5 precise waypoints with total movement distance of 1.410." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 50874, + "action": "carry", + "object": "Bucket", + "frame_index": 65, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket" + ] + } + }, + { + "id": "hoi4d_51109", + "task": "carry Bucket to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C8_N38_S323_s05_T2/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N38_S323_s05_T2/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N38_S323_s05_T2/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bucket to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.423, 1.023]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.492, 1.306]). The trajectory involves 5 precise waypoints with total movement distance of 1.125." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 51109, + "action": "carry", + "object": "Bucket", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_51139", + "task": "carry Bucket to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C8_N38_S319_s02_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N38_S319_s02_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N38_S319_s02_T2/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bucket to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.158, 0.850]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.004, 1.099]). The trajectory involves 5 precise waypoints with total movement distance of 0.922." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 51139, + "action": "carry", + "object": "Bucket", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket" + ] + } + }, + { + "id": "hoi4d_51171", + "task": "pick up the bucket", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C8_N38_S313_s05_T1/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N38_S313_s05_T1/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N38_S313_s05_T1/align_rgb/00219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the bucket?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the bucket, execute the following phases: 1) Initial approach phase (start at [1.174, 1.033]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.170, 0.915]). The trajectory involves 5 precise waypoints with total movement distance of 0.120." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 51171, + "action": "pickup", + "object": "Bucket", + "frame_index": 219, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_51184", + "task": "carry Bucket to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C8_N37_S323_s05_T2/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N37_S323_s05_T2/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N37_S323_s05_T2/align_rgb/00089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bucket to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.336, 1.023]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.626, 1.246]). The trajectory involves 5 precise waypoints with total movement distance of 1.327." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 51184, + "action": "carry", + "object": "Bucket", + "frame_index": 89, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket" + ] + } + }, + { + "id": "hoi4d_51219", + "task": "carry Bucket to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C8_N37_S313_s05_T1/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N37_S313_s05_T1/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N37_S313_s05_T1/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bucket to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.098, 0.900]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.698, 0.871]). The trajectory involves 5 precise waypoints with total movement distance of 0.625." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 51219, + "action": "carry", + "object": "Bucket", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_51242", + "task": "carry Bucket to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C8_N36_S323_s04_T2/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N36_S323_s04_T2/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N36_S323_s04_T2/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bucket to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.213, 1.008]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.044, 1.280]). The trajectory involves 5 precise waypoints with total movement distance of 0.878." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 51242, + "action": "carry", + "object": "Bucket", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_51466", + "task": "carry Bucket to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C8_N34_S77_s04_T1/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N34_S77_s04_T1/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N34_S77_s04_T1/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bucket to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.393, 1.192]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.415, 1.056]). The trajectory involves 5 precise waypoints with total movement distance of 0.138." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 51466, + "action": "carry", + "object": "Bucket", + "frame_index": 64, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_51574", + "task": "carry Bucket to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C8_N34_S313_s04_T1/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N34_S313_s04_T1/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N34_S313_s04_T1/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bucket to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.150, 0.978]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.649, 0.838]). The trajectory involves 5 precise waypoints with total movement distance of 0.523." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 51574, + "action": "carry", + "object": "Bucket", + "frame_index": 70, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_51742", + "task": "carry Bucket to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C8_N33_S313_s04_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N33_S313_s04_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N33_S313_s04_T1/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bucket to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [0.794, 1.148]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.537, 0.868]). The trajectory involves 5 precise waypoints with total movement distance of 0.873." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 51742, + "action": "carry", + "object": "Bucket", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_51758", + "task": "carry Bucket to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C8_N33_S313_s04_T1/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N33_S313_s04_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N33_S313_s04_T1/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bucket to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bucket to the left, execute the following phases: 1) Initial approach phase (start at [1.858, 1.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.238, 1.101]). The trajectory involves 5 precise waypoints with total movement distance of 0.782." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 51758, + "action": "carry", + "object": "Bucket", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket", + "Handle" + ] + } + }, + { + "id": "hoi4d_52148", + "task": "carry Bucket to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C8_N30_S317_s05_T2/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N30_S317_s05_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800001_H1_C8_N30_S317_s05_T2/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bucket to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bucket to the right, execute the following phases: 1) Initial approach phase (start at [1.172, 0.783]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.920, 1.068]). The trajectory involves 5 precise waypoints with total movement distance of 1.810." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 52148, + "action": "carry", + "object": "Bucket", + "frame_index": 66, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Bucket" + ] + } + }, + { + "id": "hoi4d_59718", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C6_N07_S247_s02_T1/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800001_H1_C6_N07_S247_s02_T1/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800001_H1_C6_N07_S247_s02_T1/align_rgb/00191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.406, 1.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.713, 1.461]). The trajectory involves 5 precise waypoints with total movement distance of 0.385." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 59718, + "action": "open", + "object": "Safe", + "frame_index": 191, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_59741", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C6_N06_S82_s03_T2/align_rgb/00149.jpg", + "hoi4d_frame/ZY20210800001_H1_C6_N06_S82_s03_T2/align_rgb/00150.jpg", + "hoi4d_frame/ZY20210800001_H1_C6_N06_S82_s03_T2/align_rgb/00151.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.311, 1.423]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.404, 1.582]). The trajectory involves 5 precise waypoints with total movement distance of 0.302." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 59741, + "action": "open", + "object": "Safe", + "frame_index": 151, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_59758", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C6_N06_S247_s02_T1/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800001_H1_C6_N06_S247_s02_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800001_H1_C6_N06_S247_s02_T1/align_rgb/00098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.437, 1.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.198, 1.488]). The trajectory involves 5 precise waypoints with total movement distance of 0.304." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 59758, + "action": "close", + "object": "Safe", + "frame_index": 98, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_59826", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C6_N04_S247_s01_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800001_H1_C6_N04_S247_s01_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800001_H1_C6_N04_S247_s01_T1/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.381, 1.540]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.528, 1.553]). The trajectory involves 5 precise waypoints with total movement distance of 0.160." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 59826, + "action": "open", + "object": "Safe", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_59887", + "task": "close the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C6_N03_S82_s02_T1/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800001_H1_C6_N03_S82_s02_T1/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800001_H1_C6_N03_S82_s02_T1/align_rgb/00230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the safe, execute the following phases: 1) Initial approach phase (start at [1.607, 1.490]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.440, 1.393]). The trajectory involves 5 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 59887, + "action": "close", + "object": "Safe", + "frame_index": 230, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_59927", + "task": "open the safe", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C6_N02_S82_s01_T2/align_rgb/00147.jpg", + "hoi4d_frame/ZY20210800001_H1_C6_N02_S82_s01_T2/align_rgb/00148.jpg", + "hoi4d_frame/ZY20210800001_H1_C6_N02_S82_s01_T2/align_rgb/00149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the safe?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the safe, execute the following phases: 1) Initial approach phase (start at [1.421, 1.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.549, 1.655]). The trajectory involves 5 precise waypoints with total movement distance of 0.262." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 59927, + "action": "open", + "object": "Safe", + "frame_index": 149, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Safe", + "Door" + ] + } + }, + { + "id": "hoi4d_60050", + "task": "carry Bottle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C5_N15_S57_s03_T2/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800001_H1_C5_N15_S57_s03_T2/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800001_H1_C5_N15_S57_s03_T2/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Bottle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Bottle to the left, execute the following phases: 1) Initial approach phase (start at [1.640, 1.605]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.278, 1.640]). The trajectory involves 5 precise waypoints with total movement distance of 0.373." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60050, + "action": "carry", + "object": "Bottle", + "frame_index": 64, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Bottle" + ] + } + }, + { + "id": "hoi4d_60065", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.364, 1.310]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.816, 1.907]). The trajectory involves 5 precise waypoints with total movement distance of 0.818." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60065, + "action": "open", + "object": "Storage Furniture", + "frame_index": 58, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60066", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.341, 1.362]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.805, 2.000]). The trajectory involves 5 precise waypoints with total movement distance of 0.852." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60066, + "action": "open", + "object": "Storage Furniture", + "frame_index": 60, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60067", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.327, 1.413]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.781, 2.003]). The trajectory involves 5 precise waypoints with total movement distance of 0.800." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60067, + "action": "open", + "object": "Storage Furniture", + "frame_index": 62, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60068", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.312, 1.542]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.772, 2.048]). The trajectory involves 5 precise waypoints with total movement distance of 0.734." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60068, + "action": "open", + "object": "Storage Furniture", + "frame_index": 64, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60069", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.514, 1.649]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.033, 1.229]). The trajectory involves 5 precise waypoints with total movement distance of 0.679." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60069, + "action": "close", + "object": "Storage Furniture", + "frame_index": 85, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60073", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.406, 1.736]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.138, 1.254]). The trajectory involves 5 precise waypoints with total movement distance of 0.585." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60073, + "action": "close", + "object": "Storage Furniture", + "frame_index": 93, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60074", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.405, 1.709]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.230, 1.289]). The trajectory involves 5 precise waypoints with total movement distance of 0.484." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60074, + "action": "close", + "object": "Storage Furniture", + "frame_index": 95, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60075", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.394, 1.718]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.276, 1.342]). The trajectory involves 5 precise waypoints with total movement distance of 0.412." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60075, + "action": "close", + "object": "Storage Furniture", + "frame_index": 97, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60076", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.362, 1.683]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.298, 1.340]). The trajectory involves 5 precise waypoints with total movement distance of 0.358." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60076, + "action": "close", + "object": "Storage Furniture", + "frame_index": 99, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60080", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.408, 1.434]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.825, 1.924]). The trajectory involves 5 precise waypoints with total movement distance of 0.653." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60080, + "action": "open", + "object": "Storage Furniture", + "frame_index": 199, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60082", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s05_T2/align_rgb/00223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.365, 1.778]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.049, 1.359]). The trajectory involves 5 precise waypoints with total movement distance of 0.575." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60082, + "action": "close", + "object": "Storage Furniture", + "frame_index": 223, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60110", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.377, 1.151]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.901, 1.704]). The trajectory involves 5 precise waypoints with total movement distance of 0.825." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60110, + "action": "open", + "object": "Storage Furniture", + "frame_index": 64, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60111", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.355, 1.189]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.926, 1.772]). The trajectory involves 5 precise waypoints with total movement distance of 0.882." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60111, + "action": "open", + "object": "Storage Furniture", + "frame_index": 66, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60112", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.346, 1.207]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.932, 1.747]). The trajectory involves 5 precise waypoints with total movement distance of 0.886." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60112, + "action": "open", + "object": "Storage Furniture", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60113", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.343, 1.256]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.884, 1.787]). The trajectory involves 5 precise waypoints with total movement distance of 0.807." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60113, + "action": "open", + "object": "Storage Furniture", + "frame_index": 70, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60130", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s02_T2/align_rgb/00232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.299, 1.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.122, 1.112]). The trajectory involves 5 precise waypoints with total movement distance of 0.494." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60130, + "action": "close", + "object": "Storage Furniture", + "frame_index": 232, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60134", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s01_T1/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s01_T1/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s01_T1/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.520, 1.079]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.503, 1.468]). The trajectory involves 5 precise waypoints with total movement distance of 0.391." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60134, + "action": "open", + "object": "Storage Furniture", + "frame_index": 70, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door", + "Drawer" + ] + } + }, + { + "id": "hoi4d_60138", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s01_T1/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s01_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s01_T1/align_rgb/00098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.493, 1.261]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.514, 1.003]). The trajectory involves 5 precise waypoints with total movement distance of 0.260." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60138, + "action": "close", + "object": "Storage Furniture", + "frame_index": 98, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door", + "Drawer" + ] + } + }, + { + "id": "hoi4d_60146", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s01_T1/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s01_T1/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s01_T1/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.477, 1.111]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.445, 1.476]). The trajectory involves 5 precise waypoints with total movement distance of 0.367." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60146, + "action": "open", + "object": "Storage Furniture", + "frame_index": 207, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door", + "Drawer" + ] + } + }, + { + "id": "hoi4d_60152", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s01_T1/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s01_T1/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N75_S387_s01_T1/align_rgb/00239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.366, 1.333]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.379, 1.053]). The trajectory involves 5 precise waypoints with total movement distance of 0.281." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60152, + "action": "close", + "object": "Storage Furniture", + "frame_index": 239, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door", + "Drawer" + ] + } + }, + { + "id": "hoi4d_60159", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00053.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00054.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.288, 1.262]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.580, 1.835]). The trajectory involves 5 precise waypoints with total movement distance of 0.694." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60159, + "action": "open", + "object": "Storage Furniture", + "frame_index": 54, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60160", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00056.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.303, 1.258]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.602, 1.751]). The trajectory involves 5 precise waypoints with total movement distance of 0.642." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60160, + "action": "open", + "object": "Storage Furniture", + "frame_index": 56, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60161", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.314, 1.270]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.627, 1.703]). The trajectory involves 5 precise waypoints with total movement distance of 0.611." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60161, + "action": "open", + "object": "Storage Furniture", + "frame_index": 58, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60162", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00059.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.337, 1.285]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.605, 1.682]). The trajectory involves 5 precise waypoints with total movement distance of 0.566." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60162, + "action": "open", + "object": "Storage Furniture", + "frame_index": 59, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60165", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.457, 1.553]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.145, 1.141]). The trajectory involves 5 precise waypoints with total movement distance of 0.563." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60165, + "action": "close", + "object": "Storage Furniture", + "frame_index": 85, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60170", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.408, 1.372]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.791, 1.912]). The trajectory involves 5 precise waypoints with total movement distance of 0.696." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60170, + "action": "open", + "object": "Storage Furniture", + "frame_index": 186, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60173", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.596, 1.749]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.181, 1.420]). The trajectory involves 5 precise waypoints with total movement distance of 0.557." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60173, + "action": "close", + "object": "Storage Furniture", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60174", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s05_T2/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.584, 1.741]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.192, 1.346]). The trajectory involves 5 precise waypoints with total movement distance of 0.651." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60174, + "action": "close", + "object": "Storage Furniture", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60201", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.354, 1.546]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.746, 2.163]). The trajectory involves 5 precise waypoints with total movement distance of 0.790." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60201, + "action": "open", + "object": "Storage Furniture", + "frame_index": 63, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60202", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.383, 1.602]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.823, 2.155]). The trajectory involves 5 precise waypoints with total movement distance of 0.750." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60202, + "action": "open", + "object": "Storage Furniture", + "frame_index": 65, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60203", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.328, 1.590]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.717, 2.051]). The trajectory involves 5 precise waypoints with total movement distance of 0.642." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60203, + "action": "open", + "object": "Storage Furniture", + "frame_index": 67, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60204", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.289, 1.707]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.761, 2.134]). The trajectory involves 5 precise waypoints with total movement distance of 0.670." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60204, + "action": "open", + "object": "Storage Furniture", + "frame_index": 68, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60206", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.452, 1.762]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.127, 1.324]). The trajectory involves 5 precise waypoints with total movement distance of 0.587." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60206, + "action": "close", + "object": "Storage Furniture", + "frame_index": 92, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60207", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.443, 1.772]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.146, 1.335]). The trajectory involves 5 precise waypoints with total movement distance of 0.554." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60207, + "action": "close", + "object": "Storage Furniture", + "frame_index": 94, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60210", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.433, 1.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.789, 2.162]). The trajectory involves 5 precise waypoints with total movement distance of 0.815." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60210, + "action": "open", + "object": "Storage Furniture", + "frame_index": 201, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60211", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s02_T2/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.412, 1.510]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.783, 2.192]). The trajectory involves 5 precise waypoints with total movement distance of 0.809." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60211, + "action": "open", + "object": "Storage Furniture", + "frame_index": 202, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60221", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s01_T1/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s01_T1/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s01_T1/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.527, 1.330]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.507, 1.671]). The trajectory involves 5 precise waypoints with total movement distance of 0.342." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60221, + "action": "open", + "object": "Storage Furniture", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_60222", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s01_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s01_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s01_T1/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.562, 1.324]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.546, 1.663]). The trajectory involves 5 precise waypoints with total movement distance of 0.339." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60222, + "action": "open", + "object": "Storage Furniture", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_60223", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s01_T1/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s01_T1/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N74_S387_s01_T1/align_rgb/00075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.527, 1.333]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.502, 1.668]). The trajectory involves 5 precise waypoints with total movement distance of 0.336." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60223, + "action": "open", + "object": "Storage Furniture", + "frame_index": 75, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_60245", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.371, 1.394]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.723, 1.892]). The trajectory involves 5 precise waypoints with total movement distance of 0.638." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60245, + "action": "open", + "object": "Storage Furniture", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60247", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.768, 1.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.382, 1.215]). The trajectory involves 5 precise waypoints with total movement distance of 0.465." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60247, + "action": "close", + "object": "Storage Furniture", + "frame_index": 98, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60248", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.742, 1.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.371, 1.165]). The trajectory involves 5 precise waypoints with total movement distance of 0.509." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60248, + "action": "close", + "object": "Storage Furniture", + "frame_index": 100, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60251", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.622, 1.905]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.431, 1.490]). The trajectory involves 5 precise waypoints with total movement distance of 0.485." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60251, + "action": "close", + "object": "Storage Furniture", + "frame_index": 106, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60253", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.619, 1.422]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.479, 1.166]). The trajectory involves 5 precise waypoints with total movement distance of 0.307." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60253, + "action": "close", + "object": "Storage Furniture", + "frame_index": 110, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60256", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.459, 1.166]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.943, 1.651]). The trajectory involves 5 precise waypoints with total movement distance of 0.729." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60256, + "action": "open", + "object": "Storage Furniture", + "frame_index": 201, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60257", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s05_T2/align_rgb/00222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.870, 1.637]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.367, 1.379]). The trajectory involves 5 precise waypoints with total movement distance of 0.580." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60257, + "action": "close", + "object": "Storage Furniture", + "frame_index": 222, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60291", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.392, 1.334]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.656, 1.952]). The trajectory involves 5 precise waypoints with total movement distance of 0.708." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60291, + "action": "open", + "object": "Storage Furniture", + "frame_index": 62, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60292", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.362, 1.438]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.651, 2.053]). The trajectory involves 5 precise waypoints with total movement distance of 0.709." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60292, + "action": "open", + "object": "Storage Furniture", + "frame_index": 64, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60294", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.409, 1.449]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.681, 1.880]). The trajectory involves 5 precise waypoints with total movement distance of 0.533." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60294, + "action": "open", + "object": "Storage Furniture", + "frame_index": 68, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60295", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.431, 1.477]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.686, 1.849]). The trajectory involves 5 precise waypoints with total movement distance of 0.472." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60295, + "action": "open", + "object": "Storage Furniture", + "frame_index": 69, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60296", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.606, 1.654]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.341, 1.277]). The trajectory involves 5 precise waypoints with total movement distance of 0.489." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60296, + "action": "close", + "object": "Storage Furniture", + "frame_index": 91, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60298", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.554, 1.687]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.237, 1.234]). The trajectory involves 5 precise waypoints with total movement distance of 0.568." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60298, + "action": "close", + "object": "Storage Furniture", + "frame_index": 95, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60299", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.532, 1.695]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.237, 1.240]). The trajectory involves 5 precise waypoints with total movement distance of 0.554." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60299, + "action": "close", + "object": "Storage Furniture", + "frame_index": 96, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60300", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00169.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00170.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.422, 1.320]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.761, 1.976]). The trajectory involves 5 precise waypoints with total movement distance of 0.764." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60300, + "action": "open", + "object": "Storage Furniture", + "frame_index": 171, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60303", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.628, 1.523]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.309, 1.297]). The trajectory involves 5 precise waypoints with total movement distance of 0.403." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60303, + "action": "close", + "object": "Storage Furniture", + "frame_index": 196, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60304", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.570, 1.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.197, 1.179]). The trajectory involves 5 precise waypoints with total movement distance of 0.563." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60304, + "action": "close", + "object": "Storage Furniture", + "frame_index": 198, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60306", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s02_T2/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.479, 1.535]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.295, 1.134]). The trajectory involves 5 precise waypoints with total movement distance of 0.476." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60306, + "action": "close", + "object": "Storage Furniture", + "frame_index": 202, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60317", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s01_T1/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s01_T1/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s01_T1/align_rgb/00106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.557, 1.647]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.586, 1.263]). The trajectory involves 5 precise waypoints with total movement distance of 0.386." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60317, + "action": "close", + "object": "Storage Furniture", + "frame_index": 106, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_60318", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s01_T1/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s01_T1/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s01_T1/align_rgb/00108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.568, 1.606]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.597, 1.234]). The trajectory involves 5 precise waypoints with total movement distance of 0.373." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60318, + "action": "close", + "object": "Storage Furniture", + "frame_index": 108, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_60319", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s01_T1/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s01_T1/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N73_S386_s01_T1/align_rgb/00110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.554, 1.615]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.562, 1.274]). The trajectory involves 5 precise waypoints with total movement distance of 0.341." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60319, + "action": "close", + "object": "Storage Furniture", + "frame_index": 110, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_60332", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.714, 1.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.318, 1.173]). The trajectory involves 5 precise waypoints with total movement distance of 0.527." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60332, + "action": "close", + "object": "Storage Furniture", + "frame_index": 96, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60334", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.707, 1.475]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.289, 1.099]). The trajectory involves 5 precise waypoints with total movement distance of 0.599." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60334, + "action": "close", + "object": "Storage Furniture", + "frame_index": 100, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60335", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.705, 1.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.306, 1.134]). The trajectory involves 5 precise waypoints with total movement distance of 0.565." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60335, + "action": "close", + "object": "Storage Furniture", + "frame_index": 102, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60338", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.556, 1.471]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.390, 1.129]). The trajectory involves 5 precise waypoints with total movement distance of 0.405." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60338, + "action": "close", + "object": "Storage Furniture", + "frame_index": 108, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60344", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.777, 1.416]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.322, 1.134]). The trajectory involves 5 precise waypoints with total movement distance of 0.553." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60344, + "action": "close", + "object": "Storage Furniture", + "frame_index": 229, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60345", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s05_T2/align_rgb/00231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.770, 1.373]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.337, 1.031]). The trajectory involves 5 precise waypoints with total movement distance of 0.575." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60345, + "action": "close", + "object": "Storage Furniture", + "frame_index": 231, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60376", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.729, 1.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.254, 1.267]). The trajectory involves 5 precise waypoints with total movement distance of 0.609." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60376, + "action": "close", + "object": "Storage Furniture", + "frame_index": 77, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60377", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.734, 1.634]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.275, 1.292]). The trajectory involves 5 precise waypoints with total movement distance of 0.599." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60377, + "action": "close", + "object": "Storage Furniture", + "frame_index": 79, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60378", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.733, 1.618]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.303, 1.148]). The trajectory involves 5 precise waypoints with total movement distance of 0.730." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60378, + "action": "close", + "object": "Storage Furniture", + "frame_index": 81, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60380", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.658, 1.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.223, 0.979]). The trajectory involves 5 precise waypoints with total movement distance of 0.745." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60380, + "action": "close", + "object": "Storage Furniture", + "frame_index": 85, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60383", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.477, 1.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.319, 1.136]). The trajectory involves 5 precise waypoints with total movement distance of 0.439." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60383, + "action": "close", + "object": "Storage Furniture", + "frame_index": 90, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60386", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00186.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.286, 1.101]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.604, 1.597]). The trajectory involves 5 precise waypoints with total movement distance of 0.632." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60386, + "action": "open", + "object": "Storage Furniture", + "frame_index": 186, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60387", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.263, 1.133]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.648, 1.716]). The trajectory involves 5 precise waypoints with total movement distance of 0.718." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60387, + "action": "open", + "object": "Storage Furniture", + "frame_index": 188, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60388", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.294, 1.128]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.730, 1.669]). The trajectory involves 5 precise waypoints with total movement distance of 0.732." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60388, + "action": "open", + "object": "Storage Furniture", + "frame_index": 190, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60389", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.297, 1.185]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.670, 1.699]). The trajectory involves 5 precise waypoints with total movement distance of 0.653." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60389, + "action": "open", + "object": "Storage Furniture", + "frame_index": 192, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60390", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.596, 1.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.219, 1.165]). The trajectory involves 5 precise waypoints with total movement distance of 0.521." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60390, + "action": "close", + "object": "Storage Furniture", + "frame_index": 214, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60391", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.570, 1.478]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.203, 1.079]). The trajectory involves 5 precise waypoints with total movement distance of 0.585." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60391, + "action": "close", + "object": "Storage Furniture", + "frame_index": 216, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60392", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s02_T2/align_rgb/00218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.551, 1.419]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.273, 1.063]). The trajectory involves 5 precise waypoints with total movement distance of 0.484." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60392, + "action": "close", + "object": "Storage Furniture", + "frame_index": 218, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60395", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.652, 1.102]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.630, 1.498]). The trajectory involves 5 precise waypoints with total movement distance of 0.397." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60395, + "action": "open", + "object": "Storage Furniture", + "frame_index": 66, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_60396", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.644, 1.104]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.621, 1.538]). The trajectory involves 5 precise waypoints with total movement distance of 0.435." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60396, + "action": "open", + "object": "Storage Furniture", + "frame_index": 68, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_60397", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.649, 1.115]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.630, 1.542]). The trajectory involves 5 precise waypoints with total movement distance of 0.430." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60397, + "action": "open", + "object": "Storage Furniture", + "frame_index": 70, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_60401", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.603, 1.295]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.614, 1.055]). The trajectory involves 5 precise waypoints with total movement distance of 0.241." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60401, + "action": "close", + "object": "Storage Furniture", + "frame_index": 97, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_60402", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.612, 1.288]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.629, 1.022]). The trajectory involves 5 precise waypoints with total movement distance of 0.266." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60402, + "action": "close", + "object": "Storage Furniture", + "frame_index": 99, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_60405", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00103.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.592, 1.250]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.603, 0.929]). The trajectory involves 5 precise waypoints with total movement distance of 0.321." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60405, + "action": "close", + "object": "Storage Furniture", + "frame_index": 105, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_60406", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.575, 1.241]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.589, 0.942]). The trajectory involves 5 precise waypoints with total movement distance of 0.306." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60406, + "action": "close", + "object": "Storage Furniture", + "frame_index": 107, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_60407", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.549, 1.248]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.554, 1.004]). The trajectory involves 5 precise waypoints with total movement distance of 0.268." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60407, + "action": "close", + "object": "Storage Furniture", + "frame_index": 108, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_60413", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N72_S386_s01_T1/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.575, 1.246]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.559, 1.008]). The trajectory involves 5 precise waypoints with total movement distance of 0.239." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60413, + "action": "close", + "object": "Storage Furniture", + "frame_index": 210, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_60417", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.389, 1.466]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.756, 1.966]). The trajectory involves 5 precise waypoints with total movement distance of 0.659." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60417, + "action": "open", + "object": "Storage Furniture", + "frame_index": 62, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60419", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.467, 1.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.915, 1.910]). The trajectory involves 5 precise waypoints with total movement distance of 0.672." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60419, + "action": "open", + "object": "Storage Furniture", + "frame_index": 66, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60420", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.469, 1.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.981, 1.898]). The trajectory involves 5 precise waypoints with total movement distance of 0.684." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60420, + "action": "open", + "object": "Storage Furniture", + "frame_index": 68, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60421", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.394, 1.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.980, 2.031]). The trajectory involves 5 precise waypoints with total movement distance of 0.794." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60421, + "action": "open", + "object": "Storage Furniture", + "frame_index": 69, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60422", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.742, 1.628]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.290, 1.417]). The trajectory involves 5 precise waypoints with total movement distance of 0.528." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60422, + "action": "close", + "object": "Storage Furniture", + "frame_index": 91, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60425", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.688, 1.632]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.264, 1.330]). The trajectory involves 5 precise waypoints with total movement distance of 0.546." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60425, + "action": "close", + "object": "Storage Furniture", + "frame_index": 97, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60427", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.535, 1.622]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.311, 1.271]). The trajectory involves 5 precise waypoints with total movement distance of 0.436." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60427, + "action": "close", + "object": "Storage Furniture", + "frame_index": 101, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60433", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.483, 1.443]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.938, 2.001]). The trajectory involves 5 precise waypoints with total movement distance of 0.753." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60433, + "action": "open", + "object": "Storage Furniture", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60436", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s05_T2/align_rgb/00226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.827, 1.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.385, 1.248]). The trajectory involves 5 precise waypoints with total movement distance of 0.571." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60436, + "action": "close", + "object": "Storage Furniture", + "frame_index": 226, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60473", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.556, 1.529]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.204, 1.238]). The trajectory involves 5 precise waypoints with total movement distance of 0.493." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60473, + "action": "close", + "object": "Storage Furniture", + "frame_index": 96, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60474", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.554, 1.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.167, 1.176]). The trajectory involves 5 precise waypoints with total movement distance of 0.570." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60474, + "action": "close", + "object": "Storage Furniture", + "frame_index": 98, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60475", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.545, 1.527]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.139, 1.117]). The trajectory involves 5 precise waypoints with total movement distance of 0.621." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60475, + "action": "close", + "object": "Storage Furniture", + "frame_index": 100, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60477", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00102.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00103.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00104.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.460, 1.563]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.135, 1.110]). The trajectory involves 5 precise waypoints with total movement distance of 0.579." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60477, + "action": "close", + "object": "Storage Furniture", + "frame_index": 104, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60482", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00111.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00112.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.341, 1.590]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.243, 1.239]). The trajectory involves 5 precise waypoints with total movement distance of 0.368." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60482, + "action": "close", + "object": "Storage Furniture", + "frame_index": 113, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60483", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.327, 1.240]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.584, 1.762]). The trajectory involves 5 precise waypoints with total movement distance of 0.612." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60483, + "action": "open", + "object": "Storage Furniture", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60484", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.349, 1.239]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.625, 1.721]). The trajectory involves 5 precise waypoints with total movement distance of 0.590." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60484, + "action": "open", + "object": "Storage Furniture", + "frame_index": 208, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60485", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.344, 1.224]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.620, 1.719]). The trajectory involves 5 precise waypoints with total movement distance of 0.602." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60485, + "action": "open", + "object": "Storage Furniture", + "frame_index": 210, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60486", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.309, 1.283]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.580, 1.801]). The trajectory involves 5 precise waypoints with total movement distance of 0.614." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60486, + "action": "open", + "object": "Storage Furniture", + "frame_index": 212, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60487", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.351, 1.307]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.638, 1.691]). The trajectory involves 5 precise waypoints with total movement distance of 0.500." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60487, + "action": "open", + "object": "Storage Furniture", + "frame_index": 214, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60488", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.376, 1.358]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.618, 1.680]). The trajectory involves 5 precise waypoints with total movement distance of 0.412." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60488, + "action": "open", + "object": "Storage Furniture", + "frame_index": 216, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60489", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.526, 1.613]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.164, 1.265]). The trajectory involves 5 precise waypoints with total movement distance of 0.554." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60489, + "action": "close", + "object": "Storage Furniture", + "frame_index": 238, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60490", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.486, 1.599]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.149, 1.166]). The trajectory involves 5 precise waypoints with total movement distance of 0.598." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60490, + "action": "close", + "object": "Storage Furniture", + "frame_index": 240, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60491", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.456, 1.604]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.182, 1.194]). The trajectory involves 5 precise waypoints with total movement distance of 0.522." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60491, + "action": "close", + "object": "Storage Furniture", + "frame_index": 242, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60492", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00242.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00243.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.419, 1.602]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.222, 1.149]). The trajectory involves 5 precise waypoints with total movement distance of 0.510." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60492, + "action": "close", + "object": "Storage Furniture", + "frame_index": 244, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60494", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00245.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00246.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s02_T2/align_rgb/00247.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.346, 1.576]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.240, 1.197]). The trajectory involves 5 precise waypoints with total movement distance of 0.407." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60494, + "action": "close", + "object": "Storage Furniture", + "frame_index": 247, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60498", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s01_T1/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s01_T1/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s01_T1/align_rgb/00083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.554, 1.375]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.531, 1.725]). The trajectory involves 5 precise waypoints with total movement distance of 0.351." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60498, + "action": "open", + "object": "Storage Furniture", + "frame_index": 83, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_60510", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s01_T1/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s01_T1/align_rgb/00242.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N71_S386_s01_T1/align_rgb/00243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.510, 1.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.540, 1.254]). The trajectory involves 5 precise waypoints with total movement distance of 0.252." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60510, + "action": "close", + "object": "Storage Furniture", + "frame_index": 243, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_60516", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.557, 1.344]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.068, 1.990]). The trajectory involves 5 precise waypoints with total movement distance of 0.881." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60516, + "action": "open", + "object": "Storage Furniture", + "frame_index": 82, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60517", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.600, 1.351]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.142, 1.963]). The trajectory involves 5 precise waypoints with total movement distance of 0.860." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60517, + "action": "open", + "object": "Storage Furniture", + "frame_index": 84, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60518", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.550, 1.404]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.172, 2.032]). The trajectory involves 5 precise waypoints with total movement distance of 0.944." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60518, + "action": "open", + "object": "Storage Furniture", + "frame_index": 86, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60519", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.783, 1.602]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.286, 1.199]). The trajectory involves 5 precise waypoints with total movement distance of 0.675." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60519, + "action": "close", + "object": "Storage Furniture", + "frame_index": 108, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60520", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.776, 1.576]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.284, 1.087]). The trajectory involves 5 precise waypoints with total movement distance of 0.759." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60520, + "action": "close", + "object": "Storage Furniture", + "frame_index": 110, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60525", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.781, 1.643]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.307, 1.241]). The trajectory involves 5 precise waypoints with total movement distance of 0.659." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60525, + "action": "close", + "object": "Storage Furniture", + "frame_index": 230, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60526", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.766, 1.624]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.280, 1.206]). The trajectory involves 5 precise waypoints with total movement distance of 0.689." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60526, + "action": "close", + "object": "Storage Furniture", + "frame_index": 232, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60527", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s05_T2/align_rgb/00234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.760, 1.621]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.289, 1.210]). The trajectory involves 5 precise waypoints with total movement distance of 0.664." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60527, + "action": "close", + "object": "Storage Furniture", + "frame_index": 234, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60552", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.372, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.747, 1.871]). The trajectory involves 5 precise waypoints with total movement distance of 0.666." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60552, + "action": "open", + "object": "Storage Furniture", + "frame_index": 63, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60554", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.399, 1.430]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.833, 1.912]). The trajectory involves 5 precise waypoints with total movement distance of 0.708." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60554, + "action": "open", + "object": "Storage Furniture", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60556", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.367, 1.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.807, 1.948]). The trajectory involves 5 precise waypoints with total movement distance of 0.687." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60556, + "action": "open", + "object": "Storage Furniture", + "frame_index": 71, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60557", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.292, 1.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.717, 2.008]). The trajectory involves 5 precise waypoints with total movement distance of 0.675." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60557, + "action": "open", + "object": "Storage Furniture", + "frame_index": 73, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60558", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.597, 1.553]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.212, 1.247]). The trajectory involves 5 precise waypoints with total movement distance of 0.525." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60558, + "action": "close", + "object": "Storage Furniture", + "frame_index": 95, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60559", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.592, 1.646]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.230, 1.317]). The trajectory involves 5 precise waypoints with total movement distance of 0.521." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60559, + "action": "close", + "object": "Storage Furniture", + "frame_index": 97, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60563", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.422, 1.346]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.762, 1.942]). The trajectory involves 5 precise waypoints with total movement distance of 0.725." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60563, + "action": "open", + "object": "Storage Furniture", + "frame_index": 199, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60564", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.403, 1.363]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.816, 1.955]). The trajectory involves 5 precise waypoints with total movement distance of 0.743." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60564, + "action": "open", + "object": "Storage Furniture", + "frame_index": 201, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60565", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.416, 1.320]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.820, 1.835]). The trajectory involves 5 precise waypoints with total movement distance of 0.678." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60565, + "action": "open", + "object": "Storage Furniture", + "frame_index": 203, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60567", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s02_T2/align_rgb/00227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.659, 1.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.271, 1.267]). The trajectory involves 5 precise waypoints with total movement distance of 0.561." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60567, + "action": "close", + "object": "Storage Furniture", + "frame_index": 227, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60577", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s01_T1/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s01_T1/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s01_T1/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.609, 1.283]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.583, 1.536]). The trajectory involves 5 precise waypoints with total movement distance of 0.254." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60577, + "action": "open", + "object": "Storage Furniture", + "frame_index": 70, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_60578", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s01_T1/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s01_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N70_S386_s01_T1/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.598, 1.278]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.571, 1.505]). The trajectory involves 5 precise waypoints with total movement distance of 0.229." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60578, + "action": "open", + "object": "Storage Furniture", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_60764", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s04_T4/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s04_T4/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s04_T4/align_rgb/00205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.748, 1.000]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.747, 1.225]). The trajectory involves 5 precise waypoints with total movement distance of 0.225." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60764, + "action": "open", + "object": "Storage Furniture", + "frame_index": 205, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_60793", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.362, 1.543]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.872, 2.189]). The trajectory involves 5 precise waypoints with total movement distance of 0.837." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60793, + "action": "open", + "object": "Storage Furniture", + "frame_index": 98, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60796", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00121.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00122.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00123.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.706, 1.681]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.323, 1.241]). The trajectory involves 5 precise waypoints with total movement distance of 0.617." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60796, + "action": "close", + "object": "Storage Furniture", + "frame_index": 123, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60797", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00123.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00124.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00125.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.671, 1.709]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.340, 1.289]). The trajectory involves 5 precise waypoints with total movement distance of 0.576." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60797, + "action": "close", + "object": "Storage Furniture", + "frame_index": 125, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60798", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00125.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00126.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00127.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.633, 1.658]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.324, 1.219]). The trajectory involves 5 precise waypoints with total movement distance of 0.570." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60798, + "action": "close", + "object": "Storage Furniture", + "frame_index": 127, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60799", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00127.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00128.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00129.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.576, 1.601]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.350, 1.159]). The trajectory involves 5 precise waypoints with total movement distance of 0.517." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60799, + "action": "close", + "object": "Storage Furniture", + "frame_index": 129, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60800", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00129.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00130.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N67_S391_s02_T2/align_rgb/00131.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.534, 1.617]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.365, 1.179]). The trajectory involves 5 precise waypoints with total movement distance of 0.486." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60800, + "action": "close", + "object": "Storage Furniture", + "frame_index": 131, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60818", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s05_T4/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s05_T4/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s05_T4/align_rgb/00197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.502, 0.916]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.489, 1.110]). The trajectory involves 5 precise waypoints with total movement distance of 0.195." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60818, + "action": "open", + "object": "Storage Furniture", + "frame_index": 197, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer", + "Door" + ] + } + }, + { + "id": "hoi4d_60851", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s03_T3/align_rgb/00120.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s03_T3/align_rgb/00121.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s03_T3/align_rgb/00122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.542, 1.023]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.560, 0.872]). The trajectory involves 5 precise waypoints with total movement distance of 0.153." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60851, + "action": "close", + "object": "Storage Furniture", + "frame_index": 122, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_60863", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.730, 1.682]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.301, 1.303]). The trajectory involves 5 precise waypoints with total movement distance of 0.602." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60863, + "action": "close", + "object": "Storage Furniture", + "frame_index": 110, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60864", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00110.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00111.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.722, 1.617]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.329, 1.227]). The trajectory involves 5 precise waypoints with total movement distance of 0.587." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60864, + "action": "close", + "object": "Storage Furniture", + "frame_index": 112, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60871", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.397, 1.436]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.741, 2.351]). The trajectory involves 5 precise waypoints with total movement distance of 1.009." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60871, + "action": "open", + "object": "Storage Furniture", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60874", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.376, 1.458]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.074, 2.658]). The trajectory involves 5 precise waypoints with total movement distance of 1.418." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60874, + "action": "open", + "object": "Storage Furniture", + "frame_index": 216, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60876", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.804, 1.598]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.359, 1.177]). The trajectory involves 5 precise waypoints with total movement distance of 0.640." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60876, + "action": "close", + "object": "Storage Furniture", + "frame_index": 239, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60877", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00241.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.803, 1.619]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.311, 1.165]). The trajectory involves 5 precise waypoints with total movement distance of 0.707." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60877, + "action": "close", + "object": "Storage Furniture", + "frame_index": 241, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60878", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00242.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.744, 1.605]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.293, 1.091]). The trajectory involves 5 precise waypoints with total movement distance of 0.700." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60878, + "action": "close", + "object": "Storage Furniture", + "frame_index": 243, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60879", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00243.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00244.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s02_T2/align_rgb/00245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.744, 1.601]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.303, 1.105]). The trajectory involves 5 precise waypoints with total movement distance of 0.715." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60879, + "action": "close", + "object": "Storage Furniture", + "frame_index": 245, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60888", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s01_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s01_T1/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N66_S391_s01_T1/align_rgb/00093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.748, 1.129]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.773, 0.854]). The trajectory involves 5 precise waypoints with total movement distance of 0.277." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60888, + "action": "close", + "object": "Storage Furniture", + "frame_index": 93, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_60958", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s05_T1/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s05_T1/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s05_T1/align_rgb/00075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.612, 1.319]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.599, 1.613]). The trajectory involves 5 precise waypoints with total movement distance of 0.294." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60958, + "action": "open", + "object": "Storage Furniture", + "frame_index": 75, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_60974", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s03_T3/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s03_T3/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s03_T3/align_rgb/00100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.671, 1.089]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.670, 0.861]). The trajectory involves 5 precise waypoints with total movement distance of 0.229." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60974, + "action": "close", + "object": "Storage Furniture", + "frame_index": 100, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer", + "Door" + ] + } + }, + { + "id": "hoi4d_60984", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.865, 1.283]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.354, 2.332]). The trajectory involves 5 precise waypoints with total movement distance of 1.218." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60984, + "action": "open", + "object": "Storage Furniture", + "frame_index": 75, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60987", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.818, 1.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.015, 2.297]). The trajectory involves 5 precise waypoints with total movement distance of 1.192." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60987, + "action": "open", + "object": "Storage Furniture", + "frame_index": 81, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60991", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.291, 1.569]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.889, 0.922]). The trajectory involves 5 precise waypoints with total movement distance of 0.937." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60991, + "action": "close", + "object": "Storage Furniture", + "frame_index": 109, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60992", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00110.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.349, 1.430]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.731, 0.959]). The trajectory involves 5 precise waypoints with total movement distance of 0.640." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60992, + "action": "close", + "object": "Storage Furniture", + "frame_index": 111, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60995", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.897, 1.333]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.383, 2.266]). The trajectory involves 5 precise waypoints with total movement distance of 1.104." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60995, + "action": "open", + "object": "Storage Furniture", + "frame_index": 208, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60996", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.892, 1.377]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.272, 2.313]). The trajectory involves 5 precise waypoints with total movement distance of 1.176." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60996, + "action": "open", + "object": "Storage Furniture", + "frame_index": 210, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60997", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.881, 1.415]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.139, 2.360]). The trajectory involves 5 precise waypoints with total movement distance of 1.270." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60997, + "action": "open", + "object": "Storage Furniture", + "frame_index": 212, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_60998", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s02_T2/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.895, 1.497]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.106, 2.370]). The trajectory involves 5 precise waypoints with total movement distance of 1.295." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 60998, + "action": "open", + "object": "Storage Furniture", + "frame_index": 214, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61008", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s01_T1/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s01_T1/align_rgb/00102.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s01_T1/align_rgb/00103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.536, 1.757]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.531, 1.393]). The trajectory involves 5 precise waypoints with total movement distance of 0.364." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61008, + "action": "close", + "object": "Storage Furniture", + "frame_index": 103, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61017", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s01_T1/align_rgb/00246.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s01_T1/align_rgb/00247.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N64_S385_s01_T1/align_rgb/00248.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.516, 1.792]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.532, 1.444]). The trajectory involves 5 precise waypoints with total movement distance of 0.348." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61017, + "action": "close", + "object": "Storage Furniture", + "frame_index": 248, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61024", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s05_T1/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s05_T1/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s05_T1/align_rgb/00094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.511, 1.205]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.515, 0.927]). The trajectory involves 5 precise waypoints with total movement distance of 0.279." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61024, + "action": "close", + "object": "Storage Furniture", + "frame_index": 94, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61026", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s05_T1/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s05_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s05_T1/align_rgb/00098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.517, 1.183]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.558, 0.865]). The trajectory involves 5 precise waypoints with total movement distance of 0.320." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61026, + "action": "close", + "object": "Storage Furniture", + "frame_index": 98, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61047", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s03_T3/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s03_T3/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s03_T3/align_rgb/00102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.819, 1.262]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.804, 1.007]). The trajectory involves 5 precise waypoints with total movement distance of 0.256." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61047, + "action": "close", + "object": "Storage Furniture", + "frame_index": 102, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61060", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.791, 1.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.414, 2.390]). The trajectory involves 5 precise waypoints with total movement distance of 0.974." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61060, + "action": "open", + "object": "Storage Furniture", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61065", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.240, 1.704]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.702, 1.247]). The trajectory involves 5 precise waypoints with total movement distance of 0.675." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61065, + "action": "close", + "object": "Storage Furniture", + "frame_index": 101, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61066", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00102.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.250, 1.643]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.661, 1.228]). The trajectory involves 5 precise waypoints with total movement distance of 0.628." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61066, + "action": "close", + "object": "Storage Furniture", + "frame_index": 103, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61067", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00103.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.252, 1.578]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.585, 1.225]). The trajectory involves 5 precise waypoints with total movement distance of 0.503." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61067, + "action": "close", + "object": "Storage Furniture", + "frame_index": 105, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61069", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.380, 1.680]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.629, 1.233]). The trajectory involves 5 precise waypoints with total movement distance of 0.523." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61069, + "action": "close", + "object": "Storage Furniture", + "frame_index": 109, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61070", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00110.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.444, 1.666]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.618, 1.250]). The trajectory involves 5 precise waypoints with total movement distance of 0.462." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61070, + "action": "close", + "object": "Storage Furniture", + "frame_index": 111, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61072", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00113.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00114.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s02_T2/align_rgb/00115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.593, 1.639]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.670, 1.359]). The trajectory involves 5 precise waypoints with total movement distance of 0.313." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61072, + "action": "close", + "object": "Storage Furniture", + "frame_index": 115, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61088", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s01_T1/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s01_T1/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N63_S385_s01_T1/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.590, 1.236]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.560, 1.510]). The trajectory involves 5 precise waypoints with total movement distance of 0.275." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61088, + "action": "open", + "object": "Storage Furniture", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61091", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N62_S385_s05_T1/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N62_S385_s05_T1/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N62_S385_s05_T1/align_rgb/00057.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.458, 1.236]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.452, 1.474]). The trajectory involves 5 precise waypoints with total movement distance of 0.238." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61091, + "action": "open", + "object": "Storage Furniture", + "frame_index": 57, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61104", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N62_S385_s05_T1/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N62_S385_s05_T1/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N62_S385_s05_T1/align_rgb/00102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.426, 1.448]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.440, 1.164]). The trajectory involves 5 precise waypoints with total movement distance of 0.285." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61104, + "action": "close", + "object": "Storage Furniture", + "frame_index": 102, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61108", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N62_S385_s05_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N62_S385_s05_T1/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N62_S385_s05_T1/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.493, 1.268]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.467, 1.558]). The trajectory involves 5 precise waypoints with total movement distance of 0.291." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61108, + "action": "open", + "object": "Storage Furniture", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61151", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N62_S385_s02_T2/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N62_S385_s02_T2/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N62_S385_s02_T2/align_rgb/00106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.344, 1.598]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.849, 1.099]). The trajectory involves 5 precise waypoints with total movement distance of 0.753." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61151, + "action": "close", + "object": "Storage Furniture", + "frame_index": 106, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61233", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.481, 1.209]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.885, 2.525]). The trajectory involves 5 precise waypoints with total movement distance of 1.408." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61233, + "action": "open", + "object": "Storage Furniture", + "frame_index": 69, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61236", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.918, 1.354]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.581, 0.787]). The trajectory involves 5 precise waypoints with total movement distance of 0.677." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61236, + "action": "close", + "object": "Storage Furniture", + "frame_index": 95, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61237", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.929, 1.277]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.584, 0.678]). The trajectory involves 5 precise waypoints with total movement distance of 0.712." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61237, + "action": "close", + "object": "Storage Furniture", + "frame_index": 97, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61238", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.902, 1.344]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.604, 0.726]). The trajectory involves 5 precise waypoints with total movement distance of 0.707." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61238, + "action": "close", + "object": "Storage Furniture", + "frame_index": 99, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61239", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.877, 1.318]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.593, 0.696]). The trajectory involves 5 precise waypoints with total movement distance of 0.711." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61239, + "action": "close", + "object": "Storage Furniture", + "frame_index": 100, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61241", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.465, 1.131]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.787, 2.316]). The trajectory involves 5 precise waypoints with total movement distance of 1.242." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61241, + "action": "open", + "object": "Storage Furniture", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61242", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s02_T2/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.572, 1.218]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.960, 2.078]). The trajectory involves 5 precise waypoints with total movement distance of 0.955." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61242, + "action": "open", + "object": "Storage Furniture", + "frame_index": 203, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61246", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s01_T1/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s01_T1/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s01_T1/align_rgb/00060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.748, 1.355]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.725, 1.763]). The trajectory involves 5 precise waypoints with total movement distance of 0.409." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61246, + "action": "open", + "object": "Storage Furniture", + "frame_index": 60, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61256", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s01_T1/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s01_T1/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N61_S388_s01_T1/align_rgb/00187.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.663, 1.304]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.639, 1.686]). The trajectory involves 5 precise waypoints with total movement distance of 0.383." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61256, + "action": "open", + "object": "Storage Furniture", + "frame_index": 187, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61269", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N40_S22_s01_T1/align_rgb/00041.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N40_S22_s01_T1/align_rgb/00042.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N40_S22_s01_T1/align_rgb/00043.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.669, 1.248]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.659, 1.525]). The trajectory involves 5 precise waypoints with total movement distance of 0.282." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61269, + "action": "open", + "object": "Storage Furniture", + "frame_index": 43, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61274", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N40_S22_s01_T1/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N40_S22_s01_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N40_S22_s01_T1/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.733, 0.902]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.741, 0.892]). The trajectory involves 5 precise waypoints with total movement distance of 0.020." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61274, + "action": "close", + "object": "Storage Furniture", + "frame_index": 92, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61277", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N40_S22_s01_T1/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N40_S22_s01_T1/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N40_S22_s01_T1/align_rgb/00107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.565, 1.422]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.577, 1.176]). The trajectory involves 5 precise waypoints with total movement distance of 0.246." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61277, + "action": "close", + "object": "Storage Furniture", + "frame_index": 107, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61278", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N40_S22_s01_T1/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N40_S22_s01_T1/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N40_S22_s01_T1/align_rgb/00109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.570, 1.414]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.579, 1.161]). The trajectory involves 5 precise waypoints with total movement distance of 0.253." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61278, + "action": "close", + "object": "Storage Furniture", + "frame_index": 109, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61297", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00036.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00037.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00038.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.432, 1.444]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.700, 2.192]). The trajectory involves 5 precise waypoints with total movement distance of 0.815." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61297, + "action": "open", + "object": "Storage Furniture", + "frame_index": 38, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61298", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00038.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00040.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.418, 1.431]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.702, 2.265]). The trajectory involves 5 precise waypoints with total movement distance of 0.902." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61298, + "action": "open", + "object": "Storage Furniture", + "frame_index": 40, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61299", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00040.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00041.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00042.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.386, 1.443]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.731, 2.300]). The trajectory involves 5 precise waypoints with total movement distance of 0.945." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61299, + "action": "open", + "object": "Storage Furniture", + "frame_index": 42, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61301", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.659, 1.745]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.389, 1.475]). The trajectory involves 5 precise waypoints with total movement distance of 0.416." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61301, + "action": "close", + "object": "Storage Furniture", + "frame_index": 79, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61302", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.643, 1.761]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.384, 1.501]). The trajectory involves 5 precise waypoints with total movement distance of 0.400." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61302, + "action": "close", + "object": "Storage Furniture", + "frame_index": 84, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61303", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.651, 1.762]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.382, 1.491]). The trajectory involves 5 precise waypoints with total movement distance of 0.417." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61303, + "action": "close", + "object": "Storage Furniture", + "frame_index": 89, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61304", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.639, 1.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.353, 1.207]). The trajectory involves 5 precise waypoints with total movement distance of 0.427." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61304, + "action": "close", + "object": "Storage Furniture", + "frame_index": 94, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61307", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.598, 1.485]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.366, 1.104]). The trajectory involves 5 precise waypoints with total movement distance of 0.451." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61307, + "action": "close", + "object": "Storage Furniture", + "frame_index": 100, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61308", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.589, 1.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.390, 1.106]). The trajectory involves 5 precise waypoints with total movement distance of 0.433." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61308, + "action": "close", + "object": "Storage Furniture", + "frame_index": 101, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61309", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00132.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00133.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00134.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.522, 1.627]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.599, 2.064]). The trajectory involves 5 precise waypoints with total movement distance of 0.448." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61309, + "action": "open", + "object": "Storage Furniture", + "frame_index": 134, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61310", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00139.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00140.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00141.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.476, 1.673]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.547, 2.099]). The trajectory involves 5 precise waypoints with total movement distance of 0.437." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61310, + "action": "open", + "object": "Storage Furniture", + "frame_index": 141, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61311", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00146.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00147.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00148.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.491, 1.667]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.564, 2.123]). The trajectory involves 5 precise waypoints with total movement distance of 0.466." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61311, + "action": "open", + "object": "Storage Furniture", + "frame_index": 148, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61312", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00153.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00154.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00155.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.460, 1.430]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.532, 1.975]). The trajectory involves 5 precise waypoints with total movement distance of 0.555." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61312, + "action": "open", + "object": "Storage Furniture", + "frame_index": 155, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61313", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00160.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00161.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.473, 1.367]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.553, 1.912]). The trajectory involves 5 precise waypoints with total movement distance of 0.556." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61313, + "action": "open", + "object": "Storage Furniture", + "frame_index": 162, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61314", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00162.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00163.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00164.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.479, 1.390]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.607, 2.018]). The trajectory involves 5 precise waypoints with total movement distance of 0.650." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61314, + "action": "open", + "object": "Storage Furniture", + "frame_index": 164, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61315", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00164.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00165.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.509, 1.367]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.714, 2.034]). The trajectory involves 5 precise waypoints with total movement distance of 0.723." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61315, + "action": "open", + "object": "Storage Furniture", + "frame_index": 166, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61316", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00166.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00167.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00168.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.530, 1.393]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.790, 2.099]). The trajectory involves 5 precise waypoints with total movement distance of 0.777." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61316, + "action": "open", + "object": "Storage Furniture", + "frame_index": 168, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61317", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00168.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00169.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00170.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.510, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.831, 2.143]). The trajectory involves 5 precise waypoints with total movement distance of 0.875." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61317, + "action": "open", + "object": "Storage Furniture", + "frame_index": 170, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61321", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00176.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00177.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.475, 1.461]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.874, 1.860]). The trajectory involves 5 precise waypoints with total movement distance of 0.592." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61321, + "action": "open", + "object": "Storage Furniture", + "frame_index": 178, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61328", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00235.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.435, 1.540]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.126, 1.292]). The trajectory involves 5 precise waypoints with total movement distance of 0.409." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61328, + "action": "close", + "object": "Storage Furniture", + "frame_index": 235, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61329", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.395, 1.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.136, 1.273]). The trajectory involves 5 precise waypoints with total movement distance of 0.383." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61329, + "action": "close", + "object": "Storage Furniture", + "frame_index": 237, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61332", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00242.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T2/align_rgb/00243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.351, 1.528]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.241, 1.233]). The trajectory involves 5 precise waypoints with total movement distance of 0.322." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61332, + "action": "close", + "object": "Storage Furniture", + "frame_index": 243, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61334", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00000.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.388, 1.208]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.395, 1.392]). The trajectory involves 5 precise waypoints with total movement distance of 0.185." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61334, + "action": "open", + "object": "Storage Furniture", + "frame_index": 0, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61335", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00007.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00008.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00009.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.378, 1.198]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.383, 1.381]). The trajectory involves 5 precise waypoints with total movement distance of 0.183." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61335, + "action": "open", + "object": "Storage Furniture", + "frame_index": 9, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61337", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00025.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00026.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00027.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.432, 1.260]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.435, 1.459]). The trajectory involves 5 precise waypoints with total movement distance of 0.199." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61337, + "action": "open", + "object": "Storage Furniture", + "frame_index": 27, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61338", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00034.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00035.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00036.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.473, 1.290]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.465, 1.517]). The trajectory involves 5 precise waypoints with total movement distance of 0.227." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61338, + "action": "open", + "object": "Storage Furniture", + "frame_index": 36, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61340", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00038.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00040.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.446, 1.292]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.422, 1.528]). The trajectory involves 5 precise waypoints with total movement distance of 0.237." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61340, + "action": "open", + "object": "Storage Furniture", + "frame_index": 40, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61342", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.367, 1.428]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.375, 1.236]). The trajectory involves 5 precise waypoints with total movement distance of 0.192." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61342, + "action": "close", + "object": "Storage Furniture", + "frame_index": 72, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61343", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.360, 1.458]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.369, 1.263]). The trajectory involves 5 precise waypoints with total movement distance of 0.195." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61343, + "action": "close", + "object": "Storage Furniture", + "frame_index": 77, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61345", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.379, 1.367]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.387, 1.180]). The trajectory involves 5 precise waypoints with total movement distance of 0.188." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61345, + "action": "close", + "object": "Storage Furniture", + "frame_index": 87, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61346", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.333, 1.413]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.348, 1.201]). The trajectory involves 5 precise waypoints with total movement distance of 0.212." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61346, + "action": "close", + "object": "Storage Furniture", + "frame_index": 89, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61347", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.335, 1.415]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.353, 1.199]). The trajectory involves 5 precise waypoints with total movement distance of 0.217." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61347, + "action": "close", + "object": "Storage Furniture", + "frame_index": 90, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61355", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00143.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00144.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00145.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.489, 1.189]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.484, 1.334]). The trajectory involves 5 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61355, + "action": "open", + "object": "Storage Furniture", + "frame_index": 145, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61357", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00147.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00148.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00149.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.453, 1.254]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.448, 1.407]). The trajectory involves 5 precise waypoints with total movement distance of 0.153." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61357, + "action": "open", + "object": "Storage Furniture", + "frame_index": 149, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61362", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00157.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00158.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N39_S22_s01_T1/align_rgb/00159.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.473, 1.298]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.467, 1.456]). The trajectory involves 5 precise waypoints with total movement distance of 0.158." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61362, + "action": "open", + "object": "Storage Furniture", + "frame_index": 159, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61397", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00057.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.380, 1.217]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.911, 2.199]). The trajectory involves 5 precise waypoints with total movement distance of 1.162." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61397, + "action": "open", + "object": "Storage Furniture", + "frame_index": 57, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61404", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.590, 1.592]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.317, 1.412]). The trajectory involves 5 precise waypoints with total movement distance of 0.345." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61404, + "action": "close", + "object": "Storage Furniture", + "frame_index": 109, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61406", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00114.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00115.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.603, 1.305]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.279, 1.121]). The trajectory involves 5 precise waypoints with total movement distance of 0.390." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61406, + "action": "close", + "object": "Storage Furniture", + "frame_index": 116, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61409", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00120.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00121.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00122.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.452, 1.308]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.228, 0.977]). The trajectory involves 5 precise waypoints with total movement distance of 0.422." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61409, + "action": "close", + "object": "Storage Furniture", + "frame_index": 122, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61421", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.443, 1.246]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.631, 1.674]). The trajectory involves 5 precise waypoints with total movement distance of 0.490." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61421, + "action": "open", + "object": "Storage Furniture", + "frame_index": 206, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61423", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.428, 1.216]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.739, 1.625]). The trajectory involves 5 precise waypoints with total movement distance of 0.544." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61423, + "action": "open", + "object": "Storage Furniture", + "frame_index": 210, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61424", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.433, 1.257]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.762, 1.695]). The trajectory involves 5 precise waypoints with total movement distance of 0.592." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61424, + "action": "open", + "object": "Storage Furniture", + "frame_index": 212, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61425", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.435, 1.327]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.834, 1.758]). The trajectory involves 5 precise waypoints with total movement distance of 0.646." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61425, + "action": "open", + "object": "Storage Furniture", + "frame_index": 214, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61426", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.442, 1.352]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.864, 1.717]). The trajectory involves 5 precise waypoints with total movement distance of 0.599." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61426, + "action": "open", + "object": "Storage Furniture", + "frame_index": 216, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61427", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.445, 1.433]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.888, 1.782]). The trajectory involves 5 precise waypoints with total movement distance of 0.589." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61427, + "action": "open", + "object": "Storage Furniture", + "frame_index": 218, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61432", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00268.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00269.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00270.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.668, 1.564]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.363, 1.215]). The trajectory involves 5 precise waypoints with total movement distance of 0.483." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61432, + "action": "close", + "object": "Storage Furniture", + "frame_index": 270, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61433", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00269.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00270.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T2/align_rgb/00271.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.643, 1.559]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.359, 1.209]). The trajectory involves 5 precise waypoints with total movement distance of 0.471." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61433, + "action": "close", + "object": "Storage Furniture", + "frame_index": 271, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61442", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.504, 1.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.493, 1.259]). The trajectory involves 5 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61442, + "action": "close", + "object": "Storage Furniture", + "frame_index": 78, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61447", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.536, 1.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.540, 1.275]). The trajectory involves 5 precise waypoints with total movement distance of 0.251." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61447, + "action": "close", + "object": "Storage Furniture", + "frame_index": 107, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61456", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00182.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00184.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.591, 1.225]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.610, 1.473]). The trajectory involves 5 precise waypoints with total movement distance of 0.248." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61456, + "action": "open", + "object": "Storage Furniture", + "frame_index": 184, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61457", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.586, 1.228]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.598, 1.477]). The trajectory involves 5 precise waypoints with total movement distance of 0.250." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61457, + "action": "open", + "object": "Storage Furniture", + "frame_index": 185, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61458", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.500, 1.392]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.486, 1.203]). The trajectory involves 5 precise waypoints with total movement distance of 0.191." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61458, + "action": "close", + "object": "Storage Furniture", + "frame_index": 217, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61460", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N38_S21_s05_T1/align_rgb/00232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.488, 1.421]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.478, 1.227]). The trajectory involves 5 precise waypoints with total movement distance of 0.195." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61460, + "action": "close", + "object": "Storage Furniture", + "frame_index": 232, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61467", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00000.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.277, 1.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.672, 1.940]). The trajectory involves 5 precise waypoints with total movement distance of 0.657." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61467, + "action": "open", + "object": "Storage Furniture", + "frame_index": 0, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61468", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00010.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00011.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00012.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.267, 1.460]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.653, 1.922]). The trajectory involves 5 precise waypoints with total movement distance of 0.651." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61468, + "action": "open", + "object": "Storage Furniture", + "frame_index": 12, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61471", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00046.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00047.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00048.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.482, 1.307]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.983, 2.062]). The trajectory involves 5 precise waypoints with total movement distance of 0.945." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61471, + "action": "open", + "object": "Storage Furniture", + "frame_index": 48, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61472", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00050.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.492, 1.313]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.051, 2.090]). The trajectory involves 5 precise waypoints with total movement distance of 1.012." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61472, + "action": "open", + "object": "Storage Furniture", + "frame_index": 50, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61473", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00052.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.482, 1.356]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.044, 1.993]). The trajectory involves 5 precise waypoints with total movement distance of 0.902." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61473, + "action": "open", + "object": "Storage Furniture", + "frame_index": 52, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61474", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00053.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00054.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.403, 1.339]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.949, 1.880]). The trajectory involves 5 precise waypoints with total movement distance of 0.836." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61474, + "action": "open", + "object": "Storage Furniture", + "frame_index": 54, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61475", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00056.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.336, 1.389]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.898, 1.849]). The trajectory involves 5 precise waypoints with total movement distance of 0.797." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61475, + "action": "open", + "object": "Storage Furniture", + "frame_index": 56, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61476", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.318, 1.415]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.922, 1.778]). The trajectory involves 5 precise waypoints with total movement distance of 0.774." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61476, + "action": "open", + "object": "Storage Furniture", + "frame_index": 58, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61477", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00059.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.319, 1.435]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.894, 1.708]). The trajectory involves 5 precise waypoints with total movement distance of 0.689." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61477, + "action": "open", + "object": "Storage Furniture", + "frame_index": 59, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61493", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.502, 1.392]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.978, 2.067]). The trajectory involves 5 precise waypoints with total movement distance of 0.847." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61493, + "action": "open", + "object": "Storage Furniture", + "frame_index": 181, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61494", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00181.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00182.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00183.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.515, 1.427]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.038, 2.107]). The trajectory involves 5 precise waypoints with total movement distance of 0.894." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61494, + "action": "open", + "object": "Storage Furniture", + "frame_index": 183, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61495", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.555, 1.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.141, 2.128]). The trajectory involves 5 precise waypoints with total movement distance of 0.904." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61495, + "action": "open", + "object": "Storage Furniture", + "frame_index": 185, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61496", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00187.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.510, 1.509]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.136, 2.155]). The trajectory involves 5 precise waypoints with total movement distance of 0.931." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61496, + "action": "open", + "object": "Storage Furniture", + "frame_index": 187, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61497", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.485, 1.511]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.135, 2.151]). The trajectory involves 5 precise waypoints with total movement distance of 0.948." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61497, + "action": "open", + "object": "Storage Furniture", + "frame_index": 188, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61501", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T2/align_rgb/00233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.592, 1.916]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.271, 1.622]). The trajectory involves 5 precise waypoints with total movement distance of 0.466." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61501, + "action": "close", + "object": "Storage Furniture", + "frame_index": 233, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61512", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T1/align_rgb/00000.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.401, 1.188]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.382, 1.416]). The trajectory involves 5 precise waypoints with total movement distance of 0.230." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61512, + "action": "open", + "object": "Storage Furniture", + "frame_index": 0, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61513", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T1/align_rgb/00006.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T1/align_rgb/00007.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T1/align_rgb/00008.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.384, 1.196]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.363, 1.422]). The trajectory involves 5 precise waypoints with total movement distance of 0.229." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61513, + "action": "open", + "object": "Storage Furniture", + "frame_index": 8, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61539", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T1/align_rgb/00176.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T1/align_rgb/00177.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T1/align_rgb/00178.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.629, 1.258]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.628, 1.443]). The trajectory involves 5 precise waypoints with total movement distance of 0.185." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61539, + "action": "open", + "object": "Storage Furniture", + "frame_index": 178, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61540", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T1/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T1/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T1/align_rgb/00180.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.604, 1.279]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.602, 1.452]). The trajectory involves 5 precise waypoints with total movement distance of 0.172." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61540, + "action": "open", + "object": "Storage Furniture", + "frame_index": 180, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61546", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T1/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T1/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N37_S21_s05_T1/align_rgb/00226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.487, 1.483]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.482, 1.318]). The trajectory involves 5 precise waypoints with total movement distance of 0.165." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61546, + "action": "close", + "object": "Storage Furniture", + "frame_index": 226, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61562", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.480, 1.340]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.489, 1.145]). The trajectory involves 5 precise waypoints with total movement distance of 0.196." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61562, + "action": "close", + "object": "Storage Furniture", + "frame_index": 78, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61563", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.455, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.464, 1.170]). The trajectory involves 5 precise waypoints with total movement distance of 0.194." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61563, + "action": "close", + "object": "Storage Furniture", + "frame_index": 83, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61564", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.464, 1.361]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.474, 1.164]). The trajectory involves 5 precise waypoints with total movement distance of 0.199." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61564, + "action": "close", + "object": "Storage Furniture", + "frame_index": 88, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61565", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.490, 1.342]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.502, 1.138]). The trajectory involves 5 precise waypoints with total movement distance of 0.205." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61565, + "action": "close", + "object": "Storage Furniture", + "frame_index": 93, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61566", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N36_S21_s04_T1/align_rgb/00099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.521, 1.357]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.537, 1.152]). The trajectory involves 5 precise waypoints with total movement distance of 0.206." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61566, + "action": "close", + "object": "Storage Furniture", + "frame_index": 99, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61580", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00009.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00010.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00011.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.228, 1.434]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.365, 1.824]). The trajectory involves 5 precise waypoints with total movement distance of 0.423." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61580, + "action": "open", + "object": "Storage Furniture", + "frame_index": 11, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61582", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00031.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00032.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00033.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.266, 1.439]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.425, 1.986]). The trajectory involves 5 precise waypoints with total movement distance of 0.581." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61582, + "action": "open", + "object": "Storage Furniture", + "frame_index": 33, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61583", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00042.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00043.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00044.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.349, 1.329]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.504, 1.863]). The trajectory involves 5 precise waypoints with total movement distance of 0.568." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61583, + "action": "open", + "object": "Storage Furniture", + "frame_index": 44, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61584", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00044.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00045.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00046.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.359, 1.328]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.629, 1.885]). The trajectory involves 5 precise waypoints with total movement distance of 0.652." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61584, + "action": "open", + "object": "Storage Furniture", + "frame_index": 46, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61585", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00046.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00047.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00048.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.336, 1.302]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.657, 1.828]). The trajectory involves 5 precise waypoints with total movement distance of 0.632." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61585, + "action": "open", + "object": "Storage Furniture", + "frame_index": 48, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61586", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00050.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.344, 1.288]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.722, 1.793]). The trajectory involves 5 precise waypoints with total movement distance of 0.648." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61586, + "action": "open", + "object": "Storage Furniture", + "frame_index": 50, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61587", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00052.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.324, 1.294]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.704, 1.755]). The trajectory involves 5 precise waypoints with total movement distance of 0.616." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61587, + "action": "open", + "object": "Storage Furniture", + "frame_index": 52, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61588", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00053.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00054.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.302, 1.306]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.661, 1.757]). The trajectory involves 5 precise waypoints with total movement distance of 0.596." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61588, + "action": "open", + "object": "Storage Furniture", + "frame_index": 54, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61589", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00056.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.298, 1.426]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.688, 1.837]). The trajectory involves 5 precise waypoints with total movement distance of 0.587." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61589, + "action": "open", + "object": "Storage Furniture", + "frame_index": 56, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61590", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.295, 1.432]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.703, 1.806]). The trajectory involves 5 precise waypoints with total movement distance of 0.567." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61590, + "action": "open", + "object": "Storage Furniture", + "frame_index": 58, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61591", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.316, 1.479]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.715, 1.741]). The trajectory involves 5 precise waypoints with total movement distance of 0.482." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61591, + "action": "open", + "object": "Storage Furniture", + "frame_index": 60, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61592", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.336, 1.491]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.721, 1.673]). The trajectory involves 5 precise waypoints with total movement distance of 0.432." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61592, + "action": "open", + "object": "Storage Furniture", + "frame_index": 62, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61593", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.325, 1.489]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.663, 1.656]). The trajectory involves 5 precise waypoints with total movement distance of 0.387." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61593, + "action": "open", + "object": "Storage Furniture", + "frame_index": 64, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61609", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00177.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.453, 1.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.686, 1.974]). The trajectory involves 5 precise waypoints with total movement distance of 0.505." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61609, + "action": "open", + "object": "Storage Furniture", + "frame_index": 179, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61611", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.520, 1.266]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.931, 1.972]). The trajectory involves 5 precise waypoints with total movement distance of 0.838." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61611, + "action": "open", + "object": "Storage Furniture", + "frame_index": 198, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61612", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.496, 1.251]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.943, 1.958]). The trajectory involves 5 precise waypoints with total movement distance of 0.861." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61612, + "action": "open", + "object": "Storage Furniture", + "frame_index": 200, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61613", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.466, 1.255]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.908, 1.977]). The trajectory involves 5 precise waypoints with total movement distance of 0.871." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61613, + "action": "open", + "object": "Storage Furniture", + "frame_index": 202, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61615", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.451, 1.288]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.839, 1.867]). The trajectory involves 5 precise waypoints with total movement distance of 0.718." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61615, + "action": "open", + "object": "Storage Furniture", + "frame_index": 206, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61616", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.447, 1.326]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.848, 1.819]). The trajectory involves 5 precise waypoints with total movement distance of 0.648." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61616, + "action": "open", + "object": "Storage Furniture", + "frame_index": 208, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61619", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00251.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00252.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T2/align_rgb/00253.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.616, 1.724]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.231, 1.254]). The trajectory involves 5 precise waypoints with total movement distance of 0.645." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61619, + "action": "close", + "object": "Storage Furniture", + "frame_index": 253, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61636", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.472, 1.389]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.462, 1.157]). The trajectory involves 5 precise waypoints with total movement distance of 0.233." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61636, + "action": "close", + "object": "Storage Furniture", + "frame_index": 94, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61637", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.438, 1.404]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.433, 1.169]). The trajectory involves 5 precise waypoints with total movement distance of 0.236." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61637, + "action": "close", + "object": "Storage Furniture", + "frame_index": 99, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61639", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.454, 1.390]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.450, 1.151]). The trajectory involves 5 precise waypoints with total movement distance of 0.239." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61639, + "action": "close", + "object": "Storage Furniture", + "frame_index": 109, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61640", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00113.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00114.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.496, 1.404]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.493, 1.157]). The trajectory involves 5 precise waypoints with total movement distance of 0.247." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61640, + "action": "close", + "object": "Storage Furniture", + "frame_index": 115, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61651", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N35_S21_s04_T1/align_rgb/00227.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.538, 1.393]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.542, 1.197]). The trajectory involves 5 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61651, + "action": "close", + "object": "Storage Furniture", + "frame_index": 227, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61667", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N34_S21_s03_T1/align_rgb/00103.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N34_S21_s03_T1/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N34_S21_s03_T1/align_rgb/00105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.475, 1.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.447, 1.293]). The trajectory involves 5 precise waypoints with total movement distance of 0.232." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61667, + "action": "close", + "object": "Storage Furniture", + "frame_index": 105, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61681", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N34_S21_s03_T1/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N34_S21_s03_T1/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N34_S21_s03_T1/align_rgb/00231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.598, 1.463]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.586, 1.312]). The trajectory involves 5 precise waypoints with total movement distance of 0.152." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61681, + "action": "close", + "object": "Storage Furniture", + "frame_index": 231, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61717", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T2/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T2/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T2/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.431, 1.369]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.713, 2.016]). The trajectory involves 5 precise waypoints with total movement distance of 0.730." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61717, + "action": "open", + "object": "Storage Furniture", + "frame_index": 198, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61719", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T2/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.370, 1.395]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.708, 2.003]). The trajectory involves 5 precise waypoints with total movement distance of 0.736." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61719, + "action": "open", + "object": "Storage Furniture", + "frame_index": 202, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61737", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T1/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T1/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T1/align_rgb/00096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.289, 1.514]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.321, 1.270]). The trajectory involves 5 precise waypoints with total movement distance of 0.247." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61737, + "action": "close", + "object": "Storage Furniture", + "frame_index": 96, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61739", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T1/align_rgb/00103.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T1/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T1/align_rgb/00105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.352, 1.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.377, 1.191]). The trajectory involves 5 precise waypoints with total movement distance of 0.264." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61739, + "action": "close", + "object": "Storage Furniture", + "frame_index": 105, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61750", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T1/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T1/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N33_S22_s02_T1/align_rgb/00231.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.435, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.449, 1.257]). The trajectory involves 5 precise waypoints with total movement distance of 0.260." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61750, + "action": "close", + "object": "Storage Furniture", + "frame_index": 231, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61865", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00113.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00114.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.067, 1.917]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.577, 1.632]). The trajectory involves 5 precise waypoints with total movement distance of 0.596." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61865, + "action": "close", + "object": "Storage Furniture", + "frame_index": 115, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61867", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00119.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00120.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00121.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.070, 1.851]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.559, 1.572]). The trajectory involves 5 precise waypoints with total movement distance of 0.574." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61867, + "action": "close", + "object": "Storage Furniture", + "frame_index": 121, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61869", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00125.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00126.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00127.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.203, 1.815]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.597, 1.525]). The trajectory involves 5 precise waypoints with total movement distance of 0.499." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61869, + "action": "close", + "object": "Storage Furniture", + "frame_index": 127, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61870", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00127.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00128.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00129.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.220, 1.839]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.576, 1.560]). The trajectory involves 5 precise waypoints with total movement distance of 0.454." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61870, + "action": "close", + "object": "Storage Furniture", + "frame_index": 129, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61873", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00133.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00134.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00135.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.417, 1.763]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.677, 1.471]). The trajectory involves 5 precise waypoints with total movement distance of 0.392." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61873, + "action": "close", + "object": "Storage Furniture", + "frame_index": 135, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61874", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00135.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00136.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00137.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.474, 1.746]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.695, 1.470]). The trajectory involves 5 precise waypoints with total movement distance of 0.356." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61874, + "action": "close", + "object": "Storage Furniture", + "frame_index": 137, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61875", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00137.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00138.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00139.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.539, 1.728]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.727, 1.463]). The trajectory involves 5 precise waypoints with total movement distance of 0.326." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61875, + "action": "close", + "object": "Storage Furniture", + "frame_index": 139, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61876", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00139.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00140.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00141.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.567, 1.717]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.720, 1.483]). The trajectory involves 5 precise waypoints with total movement distance of 0.280." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61876, + "action": "close", + "object": "Storage Furniture", + "frame_index": 141, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61879", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.674, 1.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.376, 2.157]). The trajectory involves 5 precise waypoints with total movement distance of 0.768." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61879, + "action": "open", + "object": "Storage Furniture", + "frame_index": 190, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61880", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.698, 1.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.375, 2.256]). The trajectory involves 5 precise waypoints with total movement distance of 0.843." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61880, + "action": "open", + "object": "Storage Furniture", + "frame_index": 196, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61882", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.731, 1.615]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.372, 2.313]). The trajectory involves 5 precise waypoints with total movement distance of 0.800." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61882, + "action": "open", + "object": "Storage Furniture", + "frame_index": 208, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61883", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.758, 1.520]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.311, 2.232]). The trajectory involves 5 precise waypoints with total movement distance of 0.858." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61883, + "action": "open", + "object": "Storage Furniture", + "frame_index": 210, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61884", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.743, 1.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.219, 2.195]). The trajectory involves 5 precise waypoints with total movement distance of 0.857." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61884, + "action": "open", + "object": "Storage Furniture", + "frame_index": 212, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61885", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.724, 1.576]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.200, 2.155]). The trajectory involves 5 precise waypoints with total movement distance of 0.815." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61885, + "action": "open", + "object": "Storage Furniture", + "frame_index": 214, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61887", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.688, 1.630]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.104, 2.128]). The trajectory involves 5 precise waypoints with total movement distance of 0.817." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61887, + "action": "open", + "object": "Storage Furniture", + "frame_index": 218, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61888", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00244.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00245.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T2/align_rgb/00246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.121, 1.912]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.657, 1.503]). The trajectory involves 5 precise waypoints with total movement distance of 0.696." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61888, + "action": "close", + "object": "Storage Furniture", + "frame_index": 246, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61897", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T1/align_rgb/00040.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T1/align_rgb/00041.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T1/align_rgb/00042.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.765, 1.276]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.731, 1.530]). The trajectory involves 5 precise waypoints with total movement distance of 0.257." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61897, + "action": "open", + "object": "Storage Furniture", + "frame_index": 42, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61898", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T1/align_rgb/00042.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T1/align_rgb/00043.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T1/align_rgb/00044.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.766, 1.298]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.716, 1.585]). The trajectory involves 5 precise waypoints with total movement distance of 0.292." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61898, + "action": "open", + "object": "Storage Furniture", + "frame_index": 44, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61900", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T1/align_rgb/00046.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T1/align_rgb/00047.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T1/align_rgb/00048.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.783, 1.286]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.727, 1.601]). The trajectory involves 5 precise waypoints with total movement distance of 0.321." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61900, + "action": "open", + "object": "Storage Furniture", + "frame_index": 48, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61922", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T1/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T1/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N10_S20_s04_T1/align_rgb/00233.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.480, 1.403]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.509, 1.235]). The trajectory involves 5 precise waypoints with total movement distance of 0.171." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61922, + "action": "close", + "object": "Storage Furniture", + "frame_index": 233, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61930", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N08_S20_s01_T1/align_rgb/00043.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N08_S20_s01_T1/align_rgb/00044.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N08_S20_s01_T1/align_rgb/00045.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.665, 1.335]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.653, 1.548]). The trajectory involves 5 precise waypoints with total movement distance of 0.213." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61930, + "action": "open", + "object": "Storage Furniture", + "frame_index": 45, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61938", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N08_S20_s01_T1/align_rgb/00162.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N08_S20_s01_T1/align_rgb/00163.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N08_S20_s01_T1/align_rgb/00164.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.720, 1.255]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.715, 1.370]). The trajectory involves 5 precise waypoints with total movement distance of 0.117." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61938, + "action": "open", + "object": "Storage Furniture", + "frame_index": 164, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61948", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N08_S20_s01_T1/align_rgb/00242.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N08_S20_s01_T1/align_rgb/00243.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N08_S20_s01_T1/align_rgb/00244.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.873, 1.463]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.871, 1.335]). The trajectory involves 5 precise waypoints with total movement distance of 0.128." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61948, + "action": "close", + "object": "Storage Furniture", + "frame_index": 244, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61949", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N08_S20_s01_T1/align_rgb/00243.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N08_S20_s01_T1/align_rgb/00244.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N08_S20_s01_T1/align_rgb/00245.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.869, 1.460]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.863, 1.332]). The trajectory involves 5 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61949, + "action": "close", + "object": "Storage Furniture", + "frame_index": 245, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_61951", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00010.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00011.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00012.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.503, 1.329]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.993, 2.165]). The trajectory involves 5 precise waypoints with total movement distance of 1.000." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61951, + "action": "open", + "object": "Storage Furniture", + "frame_index": 12, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61952", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00022.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00023.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00024.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.493, 1.315]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.962, 2.184]). The trajectory involves 5 precise waypoints with total movement distance of 1.040." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61952, + "action": "open", + "object": "Storage Furniture", + "frame_index": 24, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61953", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00034.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00035.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00036.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.475, 1.320]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.877, 2.270]). The trajectory involves 5 precise waypoints with total movement distance of 1.148." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61953, + "action": "open", + "object": "Storage Furniture", + "frame_index": 36, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61959", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.872, 1.695]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.627, 1.170]). The trajectory involves 5 precise waypoints with total movement distance of 0.945." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61959, + "action": "close", + "object": "Storage Furniture", + "frame_index": 87, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61960", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.880, 1.650]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.645, 1.118]). The trajectory involves 5 precise waypoints with total movement distance of 0.958." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61960, + "action": "close", + "object": "Storage Furniture", + "frame_index": 91, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61965", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.955, 1.580]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.673, 1.003]). The trajectory involves 5 precise waypoints with total movement distance of 0.951." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61965, + "action": "close", + "object": "Storage Furniture", + "frame_index": 108, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61966", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.983, 1.574]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.672, 0.978]). The trajectory involves 5 precise waypoints with total movement distance of 0.937." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61966, + "action": "close", + "object": "Storage Furniture", + "frame_index": 110, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61967", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00110.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00111.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.037, 1.567]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.585, 1.001]). The trajectory involves 5 precise waypoints with total movement distance of 0.832." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61967, + "action": "close", + "object": "Storage Furniture", + "frame_index": 112, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61979", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.972, 1.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.622, 1.182]). The trajectory involves 5 precise waypoints with total movement distance of 0.787." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61979, + "action": "close", + "object": "Storage Furniture", + "frame_index": 212, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61980", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.977, 1.592]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.623, 1.177]). The trajectory involves 5 precise waypoints with total movement distance of 0.785." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61980, + "action": "close", + "object": "Storage Furniture", + "frame_index": 218, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61983", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.033, 1.594]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.566, 1.153]). The trajectory involves 5 precise waypoints with total movement distance of 0.723." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61983, + "action": "close", + "object": "Storage Furniture", + "frame_index": 232, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_61984", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T2/align_rgb/00234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.077, 1.618]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.573, 1.229]). The trajectory involves 5 precise waypoints with total movement distance of 0.659." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 61984, + "action": "close", + "object": "Storage Furniture", + "frame_index": 234, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_62002", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T1/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T1/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T1/align_rgb/00106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.545, 1.281]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.566, 1.109]). The trajectory involves 5 precise waypoints with total movement distance of 0.174." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62002, + "action": "close", + "object": "Storage Furniture", + "frame_index": 106, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62011", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T1/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T1/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N05_S20_s03_T1/align_rgb/00205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.602, 1.167]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.584, 1.448]). The trajectory involves 5 precise waypoints with total movement distance of 0.282." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62011, + "action": "open", + "object": "Storage Furniture", + "frame_index": 205, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62018", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00000.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.590, 1.470]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.379, 1.976]). The trajectory involves 5 precise waypoints with total movement distance of 0.563." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62018, + "action": "open", + "object": "Storage Furniture", + "frame_index": 0, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_62019", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00007.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00008.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00009.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.597, 1.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.371, 2.002]). The trajectory involves 5 precise waypoints with total movement distance of 0.599." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62019, + "action": "open", + "object": "Storage Furniture", + "frame_index": 9, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_62020", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00017.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00018.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00019.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.578, 1.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.331, 2.114]). The trajectory involves 5 precise waypoints with total movement distance of 0.648." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62020, + "action": "open", + "object": "Storage Furniture", + "frame_index": 19, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_62021", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00026.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00027.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00028.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.710, 1.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.398, 2.196]). The trajectory involves 5 precise waypoints with total movement distance of 0.749." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62021, + "action": "open", + "object": "Storage Furniture", + "frame_index": 28, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_62044", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.130, 1.562]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.715, 1.147]). The trajectory involves 5 precise waypoints with total movement distance of 0.731." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62044, + "action": "close", + "object": "Storage Furniture", + "frame_index": 203, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_62045", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T2/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.089, 1.607]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.694, 1.171]). The trajectory involves 5 precise waypoints with total movement distance of 0.759." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62045, + "action": "close", + "object": "Storage Furniture", + "frame_index": 209, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_62063", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00047.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00049.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.691, 1.246]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.654, 1.552]). The trajectory involves 5 precise waypoints with total movement distance of 0.308." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62063, + "action": "open", + "object": "Storage Furniture", + "frame_index": 49, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62065", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00053.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.643, 1.374]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.616, 1.614]). The trajectory involves 5 precise waypoints with total movement distance of 0.242." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62065, + "action": "open", + "object": "Storage Furniture", + "frame_index": 53, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62067", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.549, 1.497]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.575, 1.286]). The trajectory involves 5 precise waypoints with total movement distance of 0.213." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62067, + "action": "close", + "object": "Storage Furniture", + "frame_index": 88, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62068", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.561, 1.528]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.585, 1.313]). The trajectory involves 5 precise waypoints with total movement distance of 0.216." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62068, + "action": "close", + "object": "Storage Furniture", + "frame_index": 95, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62069", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.570, 1.542]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.594, 1.325]). The trajectory involves 5 precise waypoints with total movement distance of 0.218." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62069, + "action": "close", + "object": "Storage Furniture", + "frame_index": 102, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62070", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00109.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.668, 1.558]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.689, 1.334]). The trajectory involves 5 precise waypoints with total movement distance of 0.225." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62070, + "action": "close", + "object": "Storage Furniture", + "frame_index": 109, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62071", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00114.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00115.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.719, 1.618]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.743, 1.385]). The trajectory involves 5 precise waypoints with total movement distance of 0.235." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62071, + "action": "close", + "object": "Storage Furniture", + "frame_index": 116, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62072", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00116.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00117.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00118.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.729, 1.638]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.757, 1.397]). The trajectory involves 5 precise waypoints with total movement distance of 0.243." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62072, + "action": "close", + "object": "Storage Furniture", + "frame_index": 118, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62073", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00118.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00119.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00120.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.745, 1.576]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.778, 1.348]). The trajectory involves 5 precise waypoints with total movement distance of 0.230." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62073, + "action": "close", + "object": "Storage Furniture", + "frame_index": 120, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62083", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.824, 1.250]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.784, 1.736]). The trajectory involves 5 precise waypoints with total movement distance of 0.488." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62083, + "action": "open", + "object": "Storage Furniture", + "frame_index": 199, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62084", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N04_S20_s02_T1/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.793, 1.269]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.751, 1.671]). The trajectory involves 5 precise waypoints with total movement distance of 0.403." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62084, + "action": "open", + "object": "Storage Furniture", + "frame_index": 201, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62094", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00000.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.721, 1.530]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.601, 2.120]). The trajectory involves 5 precise waypoints with total movement distance of 0.609." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62094, + "action": "open", + "object": "Storage Furniture", + "frame_index": 0, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_62095", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00008.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00009.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00010.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.711, 1.540]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.582, 2.156]). The trajectory involves 5 precise waypoints with total movement distance of 0.638." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62095, + "action": "open", + "object": "Storage Furniture", + "frame_index": 10, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_62096", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00018.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00019.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00020.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.797, 1.596]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.645, 2.244]). The trajectory involves 5 precise waypoints with total movement distance of 0.674." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62096, + "action": "open", + "object": "Storage Furniture", + "frame_index": 20, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_62103", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00049.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00050.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.895, 1.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.249, 2.413]). The trajectory involves 5 precise waypoints with total movement distance of 1.144." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62103, + "action": "open", + "object": "Storage Furniture", + "frame_index": 50, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_62110", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00098.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.138, 1.677]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.758, 1.204]). The trajectory involves 5 precise waypoints with total movement distance of 0.808." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62110, + "action": "close", + "object": "Storage Furniture", + "frame_index": 98, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_62111", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00102.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.163, 1.745]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.829, 1.197]). The trajectory involves 5 precise waypoints with total movement distance of 0.895." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62111, + "action": "close", + "object": "Storage Furniture", + "frame_index": 102, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_62113", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.247, 1.641]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.840, 1.158]). The trajectory involves 5 precise waypoints with total movement distance of 0.821." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62113, + "action": "close", + "object": "Storage Furniture", + "frame_index": 110, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_62114", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00113.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00114.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.222, 1.606]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.805, 1.178]). The trajectory involves 5 precise waypoints with total movement distance of 0.776." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62114, + "action": "close", + "object": "Storage Furniture", + "frame_index": 115, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_62130", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [2.104, 1.475]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.625, 2.315]). The trajectory involves 5 precise waypoints with total movement distance of 1.000." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62130, + "action": "open", + "object": "Storage Furniture", + "frame_index": 192, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_62131", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [2.057, 1.486]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.506, 2.270]). The trajectory involves 5 precise waypoints with total movement distance of 1.002." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62131, + "action": "open", + "object": "Storage Furniture", + "frame_index": 194, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_62139", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00242.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00243.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.318, 1.719]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.888, 1.370]). The trajectory involves 5 precise waypoints with total movement distance of 0.691." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62139, + "action": "close", + "object": "Storage Furniture", + "frame_index": 243, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_62140", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00244.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00245.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.341, 1.666]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.895, 1.326]). The trajectory involves 5 precise waypoints with total movement distance of 0.671." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62140, + "action": "close", + "object": "Storage Furniture", + "frame_index": 246, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_62141", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00247.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00248.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00249.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.382, 1.613]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.868, 1.280]). The trajectory involves 5 precise waypoints with total movement distance of 0.606." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62141, + "action": "close", + "object": "Storage Furniture", + "frame_index": 249, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_62143", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00252.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00253.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00254.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.384, 1.613]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.805, 1.263]). The trajectory involves 5 precise waypoints with total movement distance of 0.571." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62143, + "action": "close", + "object": "Storage Furniture", + "frame_index": 254, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_62144", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00254.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00255.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N03_S20_s01_T2/align_rgb/00256.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.451, 1.616]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.812, 1.253]). The trajectory involves 5 precise waypoints with total movement distance of 0.533." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62144, + "action": "close", + "object": "Storage Furniture", + "frame_index": 256, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_62202", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00000.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.459, 1.337]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.457, 1.650]). The trajectory involves 5 precise waypoints with total movement distance of 0.314." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62202, + "action": "open", + "object": "Storage Furniture", + "frame_index": 0, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62204", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00016.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00017.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00018.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.431, 1.316]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.426, 1.631]). The trajectory involves 5 precise waypoints with total movement distance of 0.316." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62204, + "action": "open", + "object": "Storage Furniture", + "frame_index": 18, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62205", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00025.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00026.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00027.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.852, 1.363]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.876, 1.680]). The trajectory involves 5 precise waypoints with total movement distance of 0.318." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62205, + "action": "open", + "object": "Storage Furniture", + "frame_index": 27, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62206", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00035.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00036.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00037.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.798, 1.273]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.809, 1.581]). The trajectory involves 5 precise waypoints with total movement distance of 0.308." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62206, + "action": "open", + "object": "Storage Furniture", + "frame_index": 37, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62207", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00037.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00038.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00039.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.802, 1.301]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.822, 1.658]). The trajectory involves 5 precise waypoints with total movement distance of 0.358." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62207, + "action": "open", + "object": "Storage Furniture", + "frame_index": 39, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62208", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00040.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00041.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.759, 1.325]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.784, 1.666]). The trajectory involves 5 precise waypoints with total movement distance of 0.342." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62208, + "action": "open", + "object": "Storage Furniture", + "frame_index": 41, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62215", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.807, 1.606]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.782, 1.385]). The trajectory involves 5 precise waypoints with total movement distance of 0.223." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62215, + "action": "close", + "object": "Storage Furniture", + "frame_index": 93, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62216", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.812, 1.558]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.787, 1.338]). The trajectory involves 5 precise waypoints with total movement distance of 0.222." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62216, + "action": "close", + "object": "Storage Furniture", + "frame_index": 97, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62217", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.782, 1.557]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.756, 1.319]). The trajectory involves 5 precise waypoints with total movement distance of 0.240." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62217, + "action": "close", + "object": "Storage Furniture", + "frame_index": 99, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62218", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.776, 1.518]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.752, 1.280]). The trajectory involves 5 precise waypoints with total movement distance of 0.240." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62218, + "action": "close", + "object": "Storage Furniture", + "frame_index": 101, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62219", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00102.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.789, 1.489]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.760, 1.263]). The trajectory involves 5 precise waypoints with total movement distance of 0.228." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62219, + "action": "close", + "object": "Storage Furniture", + "frame_index": 103, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62220", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00103.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00105.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.805, 1.449]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.774, 1.232]). The trajectory involves 5 precise waypoints with total movement distance of 0.220." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62220, + "action": "close", + "object": "Storage Furniture", + "frame_index": 105, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62223", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00110.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.933, 0.813]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.935, 0.820]). The trajectory involves 5 precise waypoints with total movement distance of 0.012." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62223, + "action": "close", + "object": "Storage Furniture", + "frame_index": 111, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62230", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00164.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00165.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00166.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.900, 1.331]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.920, 1.510]). The trajectory involves 5 precise waypoints with total movement distance of 0.181." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62230, + "action": "open", + "object": "Storage Furniture", + "frame_index": 166, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62231", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00169.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00170.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.863, 1.339]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.881, 1.518]). The trajectory involves 5 precise waypoints with total movement distance of 0.180." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62231, + "action": "open", + "object": "Storage Furniture", + "frame_index": 171, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62232", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00171.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00172.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00173.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.834, 1.334]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.855, 1.549]). The trajectory involves 5 precise waypoints with total movement distance of 0.215." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62232, + "action": "open", + "object": "Storage Furniture", + "frame_index": 173, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62233", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00173.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00174.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00175.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.848, 1.327]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.864, 1.575]). The trajectory involves 5 precise waypoints with total movement distance of 0.249." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62233, + "action": "open", + "object": "Storage Furniture", + "frame_index": 175, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62234", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00175.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00176.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00177.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.837, 1.271]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.857, 1.555]). The trajectory involves 5 precise waypoints with total movement distance of 0.285." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62234, + "action": "open", + "object": "Storage Furniture", + "frame_index": 177, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62235", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00177.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.802, 1.283]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.814, 1.581]). The trajectory involves 5 precise waypoints with total movement distance of 0.299." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62235, + "action": "open", + "object": "Storage Furniture", + "frame_index": 179, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62236", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00179.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00180.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00181.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.797, 1.277]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.813, 1.559]). The trajectory involves 5 precise waypoints with total movement distance of 0.283." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62236, + "action": "open", + "object": "Storage Furniture", + "frame_index": 181, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62240", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00225.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00226.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.820, 1.588]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.788, 1.333]). The trajectory involves 5 precise waypoints with total movement distance of 0.257." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62240, + "action": "close", + "object": "Storage Furniture", + "frame_index": 226, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62241", + "task": "close the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N02_S20_s04_T1/align_rgb/00230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.802, 1.543]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.772, 1.283]). The trajectory involves 5 precise waypoints with total movement distance of 0.262." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62241, + "action": "close", + "object": "Storage Furniture", + "frame_index": 230, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62254", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T2/align_rgb/00037.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T2/align_rgb/00038.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T2/align_rgb/00039.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.630, 1.412]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.259, 1.987]). The trajectory involves 5 precise waypoints with total movement distance of 0.708." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62254, + "action": "open", + "object": "Storage Furniture", + "frame_index": 39, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_62255", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T2/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T2/align_rgb/00040.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T2/align_rgb/00041.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.673, 1.366]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.261, 2.043]). The trajectory involves 5 precise waypoints with total movement distance of 0.814." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62255, + "action": "open", + "object": "Storage Furniture", + "frame_index": 41, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_62261", + "task": "close the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T2/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T2/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T2/align_rgb/00086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [0.929, 1.716]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.572, 1.453]). The trajectory involves 5 precise waypoints with total movement distance of 0.706." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62261, + "action": "close", + "object": "Storage Furniture", + "frame_index": 86, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_62276", + "task": "open the door of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T2/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T2/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T2/align_rgb/00190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the door of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the door of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.782, 1.404]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.128, 2.180]). The trajectory involves 5 precise waypoints with total movement distance of 1.039." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62276, + "action": "open", + "object": "Storage Furniture", + "frame_index": 190, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Door" + ] + } + }, + { + "id": "hoi4d_62298", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00057.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.670, 1.502]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.625, 1.798]). The trajectory involves 5 precise waypoints with total movement distance of 0.300." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62298, + "action": "open", + "object": "Storage Furniture", + "frame_index": 57, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62299", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00059.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.664, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.611, 1.819]). The trajectory involves 5 precise waypoints with total movement distance of 0.308." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62299, + "action": "open", + "object": "Storage Furniture", + "frame_index": 59, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62300", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.663, 1.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.613, 1.804]). The trajectory involves 5 precise waypoints with total movement distance of 0.305." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62300, + "action": "open", + "object": "Storage Furniture", + "frame_index": 61, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62301", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.644, 1.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.589, 1.750]). The trajectory involves 5 precise waypoints with total movement distance of 0.291." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62301, + "action": "open", + "object": "Storage Furniture", + "frame_index": 63, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62302", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.641, 1.491]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.592, 1.752]). The trajectory involves 5 precise waypoints with total movement distance of 0.266." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62302, + "action": "open", + "object": "Storage Furniture", + "frame_index": 65, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62304", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.597, 1.540]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.564, 1.763]). The trajectory involves 5 precise waypoints with total movement distance of 0.225." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62304, + "action": "open", + "object": "Storage Furniture", + "frame_index": 69, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62326", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.781, 1.536]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.731, 1.818]). The trajectory involves 5 precise waypoints with total movement distance of 0.286." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62326, + "action": "open", + "object": "Storage Furniture", + "frame_index": 201, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62327", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.775, 1.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.734, 1.779]). The trajectory involves 5 precise waypoints with total movement distance of 0.258." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62327, + "action": "open", + "object": "Storage Furniture", + "frame_index": 203, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62328", + "task": "open the drawer of the cabinet body in the storage furniture.", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800001_H1_C4_N01_S19_s05_T1/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the drawer of the cabinet body in the storage furniture.?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the drawer of the cabinet body in the storage furniture., execute the following phases: 1) Initial approach phase (start at [1.740, 1.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.700, 1.795]). The trajectory involves 5 precise waypoints with total movement distance of 0.242." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62328, + "action": "open", + "object": "Storage Furniture", + "frame_index": 204, + "data_source": "manual", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Cabinet", + "Drawer" + ] + } + }, + { + "id": "hoi4d_62547", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C3_N25_S19_s02_T2/align_rgb/00044.jpg", + "hoi4d_frame/ZY20210800001_H1_C3_N25_S19_s02_T2/align_rgb/00045.jpg", + "hoi4d_frame/ZY20210800001_H1_C3_N25_S19_s02_T2/align_rgb/00046.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [2.009, 1.576]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.028, 1.330]). The trajectory involves 5 precise waypoints with total movement distance of 0.247." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62547, + "action": "open", + "object": "Laptop", + "frame_index": 46, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_62878", + "task": "open the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C3_N13_S27_s01_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800001_H1_C3_N13_S27_s01_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800001_H1_C3_N13_S27_s01_T2/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the laptop, execute the following phases: 1) Initial approach phase (start at [1.716, 1.352]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.723, 1.174]). The trajectory involves 5 precise waypoints with total movement distance of 0.178." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62878, + "action": "open", + "object": "Laptop", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_62900", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C3_N13_S27_s01_T2/align_rgb/00150.jpg", + "hoi4d_frame/ZY20210800001_H1_C3_N13_S27_s01_T2/align_rgb/00151.jpg", + "hoi4d_frame/ZY20210800001_H1_C3_N13_S27_s01_T2/align_rgb/00152.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.720, 1.336]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.699, 1.439]). The trajectory involves 5 precise waypoints with total movement distance of 0.105." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62900, + "action": "close", + "object": "Laptop", + "frame_index": 152, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_62902", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C3_N13_S27_s01_T2/align_rgb/00154.jpg", + "hoi4d_frame/ZY20210800001_H1_C3_N13_S27_s01_T2/align_rgb/00155.jpg", + "hoi4d_frame/ZY20210800001_H1_C3_N13_S27_s01_T2/align_rgb/00156.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.721, 1.379]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.701, 1.471]). The trajectory involves 5 precise waypoints with total movement distance of 0.095." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62902, + "action": "close", + "object": "Laptop", + "frame_index": 156, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_62905", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C3_N13_S27_s01_T2/align_rgb/00160.jpg", + "hoi4d_frame/ZY20210800001_H1_C3_N13_S27_s01_T2/align_rgb/00161.jpg", + "hoi4d_frame/ZY20210800001_H1_C3_N13_S27_s01_T2/align_rgb/00162.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.711, 1.444]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.689, 1.520]). The trajectory involves 5 precise waypoints with total movement distance of 0.080." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 62905, + "action": "close", + "object": "Laptop", + "frame_index": 162, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Keyboard", + "Screen" + ] + } + }, + { + "id": "hoi4d_63045", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C3_N01_S54_s05_T2/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800001_H1_C3_N01_S54_s05_T2/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800001_H1_C3_N01_S54_s05_T2/align_rgb/00087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [0.806, 0.969]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.831, 1.259]). The trajectory involves 5 precise waypoints with total movement distance of 0.291." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 63045, + "action": "close", + "object": "Laptop", + "frame_index": 87, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_63046", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C3_N01_S54_s05_T2/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800001_H1_C3_N01_S54_s05_T2/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800001_H1_C3_N01_S54_s05_T2/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [0.891, 0.962]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.916, 1.273]). The trajectory involves 5 precise waypoints with total movement distance of 0.313." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 63046, + "action": "close", + "object": "Laptop", + "frame_index": 92, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_63050", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C3_N01_S54_s05_T2/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800001_H1_C3_N01_S54_s05_T2/align_rgb/00110.jpg", + "hoi4d_frame/ZY20210800001_H1_C3_N01_S54_s05_T2/align_rgb/00111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.398, 1.001]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.399, 1.308]). The trajectory involves 5 precise waypoints with total movement distance of 0.307." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 63050, + "action": "close", + "object": "Laptop", + "frame_index": 111, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_63051", + "task": "close the laptop", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C3_N01_S54_s05_T2/align_rgb/00111.jpg", + "hoi4d_frame/ZY20210800001_H1_C3_N01_S54_s05_T2/align_rgb/00112.jpg", + "hoi4d_frame/ZY20210800001_H1_C3_N01_S54_s05_T2/align_rgb/00113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the laptop?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the laptop, execute the following phases: 1) Initial approach phase (start at [1.550, 1.004]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.546, 1.255]). The trajectory involves 5 precise waypoints with total movement distance of 0.251." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 63051, + "action": "close", + "object": "Laptop", + "frame_index": 113, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Screen", + "Keyboard" + ] + } + }, + { + "id": "hoi4d_64108", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N48_S54_s03_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N48_S54_s03_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N48_S54_s03_T2/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.678, 1.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.656, 1.693]). The trajectory involves 5 precise waypoints with total movement distance of 0.165." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64108, + "action": "putdown", + "object": "Mug", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64159", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N48_S214_s02_T6/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N48_S214_s02_T6/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N48_S214_s02_T6/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.412, 1.561]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.227, 1.688]). The trajectory involves 5 precise waypoints with total movement distance of 1.237." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64159, + "action": "carry", + "object": "Mug", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64171", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N48_S214_s02_T6/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N48_S214_s02_T6/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N48_S214_s02_T6/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.349, 1.497]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.674, 2.439]). The trajectory involves 5 precise waypoints with total movement distance of 1.710." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64171, + "action": "carry", + "object": "Mug", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64189", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N47_S54_s03_T2/align_rgb/00137.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N47_S54_s03_T2/align_rgb/00138.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N47_S54_s03_T2/align_rgb/00139.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.733, 1.262]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.700, 1.573]). The trajectory involves 5 precise waypoints with total movement distance of 0.312." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64189, + "action": "carry", + "object": "Mug", + "frame_index": 139, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64197", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N47_S54_s03_T2/align_rgb/00173.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N47_S54_s03_T2/align_rgb/00174.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N47_S54_s03_T2/align_rgb/00175.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.683, 1.433]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.667, 1.606]). The trajectory involves 5 precise waypoints with total movement distance of 0.174." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64197, + "action": "putdown", + "object": "Mug", + "frame_index": 175, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64233", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N47_S54_s03_T1/align_rgb/00174.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N47_S54_s03_T1/align_rgb/00175.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N47_S54_s03_T1/align_rgb/00176.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.690, 1.582]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.582, 1.594]). The trajectory involves 5 precise waypoints with total movement distance of 0.110." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64233, + "action": "carry", + "object": "Mug", + "frame_index": 176, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64261", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.441, 1.532]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.671, 1.348]). The trajectory involves 5 precise waypoints with total movement distance of 0.822." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64261, + "action": "carry", + "object": "Mug", + "frame_index": 65, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64263", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.440, 1.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.600, 1.369]). The trajectory involves 5 precise waypoints with total movement distance of 0.871." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64263, + "action": "carry", + "object": "Mug", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64269", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.464, 1.516]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.490, 1.527]). The trajectory involves 5 precise waypoints with total movement distance of 1.002." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64269, + "action": "carry", + "object": "Mug", + "frame_index": 81, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64284", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.420, 1.523]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.288, 2.462]). The trajectory involves 5 precise waypoints with total movement distance of 2.149." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64284, + "action": "carry", + "object": "Mug", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64285", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.393, 1.512]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.075, 2.338]). The trajectory involves 5 precise waypoints with total movement distance of 1.920." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64285, + "action": "carry", + "object": "Mug", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64287", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N47_S214_s02_T6/align_rgb/00215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.423, 1.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.100, 2.434]). The trajectory involves 5 precise waypoints with total movement distance of 1.969." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64287, + "action": "carry", + "object": "Mug", + "frame_index": 215, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64329", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N46_S54_s02_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N46_S54_s02_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N46_S54_s02_T2/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.725, 1.509]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.727, 1.716]). The trajectory involves 5 precise waypoints with total movement distance of 0.207." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64329, + "action": "putdown", + "object": "Mug", + "frame_index": 201, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64330", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N46_S54_s02_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N46_S54_s02_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N46_S54_s02_T2/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.719, 1.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.720, 1.704]). The trajectory involves 5 precise waypoints with total movement distance of 0.211." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64330, + "action": "putdown", + "object": "Mug", + "frame_index": 203, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64333", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N46_S54_s02_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N46_S54_s02_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N46_S54_s02_T2/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.721, 1.568]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.730, 1.789]). The trajectory involves 5 precise waypoints with total movement distance of 0.223." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64333, + "action": "putdown", + "object": "Mug", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64334", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N46_S54_s02_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N46_S54_s02_T2/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N46_S54_s02_T2/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.722, 1.558]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.728, 1.789]). The trajectory involves 5 precise waypoints with total movement distance of 0.232." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64334, + "action": "putdown", + "object": "Mug", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64414", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N46_S214_s02_T6/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N46_S214_s02_T6/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N46_S214_s02_T6/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.495, 1.637]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.696, 1.683]). The trajectory involves 5 precise waypoints with total movement distance of 0.812." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64414, + "action": "carry", + "object": "Mug", + "frame_index": 88, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64428", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N46_S214_s02_T6/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N46_S214_s02_T6/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N46_S214_s02_T6/align_rgb/00216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.357, 1.571]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.041, 1.969]). The trajectory involves 5 precise waypoints with total movement distance of 0.824." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64428, + "action": "carry", + "object": "Mug", + "frame_index": 216, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64464", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N45_S54_s02_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N45_S54_s02_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N45_S54_s02_T2/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.616, 1.177]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.632, 1.340]). The trajectory involves 5 precise waypoints with total movement distance of 0.164." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64464, + "action": "putdown", + "object": "Mug", + "frame_index": 207, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64472", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N45_S54_s02_T2/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N45_S54_s02_T2/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N45_S54_s02_T2/align_rgb/00223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.643, 1.270]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.633, 1.491]). The trajectory involves 5 precise waypoints with total movement distance of 0.221." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64472, + "action": "putdown", + "object": "Mug", + "frame_index": 223, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64479", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N45_S54_s02_T2/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N45_S54_s02_T2/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N45_S54_s02_T2/align_rgb/00237.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.645, 1.312]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.616, 1.631]). The trajectory involves 5 precise waypoints with total movement distance of 0.321." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64479, + "action": "putdown", + "object": "Mug", + "frame_index": 237, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64510", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N45_S54_s02_T1/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N45_S54_s02_T1/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N45_S54_s02_T1/align_rgb/00191.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.709, 1.198]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.525, 1.198]). The trajectory involves 5 precise waypoints with total movement distance of 0.184." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64510, + "action": "carry", + "object": "Mug", + "frame_index": 191, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64533", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.415, 1.594]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.247, 1.838]). The trajectory involves 5 precise waypoints with total movement distance of 1.220." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64533, + "action": "carry", + "object": "Mug", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64536", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.408, 1.598]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.192, 1.823]). The trajectory involves 5 precise waypoints with total movement distance of 1.266." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64536, + "action": "carry", + "object": "Mug", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64547", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.415, 1.554]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.863, 2.487]). The trajectory involves 5 precise waypoints with total movement distance of 1.761." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64547, + "action": "carry", + "object": "Mug", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64548", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.434, 1.570]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.832, 2.485]). The trajectory involves 5 precise waypoints with total movement distance of 1.710." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64548, + "action": "carry", + "object": "Mug", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64549", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N45_S214_s02_T6/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.473, 1.558]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.865, 2.472]). The trajectory involves 5 precise waypoints with total movement distance of 1.703." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64549, + "action": "carry", + "object": "Mug", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64566", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.450, 1.504]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.276, 1.541]). The trajectory involves 5 precise waypoints with total movement distance of 1.193." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64566, + "action": "carry", + "object": "Mug", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64568", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.456, 1.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.113, 1.627]). The trajectory involves 5 precise waypoints with total movement distance of 1.384." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64568, + "action": "carry", + "object": "Mug", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64574", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00094.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.452, 1.460]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.335, 1.593]). The trajectory involves 5 precise waypoints with total movement distance of 1.153." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64574, + "action": "carry", + "object": "Mug", + "frame_index": 94, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64575", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.452, 1.471]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.479, 1.597]). The trajectory involves 5 precise waypoints with total movement distance of 1.007." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64575, + "action": "carry", + "object": "Mug", + "frame_index": 95, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64581", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.331, 1.506]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.691, 2.229]). The trajectory involves 5 precise waypoints with total movement distance of 1.603." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64581, + "action": "carry", + "object": "Mug", + "frame_index": 199, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64585", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N44_S214_s01_T6/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.315, 1.444]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.700, 2.205]). The trajectory involves 5 precise waypoints with total movement distance of 1.605." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64585, + "action": "carry", + "object": "Mug", + "frame_index": 207, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64645", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N42_S63_s05_T2/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N42_S63_s05_T2/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N42_S63_s05_T2/align_rgb/00188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.712, 1.357]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.670, 1.597]). The trajectory involves 5 precise waypoints with total movement distance of 0.244." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64645, + "action": "carry", + "object": "Mug", + "frame_index": 188, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64656", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N42_S63_s05_T2/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N42_S63_s05_T2/align_rgb/00229.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N42_S63_s05_T2/align_rgb/00230.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.671, 1.644]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.660, 1.800]). The trajectory involves 5 precise waypoints with total movement distance of 0.157." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64656, + "action": "putdown", + "object": "Mug", + "frame_index": 230, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64661", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N42_S63_s05_T2/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N42_S63_s05_T2/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N42_S63_s05_T2/align_rgb/00240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.675, 1.723]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.668, 1.858]). The trajectory involves 5 precise waypoints with total movement distance of 0.136." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64661, + "action": "putdown", + "object": "Mug", + "frame_index": 240, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64662", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N42_S63_s05_T2/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N42_S63_s05_T2/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N42_S63_s05_T2/align_rgb/00242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.668, 1.728]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.659, 1.849]). The trajectory involves 5 precise waypoints with total movement distance of 0.122." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64662, + "action": "putdown", + "object": "Mug", + "frame_index": 242, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64697", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N42_S214_s01_T6/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N42_S214_s01_T6/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N42_S214_s01_T6/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.528, 1.582]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.762, 1.453]). The trajectory involves 5 precise waypoints with total movement distance of 0.808." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64697, + "action": "carry", + "object": "Mug", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64701", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N42_S214_s01_T6/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N42_S214_s01_T6/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N42_S214_s01_T6/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.520, 1.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.551, 1.507]). The trajectory involves 5 precise waypoints with total movement distance of 0.987." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64701, + "action": "carry", + "object": "Mug", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64716", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N42_S214_s01_T6/align_rgb/00110.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N42_S214_s01_T6/align_rgb/00111.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N42_S214_s01_T6/align_rgb/00112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.523, 1.544]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.788, 1.604]). The trajectory involves 5 precise waypoints with total movement distance of 0.743." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64716, + "action": "carry", + "object": "Mug", + "frame_index": 112, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64732", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N42_S214_s01_T6/align_rgb/00250.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N42_S214_s01_T6/align_rgb/00251.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N42_S214_s01_T6/align_rgb/00252.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.388, 1.572]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.380, 1.768]). The trajectory involves 5 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64732, + "action": "putdown", + "object": "Mug", + "frame_index": 252, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64762", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T2/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.271, 1.572]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.238, 1.769]). The trajectory involves 5 precise waypoints with total movement distance of 0.200." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64762, + "action": "putdown", + "object": "Mug", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64763", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T2/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T2/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.269, 1.581]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.235, 1.780]). The trajectory involves 5 precise waypoints with total movement distance of 0.202." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64763, + "action": "putdown", + "object": "Mug", + "frame_index": 208, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64764", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T2/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T2/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T2/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.302, 1.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.261, 1.728]). The trajectory involves 5 precise waypoints with total movement distance of 0.224." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64764, + "action": "putdown", + "object": "Mug", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64770", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T2/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T2/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T2/align_rgb/00222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.271, 1.545]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.245, 1.749]). The trajectory involves 5 precise waypoints with total movement distance of 0.206." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64770, + "action": "putdown", + "object": "Mug", + "frame_index": 222, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64792", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T1/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T1/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T1/align_rgb/00052.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.523, 1.590]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.523, 1.448]). The trajectory involves 5 precise waypoints with total movement distance of 0.142." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64792, + "action": "pickup", + "object": "Mug", + "frame_index": 52, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64794", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T1/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T1/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T1/align_rgb/00056.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.521, 1.566]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.525, 1.397]). The trajectory involves 5 precise waypoints with total movement distance of 0.169." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64794, + "action": "pickup", + "object": "Mug", + "frame_index": 56, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64820", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T1/align_rgb/00125.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T1/align_rgb/00126.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N41_S63_s05_T1/align_rgb/00127.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.584, 1.687]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.587, 1.830]). The trajectory involves 5 precise waypoints with total movement distance of 0.144." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64820, + "action": "putdown", + "object": "Mug", + "frame_index": 127, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64835", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N41_S214_s01_T6/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N41_S214_s01_T6/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N41_S214_s01_T6/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.488, 1.602]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.289, 1.780]). The trajectory involves 5 precise waypoints with total movement distance of 1.239." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64835, + "action": "carry", + "object": "Mug", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64848", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N41_S214_s01_T6/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N41_S214_s01_T6/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N41_S214_s01_T6/align_rgb/00192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.342, 1.614]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.105, 2.703]). The trajectory involves 5 precise waypoints with total movement distance of 2.162." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64848, + "action": "carry", + "object": "Mug", + "frame_index": 192, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64849", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N41_S214_s01_T6/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N41_S214_s01_T6/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N41_S214_s01_T6/align_rgb/00194.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.347, 1.588]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.013, 2.635]). The trajectory involves 5 precise waypoints with total movement distance of 2.068." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64849, + "action": "carry", + "object": "Mug", + "frame_index": 194, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64850", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N41_S214_s01_T6/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N41_S214_s01_T6/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N41_S214_s01_T6/align_rgb/00196.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.355, 1.575]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.885, 2.513]). The trajectory involves 5 precise waypoints with total movement distance of 1.890." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64850, + "action": "carry", + "object": "Mug", + "frame_index": 196, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64879", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N40_S213_s05_T5/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N40_S213_s05_T5/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N40_S213_s05_T5/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.516, 1.326]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.967, 2.419]). The trajectory involves 5 precise waypoints with total movement distance of 1.862." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64879, + "action": "carry", + "object": "Mug", + "frame_index": 195, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64888", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00058.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.546, 1.587]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.789, 1.327]). The trajectory involves 5 precise waypoints with total movement distance of 0.361." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64888, + "action": "carry", + "object": "Mug", + "frame_index": 58, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64896", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.614, 1.466]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.973, 1.263]). The trajectory involves 5 precise waypoints with total movement distance of 0.415." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64896, + "action": "carry", + "object": "Mug", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64899", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.621, 1.474]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.986, 1.319]). The trajectory involves 5 precise waypoints with total movement distance of 0.403." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64899, + "action": "carry", + "object": "Mug", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64900", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.629, 1.474]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.982, 1.330]). The trajectory involves 5 precise waypoints with total movement distance of 0.390." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64900, + "action": "carry", + "object": "Mug", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_64901", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N39_S63_s04_T2/align_rgb/00084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.635, 1.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.995, 1.329]). The trajectory involves 5 precise waypoints with total movement distance of 0.398." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 64901, + "action": "carry", + "object": "Mug", + "frame_index": 84, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65126", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T2/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.173, 1.531]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.599, 1.285]). The trajectory involves 5 precise waypoints with total movement distance of 0.509." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65126, + "action": "carry", + "object": "Mug", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65127", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T2/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T2/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T2/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.171, 1.515]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.638, 1.297]). The trajectory involves 5 precise waypoints with total movement distance of 0.532." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65127, + "action": "carry", + "object": "Mug", + "frame_index": 70, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65162", + "task": "pick up the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00044.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00045.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00046.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the mug, execute the following phases: 1) Initial approach phase (start at [1.419, 1.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.439, 1.451]). The trajectory involves 5 precise waypoints with total movement distance of 0.079." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65162, + "action": "pickup", + "object": "Mug", + "frame_index": 46, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65164", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.463, 1.459]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.670, 1.497]). The trajectory involves 5 precise waypoints with total movement distance of 0.211." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65164, + "action": "carry", + "object": "Mug", + "frame_index": 62, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65184", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.649, 1.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.492, 1.472]). The trajectory involves 5 precise waypoints with total movement distance of 0.160." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65184, + "action": "carry", + "object": "Mug", + "frame_index": 190, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65185", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.632, 1.507]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.475, 1.497]). The trajectory involves 5 precise waypoints with total movement distance of 0.157." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65185, + "action": "carry", + "object": "Mug", + "frame_index": 192, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65188", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00198.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.596, 1.498]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.427, 1.469]). The trajectory involves 5 precise waypoints with total movement distance of 0.173." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65188, + "action": "carry", + "object": "Mug", + "frame_index": 198, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65189", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.579, 1.479]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.407, 1.444]). The trajectory involves 5 precise waypoints with total movement distance of 0.177." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65189, + "action": "carry", + "object": "Mug", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65199", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00239.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N37_S63_s03_T1/align_rgb/00240.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.323, 1.446]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.326, 1.526]). The trajectory involves 5 precise waypoints with total movement distance of 0.080." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65199, + "action": "putdown", + "object": "Mug", + "frame_index": 240, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65338", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N34_S63_s01_T1/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N34_S63_s01_T1/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N34_S63_s01_T1/align_rgb/00060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.517, 1.494]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.620, 1.496]). The trajectory involves 5 precise waypoints with total movement distance of 0.104." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65338, + "action": "carry", + "object": "Mug", + "frame_index": 60, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65340", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N34_S63_s01_T1/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N34_S63_s01_T1/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N34_S63_s01_T1/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.534, 1.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.627, 1.527]). The trajectory involves 5 precise waypoints with total movement distance of 0.094." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65340, + "action": "carry", + "object": "Mug", + "frame_index": 64, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65375", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N34_S213_s04_T1/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N34_S213_s04_T1/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N34_S213_s04_T1/align_rgb/00061.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.147, 1.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.677, 1.587]). The trajectory involves 5 precise waypoints with total movement distance of 0.563." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65375, + "action": "carry", + "object": "Mug", + "frame_index": 61, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65378", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N34_S213_s04_T1/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N34_S213_s04_T1/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N34_S213_s04_T1/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.266, 1.562]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.830, 1.711]). The trajectory involves 5 precise waypoints with total movement distance of 0.616." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65378, + "action": "carry", + "object": "Mug", + "frame_index": 66, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65387", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N34_S213_s04_T1/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N34_S213_s04_T1/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N34_S213_s04_T1/align_rgb/00185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.842, 1.680]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.269, 1.713]). The trajectory involves 5 precise waypoints with total movement distance of 0.585." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65387, + "action": "carry", + "object": "Mug", + "frame_index": 185, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65388", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N34_S213_s04_T1/align_rgb/00185.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N34_S213_s04_T1/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N34_S213_s04_T1/align_rgb/00187.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.786, 1.633]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.224, 1.708]). The trajectory involves 5 precise waypoints with total movement distance of 0.580." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65388, + "action": "carry", + "object": "Mug", + "frame_index": 187, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65401", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N33_S63_s01_T1/align_rgb/00039.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N33_S63_s01_T1/align_rgb/00040.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N33_S63_s01_T1/align_rgb/00041.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.272, 1.283]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.000, 1.335]). The trajectory involves 5 precise waypoints with total movement distance of 0.279." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65401, + "action": "carry", + "object": "Mug", + "frame_index": 41, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65425", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N33_S63_s01_T1/align_rgb/00177.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N33_S63_s01_T1/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N33_S63_s01_T1/align_rgb/00179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.384, 1.360]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.584, 1.379]). The trajectory involves 5 precise waypoints with total movement distance of 0.201." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65425, + "action": "carry", + "object": "Mug", + "frame_index": 179, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65428", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N33_S63_s01_T1/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N33_S63_s01_T1/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N33_S63_s01_T1/align_rgb/00185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.403, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.614, 1.381]). The trajectory involves 5 precise waypoints with total movement distance of 0.212." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65428, + "action": "carry", + "object": "Mug", + "frame_index": 185, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65435", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N33_S63_s01_T1/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N33_S63_s01_T1/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N33_S63_s01_T1/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.453, 1.354]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.608, 1.363]). The trajectory involves 5 precise waypoints with total movement distance of 0.155." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65435, + "action": "carry", + "object": "Mug", + "frame_index": 199, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65583", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T2/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T2/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T2/align_rgb/00083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.340, 1.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.073, 1.407]). The trajectory involves 5 precise waypoints with total movement distance of 0.273." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65583, + "action": "carry", + "object": "Mug", + "frame_index": 83, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65584", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T2/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T2/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.338, 1.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.073, 1.398]). The trajectory involves 5 precise waypoints with total movement distance of 0.276." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65584, + "action": "carry", + "object": "Mug", + "frame_index": 85, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65587", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T2/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T2/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T2/align_rgb/00091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.294, 1.420]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.037, 1.330]). The trajectory involves 5 precise waypoints with total movement distance of 0.271." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65587, + "action": "carry", + "object": "Mug", + "frame_index": 91, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65625", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T1/align_rgb/00050.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T1/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T1/align_rgb/00052.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.406, 1.564]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.236, 1.544]). The trajectory involves 5 precise waypoints with total movement distance of 0.172." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65625, + "action": "carry", + "object": "Mug", + "frame_index": 52, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65658", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T1/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T1/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T1/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.043, 1.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.243, 1.530]). The trajectory involves 5 precise waypoints with total movement distance of 0.205." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65658, + "action": "carry", + "object": "Mug", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65662", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T1/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T1/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N31_S92_s05_T1/align_rgb/00208.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.054, 1.620]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.216, 1.621]). The trajectory involves 5 precise waypoints with total movement distance of 0.162." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65662, + "action": "carry", + "object": "Mug", + "frame_index": 208, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65680", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N31_S213_s03_T4/align_rgb/00167.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N31_S213_s03_T4/align_rgb/00168.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N31_S213_s03_T4/align_rgb/00169.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.224, 1.459]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.276, 1.373]). The trajectory involves 5 precise waypoints with total movement distance of 1.061." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65680, + "action": "carry", + "object": "Mug", + "frame_index": 169, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65681", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N31_S213_s03_T4/align_rgb/00169.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N31_S213_s03_T4/align_rgb/00170.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N31_S213_s03_T4/align_rgb/00171.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.231, 1.425]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.262, 1.283]). The trajectory involves 5 precise waypoints with total movement distance of 1.045." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65681, + "action": "carry", + "object": "Mug", + "frame_index": 171, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65691", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N30_S92_s04_T1/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N30_S92_s04_T1/align_rgb/00059.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N30_S92_s04_T1/align_rgb/00060.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [2.006, 1.336]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.298, 1.456]). The trajectory involves 5 precise waypoints with total movement distance of 0.317." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65691, + "action": "carry", + "object": "Mug", + "frame_index": 60, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65713", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N30_S92_s04_T1/align_rgb/00195.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N30_S92_s04_T1/align_rgb/00196.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N30_S92_s04_T1/align_rgb/00197.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [2.103, 1.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.805, 1.369]). The trajectory involves 5 precise waypoints with total movement distance of 0.315." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65713, + "action": "carry", + "object": "Mug", + "frame_index": 197, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65724", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N30_S214_s03_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N30_S214_s03_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N30_S214_s03_T1/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.405, 1.392]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.004, 1.523]). The trajectory involves 5 precise waypoints with total movement distance of 0.620." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65724, + "action": "carry", + "object": "Mug", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65732", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N30_S214_s03_T1/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N30_S214_s03_T1/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N30_S214_s03_T1/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.916, 1.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.466, 1.349]). The trajectory involves 5 precise waypoints with total movement distance of 0.493." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65732, + "action": "carry", + "object": "Mug", + "frame_index": 212, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65753", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N30_S213_s03_T4/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N30_S213_s03_T4/align_rgb/00189.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N30_S213_s03_T4/align_rgb/00190.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.198, 1.499]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.254, 1.431]). The trajectory involves 5 precise waypoints with total movement distance of 1.077." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65753, + "action": "carry", + "object": "Mug", + "frame_index": 190, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65863", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N28_S92_s03_T2/align_rgb/00177.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N28_S92_s03_T2/align_rgb/00178.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N28_S92_s03_T2/align_rgb/00179.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.528, 1.323]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.521, 1.539]). The trajectory involves 5 precise waypoints with total movement distance of 0.217." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65863, + "action": "putdown", + "object": "Mug", + "frame_index": 179, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65866", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N28_S92_s03_T2/align_rgb/00183.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N28_S92_s03_T2/align_rgb/00184.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N28_S92_s03_T2/align_rgb/00185.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.536, 1.406]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.524, 1.606]). The trajectory involves 5 precise waypoints with total movement distance of 0.201." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65866, + "action": "putdown", + "object": "Mug", + "frame_index": 185, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65870", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N28_S92_s03_T2/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N28_S92_s03_T2/align_rgb/00192.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N28_S92_s03_T2/align_rgb/00193.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.548, 1.568]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.541, 1.737]). The trajectory involves 5 precise waypoints with total movement distance of 0.170." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65870, + "action": "putdown", + "object": "Mug", + "frame_index": 193, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65943", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N28_S213_s02_T4/align_rgb/00190.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N28_S213_s02_T4/align_rgb/00191.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N28_S213_s02_T4/align_rgb/00192.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.207, 1.480]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.228, 1.528]). The trajectory involves 5 precise waypoints with total movement distance of 1.025." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65943, + "action": "carry", + "object": "Mug", + "frame_index": 192, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_65956", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N28_S213_s02_T4/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N28_S213_s02_T4/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N28_S213_s02_T4/align_rgb/00218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.338, 1.334]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.638, 1.053]). The trajectory involves 5 precise waypoints with total movement distance of 0.455." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 65956, + "action": "carry", + "object": "Mug", + "frame_index": 218, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_66165", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N25_S213_s02_T4/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N25_S213_s02_T4/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N25_S213_s02_T4/align_rgb/00063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.929, 1.434]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.300, 1.343]). The trajectory involves 5 precise waypoints with total movement distance of 0.648." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 66165, + "action": "carry", + "object": "Mug", + "frame_index": 63, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_66188", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N24_S214_s04_T1/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N24_S214_s04_T1/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N24_S214_s04_T1/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.378, 1.426]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.019, 1.481]). The trajectory involves 5 precise waypoints with total movement distance of 0.655." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 66188, + "action": "carry", + "object": "Mug", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_66350", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N22_S93_s05_T1/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N22_S93_s05_T1/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N22_S93_s05_T1/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.820, 1.448]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.965, 1.524]). The trajectory involves 5 precise waypoints with total movement distance of 0.169." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 66350, + "action": "carry", + "object": "Mug", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_66400", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N22_S213_s01_T3/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N22_S213_s01_T3/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N22_S213_s01_T3/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.452, 1.449]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.480, 1.799]). The trajectory involves 5 precise waypoints with total movement distance of 0.352." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 66400, + "action": "putdown", + "object": "Mug", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_66562", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N19_S212_s05_T3/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N19_S212_s05_T3/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N19_S212_s05_T3/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.595, 1.548]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.030, 2.401]). The trajectory involves 5 precise waypoints with total movement distance of 1.690." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 66562, + "action": "carry", + "object": "Mug", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_66569", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N19_S212_s05_T3/align_rgb/00236.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N19_S212_s05_T3/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N19_S212_s05_T3/align_rgb/00238.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.658, 1.656]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.596, 1.993]). The trajectory involves 5 precise waypoints with total movement distance of 0.343." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 66569, + "action": "putdown", + "object": "Mug", + "frame_index": 238, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_66749", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N16_S93_s02_T1/align_rgb/00186.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N16_S93_s02_T1/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N16_S93_s02_T1/align_rgb/00188.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.339, 1.414]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.542, 1.334]). The trajectory involves 5 precise waypoints with total movement distance of 0.220." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 66749, + "action": "carry", + "object": "Mug", + "frame_index": 188, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_66786", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N16_S212_s04_T2/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N16_S212_s04_T2/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N16_S212_s04_T2/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.529, 1.341]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.700, 1.318]). The trajectory involves 5 precise waypoints with total movement distance of 0.849." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 66786, + "action": "carry", + "object": "Mug", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_66859", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N15_S214_s03_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N15_S214_s03_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N15_S214_s03_T1/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.351, 1.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.971, 1.539]). The trajectory involves 5 precise waypoints with total movement distance of 0.663." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 66859, + "action": "carry", + "object": "Mug", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_66860", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N15_S214_s03_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N15_S214_s03_T1/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N15_S214_s03_T1/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.353, 1.442]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.980, 1.521]). The trajectory involves 5 precise waypoints with total movement distance of 0.669." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 66860, + "action": "carry", + "object": "Mug", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_66881", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N15_S212_s04_T2/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N15_S212_s04_T2/align_rgb/00092.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N15_S212_s04_T2/align_rgb/00093.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.393, 1.166]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.546, 1.236]). The trajectory involves 5 precise waypoints with total movement distance of 0.868." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 66881, + "action": "carry", + "object": "Mug", + "frame_index": 93, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_66899", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00040.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00041.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00042.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.680, 0.979]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.389, 0.904]). The trajectory involves 5 precise waypoints with total movement distance of 0.301." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 66899, + "action": "carry", + "object": "Mug", + "frame_index": 42, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_66903", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.338, 0.915]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.350, 1.019]). The trajectory involves 5 precise waypoints with total movement distance of 0.105." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 66903, + "action": "putdown", + "object": "Mug", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_66909", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00136.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00137.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00138.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.400, 0.931]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.854, 1.006]). The trajectory involves 5 precise waypoints with total movement distance of 0.553." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 66909, + "action": "carry", + "object": "Mug", + "frame_index": 138, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_66927", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00172.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00173.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.395, 0.929]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.777, 1.017]). The trajectory involves 5 precise waypoints with total movement distance of 0.636." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 66927, + "action": "carry", + "object": "Mug", + "frame_index": 174, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_66928", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00174.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00175.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00176.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.408, 0.924]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.794, 0.999]). The trajectory involves 5 precise waypoints with total movement distance of 0.626." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 66928, + "action": "carry", + "object": "Mug", + "frame_index": 176, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_66940", + "task": "put down the mug", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T2/align_rgb/00219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the mug?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the mug, execute the following phases: 1) Initial approach phase (start at [1.472, 1.052]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.458, 1.210]). The trajectory involves 5 precise waypoints with total movement distance of 0.159." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 66940, + "action": "putdown", + "object": "Mug", + "frame_index": 219, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_66972", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T1/align_rgb/00172.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T1/align_rgb/00173.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N14_S93_s01_T1/align_rgb/00174.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.419, 1.306]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.578, 1.318]). The trajectory involves 5 precise waypoints with total movement distance of 0.159." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 66972, + "action": "carry", + "object": "Mug", + "frame_index": 174, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_66994", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.419, 1.265]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.736, 1.222]). The trajectory involves 5 precise waypoints with total movement distance of 0.692." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 66994, + "action": "carry", + "object": "Mug", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_67000", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.438, 1.178]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.568, 1.215]). The trajectory involves 5 precise waypoints with total movement distance of 0.888." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67000, + "action": "carry", + "object": "Mug", + "frame_index": 86, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_67001", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.455, 1.194]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.602, 1.222]). The trajectory involves 5 precise waypoints with total movement distance of 0.866." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67001, + "action": "carry", + "object": "Mug", + "frame_index": 88, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_67005", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.480, 1.175]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.726, 1.215]). The trajectory involves 5 precise waypoints with total movement distance of 0.765." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67005, + "action": "carry", + "object": "Mug", + "frame_index": 96, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_67007", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.484, 1.165]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.786, 1.207]). The trajectory involves 5 precise waypoints with total movement distance of 0.721." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67007, + "action": "carry", + "object": "Mug", + "frame_index": 100, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_67012", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N14_S212_s04_T2/align_rgb/00110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.522, 1.178]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.932, 1.214]). The trajectory involves 5 precise waypoints with total movement distance of 0.599." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67012, + "action": "carry", + "object": "Mug", + "frame_index": 110, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_67062", + "task": "carry Mug to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N13_S214_s03_T1/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N13_S214_s03_T1/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N13_S214_s03_T1/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the right, execute the following phases: 1) Initial approach phase (start at [1.365, 1.381]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.060, 1.447]). The trajectory involves 5 precise waypoints with total movement distance of 0.726." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67062, + "action": "carry", + "object": "Mug", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_67079", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N13_S212_s04_T2/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N13_S212_s04_T2/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N13_S212_s04_T2/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.498, 1.519]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.597, 1.418]). The trajectory involves 5 precise waypoints with total movement distance of 0.925." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67079, + "action": "carry", + "object": "Mug", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_67084", + "task": "carry Mug to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C2_N13_S212_s04_T2/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N13_S212_s04_T2/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800001_H1_C2_N13_S212_s04_T2/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Mug to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Mug to the left, execute the following phases: 1) Initial approach phase (start at [1.553, 1.461]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.654, 1.403]). The trajectory involves 5 precise waypoints with total movement distance of 0.927." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67084, + "action": "carry", + "object": "Mug", + "frame_index": 88, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Mug" + ] + } + }, + { + "id": "hoi4d_67164", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N50_S202_s03_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N50_S202_s03_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N50_S202_s03_T2/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.445, 1.493]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.948, 1.192]). The trajectory involves 5 precise waypoints with total movement distance of 0.590." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67164, + "action": "carry", + "object": "Stapler", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67167", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N50_S202_s03_T2/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N50_S202_s03_T2/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N50_S202_s03_T2/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.414, 1.420]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.981, 1.232]). The trajectory involves 5 precise waypoints with total movement distance of 0.475." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67167, + "action": "carry", + "object": "Stapler", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67169", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N50_S202_s03_T2/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N50_S202_s03_T2/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N50_S202_s03_T2/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.388, 1.419]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.839, 1.238]). The trajectory involves 5 precise waypoints with total movement distance of 0.586." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67169, + "action": "carry", + "object": "Stapler", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67172", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N50_S202_s03_T2/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N50_S202_s03_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N50_S202_s03_T2/align_rgb/00084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.380, 1.387]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.876, 1.284]). The trajectory involves 5 precise waypoints with total movement distance of 0.523." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67172, + "action": "carry", + "object": "Stapler", + "frame_index": 84, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67196", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N50_S150_s02_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N50_S150_s02_T1/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N50_S150_s02_T1/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [0.807, 1.562]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.180, 1.364]). The trajectory involves 5 precise waypoints with total movement distance of 0.447." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67196, + "action": "carry", + "object": "Stapler", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67199", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N50_S150_s02_T1/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N50_S150_s02_T1/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N50_S150_s02_T1/align_rgb/00086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [0.896, 1.482]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.384, 1.374]). The trajectory involves 5 precise waypoints with total movement distance of 0.513." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67199, + "action": "carry", + "object": "Stapler", + "frame_index": 86, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67200", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N50_S150_s02_T1/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N50_S150_s02_T1/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N50_S150_s02_T1/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [0.991, 1.441]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.621, 1.380]). The trajectory involves 5 precise waypoints with total movement distance of 0.638." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67200, + "action": "carry", + "object": "Stapler", + "frame_index": 88, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67249", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N48_S150_s01_T1/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N48_S150_s01_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N48_S150_s01_T1/align_rgb/00077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [0.706, 1.774]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.437, 1.634]). The trajectory involves 5 precise waypoints with total movement distance of 0.745." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67249, + "action": "carry", + "object": "Stapler", + "frame_index": 77, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67257", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N48_S150_s01_T1/align_rgb/00193.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N48_S150_s01_T1/align_rgb/00194.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N48_S150_s01_T1/align_rgb/00195.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.489, 1.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.925, 1.354]). The trajectory involves 5 precise waypoints with total movement distance of 0.584." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67257, + "action": "carry", + "object": "Stapler", + "frame_index": 195, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67260", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N48_S150_s01_T1/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N48_S150_s01_T1/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N48_S150_s01_T1/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.425, 1.434]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.906, 1.409]). The trajectory involves 5 precise waypoints with total movement distance of 0.534." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67260, + "action": "carry", + "object": "Stapler", + "frame_index": 201, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67262", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N48_S150_s01_T1/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N48_S150_s01_T1/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N48_S150_s01_T1/align_rgb/00205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.378, 1.419]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.859, 1.436]). The trajectory involves 5 precise waypoints with total movement distance of 0.534." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67262, + "action": "carry", + "object": "Stapler", + "frame_index": 205, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Base" + ] + } + }, + { + "id": "hoi4d_67273", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.058, 1.270]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.588, 1.307]). The trajectory involves 5 precise waypoints with total movement distance of 0.539." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67273, + "action": "carry", + "object": "Stapler", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67274", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.044, 1.257]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.594, 1.338]). The trajectory involves 5 precise waypoints with total movement distance of 0.559." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67274, + "action": "carry", + "object": "Stapler", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67283", + "task": "pick up the stapler", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00187.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00188.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00189.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the stapler?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the stapler, execute the following phases: 1) Initial approach phase (start at [1.617, 1.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.569, 1.223]). The trajectory involves 5 precise waypoints with total movement distance of 0.258." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67283, + "action": "pickup", + "object": "Stapler", + "frame_index": 189, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67286", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.562, 1.229]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.889, 1.165]). The trajectory involves 5 precise waypoints with total movement distance of 0.695." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67286, + "action": "carry", + "object": "Stapler", + "frame_index": 207, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67291", + "task": "put down the stapler", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N47_S150_s01_T1/align_rgb/00236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the stapler?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the stapler, execute the following phases: 1) Initial approach phase (start at [1.048, 1.553]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.065, 1.768]). The trajectory involves 5 precise waypoints with total movement distance of 0.216." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67291, + "action": "putdown", + "object": "Stapler", + "frame_index": 236, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67298", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N46_S202_s03_T2/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N46_S202_s03_T2/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N46_S202_s03_T2/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.453, 1.621]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.914, 1.463]). The trajectory involves 5 precise waypoints with total movement distance of 0.578." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67298, + "action": "carry", + "object": "Stapler", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67314", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N46_S150_s01_T1/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N46_S150_s01_T1/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N46_S150_s01_T1/align_rgb/00087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.030, 1.254]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.742, 1.186]). The trajectory involves 5 precise waypoints with total movement distance of 0.732." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67314, + "action": "carry", + "object": "Stapler", + "frame_index": 87, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67324", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N46_S150_s01_T1/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N46_S150_s01_T1/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N46_S150_s01_T1/align_rgb/00215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.546, 1.264]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.820, 1.126]). The trajectory involves 5 precise waypoints with total movement distance of 0.777." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67324, + "action": "carry", + "object": "Stapler", + "frame_index": 215, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67382", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N42_S202_s02_T2/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N42_S202_s02_T2/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N42_S202_s02_T2/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.605, 1.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.100, 1.208]). The trajectory involves 5 precise waypoints with total movement distance of 0.585." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67382, + "action": "carry", + "object": "Stapler", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67385", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N42_S202_s02_T2/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N42_S202_s02_T2/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N42_S202_s02_T2/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.580, 1.386]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.059, 1.220]). The trajectory involves 5 precise waypoints with total movement distance of 0.554." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67385, + "action": "carry", + "object": "Stapler", + "frame_index": 88, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Base", + "Lid" + ] + } + }, + { + "id": "hoi4d_67387", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N42_S202_s02_T2/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N42_S202_s02_T2/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N42_S202_s02_T2/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.550, 1.328]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.028, 1.194]). The trajectory involves 5 precise waypoints with total movement distance of 0.543." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67387, + "action": "carry", + "object": "Stapler", + "frame_index": 92, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67406", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N42_S147_s05_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N42_S147_s05_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N42_S147_s05_T1/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [0.950, 1.479]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.630, 1.368]). The trajectory involves 5 precise waypoints with total movement distance of 0.710." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67406, + "action": "carry", + "object": "Stapler", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67417", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N42_S147_s05_T1/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N42_S147_s05_T1/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N42_S147_s05_T1/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.687, 1.382]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.054, 1.225]). The trajectory involves 5 precise waypoints with total movement distance of 0.686." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67417, + "action": "carry", + "object": "Stapler", + "frame_index": 201, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67421", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N42_S147_s05_T1/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N42_S147_s05_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N42_S147_s05_T1/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.550, 1.356]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.850, 1.362]). The trajectory involves 5 precise waypoints with total movement distance of 0.712." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67421, + "action": "carry", + "object": "Stapler", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Base", + "Lid" + ] + } + }, + { + "id": "hoi4d_67422", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N42_S147_s05_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N42_S147_s05_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N42_S147_s05_T1/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.512, 1.359]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.784, 1.415]). The trajectory involves 5 precise waypoints with total movement distance of 0.739." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67422, + "action": "carry", + "object": "Stapler", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67449", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N41_S147_s04_T1/align_rgb/00223.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N41_S147_s04_T1/align_rgb/00224.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N41_S147_s04_T1/align_rgb/00225.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.778, 1.427]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.090, 1.299]). The trajectory involves 5 precise waypoints with total movement distance of 0.711." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67449, + "action": "carry", + "object": "Stapler", + "frame_index": 225, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Base" + ] + } + }, + { + "id": "hoi4d_67509", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N39_S147_s04_T1/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N39_S147_s04_T1/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N39_S147_s04_T1/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.076, 1.509]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.557, 1.416]). The trajectory involves 5 precise waypoints with total movement distance of 0.525." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67509, + "action": "carry", + "object": "Stapler", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67512", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N39_S147_s04_T1/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N39_S147_s04_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N39_S147_s04_T1/align_rgb/00077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.108, 1.454]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.746, 1.428]). The trajectory involves 5 precise waypoints with total movement distance of 0.658." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67512, + "action": "carry", + "object": "Stapler", + "frame_index": 77, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67524", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N39_S147_s04_T1/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N39_S147_s04_T1/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N39_S147_s04_T1/align_rgb/00200.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.662, 1.370]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.970, 1.370]). The trajectory involves 5 precise waypoints with total movement distance of 0.724." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67524, + "action": "carry", + "object": "Stapler", + "frame_index": 200, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67535", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N38_S394_s01_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N38_S394_s01_T1/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N38_S394_s01_T1/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.685, 1.330]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.088, 1.313]). The trajectory involves 5 precise waypoints with total movement distance of 0.604." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67535, + "action": "carry", + "object": "Stapler", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Base" + ] + } + }, + { + "id": "hoi4d_67557", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N37_S147_s03_T1/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N37_S147_s03_T1/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N37_S147_s03_T1/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.567, 1.370]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.706, 1.345]). The trajectory involves 5 precise waypoints with total movement distance of 0.877." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67557, + "action": "carry", + "object": "Stapler", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Base" + ] + } + }, + { + "id": "hoi4d_67564", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N36_S147_s03_T1/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N36_S147_s03_T1/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N36_S147_s03_T1/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.013, 1.417]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.635, 1.264]). The trajectory involves 5 precise waypoints with total movement distance of 0.660." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67564, + "action": "carry", + "object": "Stapler", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67565", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N36_S147_s03_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N36_S147_s03_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N36_S147_s03_T1/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.012, 1.444]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.651, 1.328]). The trajectory involves 5 precise waypoints with total movement distance of 0.661." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67565, + "action": "carry", + "object": "Stapler", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67603", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N34_S147_s03_T1/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N34_S147_s03_T1/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N34_S147_s03_T1/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.188, 1.424]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.754, 1.413]). The trajectory involves 5 precise waypoints with total movement distance of 0.587." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67603, + "action": "carry", + "object": "Stapler", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67610", + "task": "put down the stapler", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N34_S147_s03_T1/align_rgb/00113.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N34_S147_s03_T1/align_rgb/00114.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N34_S147_s03_T1/align_rgb/00115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the stapler?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the stapler, execute the following phases: 1) Initial approach phase (start at [1.777, 1.498]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.756, 1.753]). The trajectory involves 5 precise waypoints with total movement distance of 0.259." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67610, + "action": "putdown", + "object": "Stapler", + "frame_index": 115, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67616", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N34_S147_s03_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N34_S147_s03_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N34_S147_s03_T1/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.687, 1.255]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.102, 1.164]). The trajectory involves 5 precise waypoints with total movement distance of 0.641." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67616, + "action": "carry", + "object": "Stapler", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Base", + "Lid" + ] + } + }, + { + "id": "hoi4d_67639", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N32_S147_s02_T1/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N32_S147_s02_T1/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N32_S147_s02_T1/align_rgb/00216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.529, 1.308]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.020, 1.116]). The trajectory involves 5 precise waypoints with total movement distance of 0.617." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67639, + "action": "carry", + "object": "Stapler", + "frame_index": 216, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67648", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N31_S147_s02_T1/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N31_S147_s02_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N31_S147_s02_T1/align_rgb/00077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.042, 1.522]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.671, 1.500]). The trajectory involves 5 precise waypoints with total movement distance of 0.636." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67648, + "action": "carry", + "object": "Stapler", + "frame_index": 77, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67649", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N31_S147_s02_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N31_S147_s02_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N31_S147_s02_T1/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.049, 1.543]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.730, 1.577]). The trajectory involves 5 precise waypoints with total movement distance of 0.686." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67649, + "action": "carry", + "object": "Stapler", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67650", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N31_S147_s02_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N31_S147_s02_T1/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N31_S147_s02_T1/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.070, 1.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.862, 1.558]). The trajectory involves 5 precise waypoints with total movement distance of 0.797." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67650, + "action": "carry", + "object": "Stapler", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67677", + "task": "put down the stapler", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N30_S147_s02_T1/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N30_S147_s02_T1/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N30_S147_s02_T1/align_rgb/00107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the stapler?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the stapler, execute the following phases: 1) Initial approach phase (start at [1.751, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.732, 1.643]). The trajectory involves 5 precise waypoints with total movement distance of 0.280." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67677, + "action": "putdown", + "object": "Stapler", + "frame_index": 107, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Base" + ] + } + }, + { + "id": "hoi4d_67679", + "task": "put down the stapler", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N30_S147_s02_T1/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N30_S147_s02_T1/align_rgb/00110.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N30_S147_s02_T1/align_rgb/00111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the stapler?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the stapler, execute the following phases: 1) Initial approach phase (start at [1.732, 1.383]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.700, 1.636]). The trajectory involves 5 precise waypoints with total movement distance of 0.255." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67679, + "action": "putdown", + "object": "Stapler", + "frame_index": 111, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67726", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N24_S202_s01_T2/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N24_S202_s01_T2/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N24_S202_s01_T2/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.445, 1.650]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.903, 1.497]). The trajectory involves 5 precise waypoints with total movement distance of 0.568." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67726, + "action": "carry", + "object": "Stapler", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67727", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N24_S202_s01_T2/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N24_S202_s01_T2/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N24_S202_s01_T2/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.447, 1.640]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.900, 1.477]). The trajectory involves 5 precise waypoints with total movement distance of 0.574." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67727, + "action": "carry", + "object": "Stapler", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67728", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N24_S202_s01_T2/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N24_S202_s01_T2/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N24_S202_s01_T2/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.444, 1.624]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.878, 1.458]). The trajectory involves 5 precise waypoints with total movement distance of 0.600." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67728, + "action": "carry", + "object": "Stapler", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67738", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N24_S202_s01_T2/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N24_S202_s01_T2/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N24_S202_s01_T2/align_rgb/00096.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.416, 1.565]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.873, 1.559]). The trajectory involves 5 precise waypoints with total movement distance of 0.564." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67738, + "action": "carry", + "object": "Stapler", + "frame_index": 96, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67764", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N23_S202_s01_T2/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N23_S202_s01_T2/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N23_S202_s01_T2/align_rgb/00091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.379, 1.496]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.627, 1.559]). The trajectory involves 5 precise waypoints with total movement distance of 0.784." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67764, + "action": "carry", + "object": "Stapler", + "frame_index": 91, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67782", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.127, 1.456]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.717, 1.484]). The trajectory involves 5 precise waypoints with total movement distance of 0.596." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67782, + "action": "carry", + "object": "Stapler", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67783", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.141, 1.414]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.760, 1.468]). The trajectory involves 5 precise waypoints with total movement distance of 0.626." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67783, + "action": "carry", + "object": "Stapler", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67784", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.186, 1.435]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.814, 1.500]). The trajectory involves 5 precise waypoints with total movement distance of 0.636." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67784, + "action": "carry", + "object": "Stapler", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67785", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.224, 1.415]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.807, 1.511]). The trajectory involves 5 precise waypoints with total movement distance of 0.597." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67785, + "action": "carry", + "object": "Stapler", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67793", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00210.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.671, 1.399]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.128, 1.337]). The trajectory involves 5 precise waypoints with total movement distance of 0.561." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67793, + "action": "carry", + "object": "Stapler", + "frame_index": 210, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67794", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.625, 1.402]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.078, 1.362]). The trajectory involves 5 precise waypoints with total movement distance of 0.555." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67794, + "action": "carry", + "object": "Stapler", + "frame_index": 212, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67797", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N23_S150_s03_T1/align_rgb/00217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.536, 1.369]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.021, 1.371]). The trajectory involves 5 precise waypoints with total movement distance of 0.518." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67797, + "action": "carry", + "object": "Stapler", + "frame_index": 217, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67834", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.439, 1.659]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.893, 1.403]). The trajectory involves 5 precise waypoints with total movement distance of 0.625." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67834, + "action": "carry", + "object": "Stapler", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67838", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.426, 1.601]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.836, 1.424]). The trajectory involves 5 precise waypoints with total movement distance of 0.625." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67838, + "action": "carry", + "object": "Stapler", + "frame_index": 81, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67839", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.404, 1.609]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.819, 1.447]). The trajectory involves 5 precise waypoints with total movement distance of 0.616." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67839, + "action": "carry", + "object": "Stapler", + "frame_index": 83, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67842", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.377, 1.524]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.811, 1.419]). The trajectory involves 5 precise waypoints with total movement distance of 0.587." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67842, + "action": "carry", + "object": "Stapler", + "frame_index": 89, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67845", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.398, 1.508]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.853, 1.456]). The trajectory involves 5 precise waypoints with total movement distance of 0.556." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67845, + "action": "carry", + "object": "Stapler", + "frame_index": 95, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67846", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N21_S202_s01_T2/align_rgb/00097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.402, 1.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.862, 1.461]). The trajectory involves 5 precise waypoints with total movement distance of 0.551." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67846, + "action": "carry", + "object": "Stapler", + "frame_index": 97, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67874", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N21_S150_s03_T1/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N21_S150_s03_T1/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N21_S150_s03_T1/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.129, 1.365]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.772, 1.427]). The trajectory involves 5 precise waypoints with total movement distance of 0.652." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67874, + "action": "carry", + "object": "Stapler", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Base" + ] + } + }, + { + "id": "hoi4d_67876", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N21_S150_s03_T1/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N21_S150_s03_T1/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N21_S150_s03_T1/align_rgb/00086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.159, 1.374]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.827, 1.458]). The trajectory involves 5 precise waypoints with total movement distance of 0.680." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67876, + "action": "carry", + "object": "Stapler", + "frame_index": 86, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67883", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N21_S150_s03_T1/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N21_S150_s03_T1/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N21_S150_s03_T1/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.662, 1.318]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.930, 1.073]). The trajectory involves 5 precise waypoints with total movement distance of 0.819." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67883, + "action": "carry", + "object": "Stapler", + "frame_index": 207, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67884", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N21_S150_s03_T1/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N21_S150_s03_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N21_S150_s03_T1/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.641, 1.317]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.980, 1.122]). The trajectory involves 5 precise waypoints with total movement distance of 0.741." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67884, + "action": "carry", + "object": "Stapler", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67930", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N19_S199_s05_T2/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N19_S199_s05_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N19_S199_s05_T2/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.391, 1.698]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.047, 1.505]). The trajectory involves 5 precise waypoints with total movement distance of 0.402." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67930, + "action": "carry", + "object": "Stapler", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67938", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N19_S199_s05_T2/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N19_S199_s05_T2/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N19_S199_s05_T2/align_rgb/00083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.435, 1.525]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.982, 1.407]). The trajectory involves 5 precise waypoints with total movement distance of 0.470." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67938, + "action": "carry", + "object": "Stapler", + "frame_index": 83, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Base", + "Lid" + ] + } + }, + { + "id": "hoi4d_67964", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N19_S150_s02_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N19_S150_s02_T1/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N19_S150_s02_T1/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.016, 1.367]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.714, 1.348]). The trajectory involves 5 precise waypoints with total movement distance of 0.704." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67964, + "action": "carry", + "object": "Stapler", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Base" + ] + } + }, + { + "id": "hoi4d_67974", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N19_S150_s02_T1/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N19_S150_s02_T1/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N19_S150_s02_T1/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.639, 1.311]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.013, 1.173]). The trajectory involves 5 precise waypoints with total movement distance of 0.701." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67974, + "action": "carry", + "object": "Stapler", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67984", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N18_S199_s05_T2/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N18_S199_s05_T2/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N18_S199_s05_T2/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.416, 1.713]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.059, 1.446]). The trajectory involves 5 precise waypoints with total movement distance of 0.464." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67984, + "action": "carry", + "object": "Stapler", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Base", + "Lid" + ] + } + }, + { + "id": "hoi4d_67990", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N18_S199_s05_T2/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N18_S199_s05_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N18_S199_s05_T2/align_rgb/00084.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.431, 1.665]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.933, 1.500]). The trajectory involves 5 precise waypoints with total movement distance of 0.536." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67990, + "action": "carry", + "object": "Stapler", + "frame_index": 84, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_67993", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N18_S199_s05_T2/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N18_S199_s05_T2/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N18_S199_s05_T2/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.466, 1.680]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.938, 1.545]). The trajectory involves 5 precise waypoints with total movement distance of 0.561." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 67993, + "action": "carry", + "object": "Stapler", + "frame_index": 90, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_68029", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N17_S199_s05_T2/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N17_S199_s05_T2/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N17_S199_s05_T2/align_rgb/00087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.491, 1.434]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.888, 1.241]). The trajectory involves 5 precise waypoints with total movement distance of 0.653." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 68029, + "action": "carry", + "object": "Stapler", + "frame_index": 87, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_68030", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N17_S199_s05_T2/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N17_S199_s05_T2/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N17_S199_s05_T2/align_rgb/00089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.455, 1.426]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.781, 1.252]). The trajectory involves 5 precise waypoints with total movement distance of 0.718." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 68030, + "action": "carry", + "object": "Stapler", + "frame_index": 89, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_68034", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N17_S199_s05_T2/align_rgb/00095.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N17_S199_s05_T2/align_rgb/00096.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N17_S199_s05_T2/align_rgb/00097.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.477, 1.411]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.877, 1.327]). The trajectory involves 5 precise waypoints with total movement distance of 0.614." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 68034, + "action": "carry", + "object": "Stapler", + "frame_index": 97, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_68065", + "task": "carry Stapler to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N17_S150_s02_T1/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N17_S150_s02_T1/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N17_S150_s02_T1/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the right, execute the following phases: 1) Initial approach phase (start at [1.138, 1.310]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.771, 1.341]). The trajectory involves 5 precise waypoints with total movement distance of 0.644." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 68065, + "action": "carry", + "object": "Stapler", + "frame_index": 85, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Base", + "Lid" + ] + } + }, + { + "id": "hoi4d_68073", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N17_S150_s02_T1/align_rgb/00207.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N17_S150_s02_T1/align_rgb/00208.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N17_S150_s02_T1/align_rgb/00209.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.597, 1.293]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.053, 1.119]). The trajectory involves 5 precise waypoints with total movement distance of 0.598." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 68073, + "action": "carry", + "object": "Stapler", + "frame_index": 209, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_68083", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N16_S199_s04_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N16_S199_s04_T2/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N16_S199_s04_T2/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.447, 1.537]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.720, 1.312]). The trajectory involves 5 precise waypoints with total movement distance of 0.808." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 68083, + "action": "carry", + "object": "Stapler", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_68084", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N16_S199_s04_T2/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N16_S199_s04_T2/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N16_S199_s04_T2/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.443, 1.526]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.654, 1.316]). The trajectory involves 5 precise waypoints with total movement distance of 0.857." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 68084, + "action": "carry", + "object": "Stapler", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_68089", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N16_S199_s04_T2/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N16_S199_s04_T2/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N16_S199_s04_T2/align_rgb/00081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.444, 1.462]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.691, 1.394]). The trajectory involves 5 precise waypoints with total movement distance of 0.788." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 68089, + "action": "carry", + "object": "Stapler", + "frame_index": 81, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_68093", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N16_S199_s04_T2/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N16_S199_s04_T2/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N16_S199_s04_T2/align_rgb/00089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.504, 1.450]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.947, 1.525]). The trajectory involves 5 precise waypoints with total movement distance of 0.580." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 68093, + "action": "carry", + "object": "Stapler", + "frame_index": 89, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_68117", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.467, 1.601]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.869, 1.400]). The trajectory involves 5 precise waypoints with total movement distance of 0.643." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 68117, + "action": "carry", + "object": "Stapler", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_68121", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.431, 1.488]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.808, 1.374]). The trajectory involves 5 precise waypoints with total movement distance of 0.654." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 68121, + "action": "carry", + "object": "Stapler", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_68122", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.437, 1.473]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.818, 1.377]). The trajectory involves 5 precise waypoints with total movement distance of 0.647." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 68122, + "action": "carry", + "object": "Stapler", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_68123", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.422, 1.470]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.822, 1.427]). The trajectory involves 5 precise waypoints with total movement distance of 0.619." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 68123, + "action": "carry", + "object": "Stapler", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_68124", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N15_S199_s04_T2/align_rgb/00081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.406, 1.488]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.799, 1.462]). The trajectory involves 5 precise waypoints with total movement distance of 0.630." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 68124, + "action": "carry", + "object": "Stapler", + "frame_index": 81, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_68143", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N14_S199_s04_T2/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N14_S199_s04_T2/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N14_S199_s04_T2/align_rgb/00075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.433, 1.734]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.953, 1.486]). The trajectory involves 5 precise waypoints with total movement distance of 0.568." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 68143, + "action": "carry", + "object": "Stapler", + "frame_index": 75, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_68178", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N13_S199_s04_T2/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N13_S199_s04_T2/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N13_S199_s04_T2/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.397, 1.472]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.813, 1.410]). The trajectory involves 5 precise waypoints with total movement distance of 0.607." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 68178, + "action": "carry", + "object": "Stapler", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Base" + ] + } + }, + { + "id": "hoi4d_68222", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N11_S199_s03_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N11_S199_s03_T2/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N11_S199_s03_T2/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.438, 1.547]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.871, 1.353]). The trajectory involves 5 precise waypoints with total movement distance of 0.619." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 68222, + "action": "carry", + "object": "Stapler", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_68230", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N11_S199_s03_T2/align_rgb/00083.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N11_S199_s03_T2/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N11_S199_s03_T2/align_rgb/00085.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.422, 1.468]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.602, 1.326]). The trajectory involves 5 precise waypoints with total movement distance of 0.840." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 68230, + "action": "carry", + "object": "Stapler", + "frame_index": 85, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_68233", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N11_S199_s03_T2/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N11_S199_s03_T2/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N11_S199_s03_T2/align_rgb/00091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.438, 1.459]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.654, 1.351]). The trajectory involves 5 precise waypoints with total movement distance of 0.818." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 68233, + "action": "carry", + "object": "Stapler", + "frame_index": 91, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_68238", + "task": "carry Stapler to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C18_N11_S199_s03_T2/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N11_S199_s03_T2/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800001_H1_C18_N11_S199_s03_T2/align_rgb/00101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Stapler to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Stapler to the left, execute the following phases: 1) Initial approach phase (start at [1.474, 1.441]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.886, 1.550]). The trajectory involves 5 precise waypoints with total movement distance of 0.667." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 68238, + "action": "carry", + "object": "Stapler", + "frame_index": 101, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid" + ] + } + }, + { + "id": "hoi4d_68792", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N50_S209_s02_T2/align_rgb/00125.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N50_S209_s02_T2/align_rgb/00126.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N50_S209_s02_T2/align_rgb/00127.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.229, 1.322]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.222, 1.746]). The trajectory involves 5 precise waypoints with total movement distance of 0.425." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 68792, + "action": "close", + "object": "Trash Can", + "frame_index": 127, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_68803", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N50_S158_s02_T1/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N50_S158_s02_T1/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N50_S158_s02_T1/align_rgb/00066.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.514, 1.730]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.569, 1.316]). The trajectory involves 5 precise waypoints with total movement distance of 0.417." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 68803, + "action": "open", + "object": "Trash Can", + "frame_index": 66, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_68812", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N50_S158_s02_T1/align_rgb/00101.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N50_S158_s02_T1/align_rgb/00102.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N50_S158_s02_T1/align_rgb/00103.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.664, 1.362]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.643, 1.489]). The trajectory involves 5 precise waypoints with total movement distance of 0.129." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 68812, + "action": "close", + "object": "Trash Can", + "frame_index": 103, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_68852", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N49_S158_s01_T1/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N49_S158_s01_T1/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N49_S158_s01_T1/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.381, 1.612]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.423, 1.376]). The trajectory involves 5 precise waypoints with total movement distance of 0.240." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 68852, + "action": "open", + "object": "Trash Can", + "frame_index": 70, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_69052", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N46_S158_s01_T1/align_rgb/00244.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N46_S158_s01_T1/align_rgb/00245.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N46_S158_s01_T1/align_rgb/00246.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.779, 1.073]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.678, 1.633]). The trajectory involves 5 precise waypoints with total movement distance of 0.570." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 69052, + "action": "close", + "object": "Trash Can", + "frame_index": 246, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_69103", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N45_S155_s05_T1/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N45_S155_s05_T1/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N45_S155_s05_T1/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.646, 1.535]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.770, 0.952]). The trajectory involves 5 precise waypoints with total movement distance of 0.596." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 69103, + "action": "open", + "object": "Trash Can", + "frame_index": 214, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_69104", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N45_S155_s05_T1/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N45_S155_s05_T1/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N45_S155_s05_T1/align_rgb/00216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.640, 1.407]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.743, 0.966]). The trajectory involves 5 precise waypoints with total movement distance of 0.454." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 69104, + "action": "open", + "object": "Trash Can", + "frame_index": 216, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_69134", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N44_S155_s05_T1/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N44_S155_s05_T1/align_rgb/00056.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N44_S155_s05_T1/align_rgb/00057.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.470, 1.482]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.494, 1.329]). The trajectory involves 5 precise waypoints with total movement distance of 0.221." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 69134, + "action": "open", + "object": "Trash Can", + "frame_index": 57, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_69151", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N44_S155_s05_T1/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N44_S155_s05_T1/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N44_S155_s05_T1/align_rgb/00110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.444, 1.475]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.416, 1.545]). The trajectory involves 5 precise waypoints with total movement distance of 0.077." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 69151, + "action": "close", + "object": "Trash Can", + "frame_index": 110, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_69163", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N44_S155_s05_T1/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N44_S155_s05_T1/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N44_S155_s05_T1/align_rgb/00242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.486, 1.360]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.414, 1.618]). The trajectory involves 5 precise waypoints with total movement distance of 0.270." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 69163, + "action": "close", + "object": "Trash Can", + "frame_index": 242, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_69212", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N42_S207_s05_T2/align_rgb/00057.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N42_S207_s05_T2/align_rgb/00058.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N42_S207_s05_T2/align_rgb/00059.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.330, 1.335]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.339, 1.107]). The trajectory involves 5 precise waypoints with total movement distance of 0.228." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 69212, + "action": "open", + "object": "Trash Can", + "frame_index": 59, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_69217", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N42_S207_s05_T2/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N42_S207_s05_T2/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N42_S207_s05_T2/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.382, 1.169]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.370, 1.341]). The trajectory involves 5 precise waypoints with total movement distance of 0.211." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 69217, + "action": "close", + "object": "Trash Can", + "frame_index": 88, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_69242", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N42_S155_s05_T1/align_rgb/00110.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N42_S155_s05_T1/align_rgb/00111.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N42_S155_s05_T1/align_rgb/00112.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.518, 1.125]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.458, 1.418]). The trajectory involves 5 precise waypoints with total movement distance of 0.300." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 69242, + "action": "close", + "object": "Trash Can", + "frame_index": 112, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_69321", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N40_S207_s04_T2/align_rgb/00134.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N40_S207_s04_T2/align_rgb/00135.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N40_S207_s04_T2/align_rgb/00136.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.323, 1.440]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.354, 1.073]). The trajectory involves 5 precise waypoints with total movement distance of 0.371." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 69321, + "action": "open", + "object": "Trash Can", + "frame_index": 136, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_69372", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N40_S155_s04_T1/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N40_S155_s04_T1/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N40_S155_s04_T1/align_rgb/00219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.543, 1.713]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.613, 1.433]). The trajectory involves 5 precise waypoints with total movement distance of 0.289." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 69372, + "action": "open", + "object": "Trash Can", + "frame_index": 219, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_69373", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N40_S155_s04_T1/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N40_S155_s04_T1/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N40_S155_s04_T1/align_rgb/00221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.560, 1.698]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.626, 1.436]). The trajectory involves 5 precise waypoints with total movement distance of 0.271." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 69373, + "action": "open", + "object": "Trash Can", + "frame_index": 221, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_69380", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N40_S155_s04_T1/align_rgb/00253.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N40_S155_s04_T1/align_rgb/00254.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N40_S155_s04_T1/align_rgb/00255.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.658, 1.556]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.605, 1.834]). The trajectory involves 5 precise waypoints with total movement distance of 0.283." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 69380, + "action": "close", + "object": "Trash Can", + "frame_index": 255, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_69387", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N39_S207_s04_T2/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N39_S207_s04_T2/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N39_S207_s04_T2/align_rgb/00053.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.377, 1.528]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.395, 1.084]). The trajectory involves 5 precise waypoints with total movement distance of 0.445." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 69387, + "action": "open", + "object": "Trash Can", + "frame_index": 53, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_69619", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N33_S333_s01_T1/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N33_S333_s01_T1/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N33_S333_s01_T1/align_rgb/00087.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.652, 1.016]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.596, 1.428]). The trajectory involves 5 precise waypoints with total movement distance of 0.417." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 69619, + "action": "close", + "object": "Trash Can", + "frame_index": 87, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_69663", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N32_S155_s02_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N32_S155_s02_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N32_S155_s02_T1/align_rgb/00073.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.326, 1.432]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.340, 1.351]). The trajectory involves 5 precise waypoints with total movement distance of 0.083." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 69663, + "action": "open", + "object": "Trash Can", + "frame_index": 73, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_69685", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N32_S155_s02_T1/align_rgb/00234.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N32_S155_s02_T1/align_rgb/00235.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N32_S155_s02_T1/align_rgb/00236.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.388, 1.373]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.365, 1.568]). The trajectory involves 5 precise waypoints with total movement distance of 0.197." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 69685, + "action": "close", + "object": "Trash Can", + "frame_index": 236, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_69842", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N28_S155_s01_T1/align_rgb/00108.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N28_S155_s01_T1/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N28_S155_s01_T1/align_rgb/00110.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.443, 1.353]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.403, 1.586]). The trajectory involves 5 precise waypoints with total movement distance of 0.237." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 69842, + "action": "close", + "object": "Trash Can", + "frame_index": 110, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_69849", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N28_S155_s01_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N28_S155_s01_T1/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N28_S155_s01_T1/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.447, 1.521]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.477, 1.304]). The trajectory involves 5 precise waypoints with total movement distance of 0.220." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 69849, + "action": "open", + "object": "Trash Can", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_69850", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N28_S155_s01_T1/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N28_S155_s01_T1/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N28_S155_s01_T1/align_rgb/00213.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.454, 1.469]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.491, 1.300]). The trajectory involves 5 precise waypoints with total movement distance of 0.177." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 69850, + "action": "open", + "object": "Trash Can", + "frame_index": 213, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_69855", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N28_S155_s01_T1/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N28_S155_s01_T1/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N28_S155_s01_T1/align_rgb/00242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.567, 1.310]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.533, 1.538]). The trajectory involves 5 precise waypoints with total movement distance of 0.231." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 69855, + "action": "close", + "object": "Trash Can", + "frame_index": 242, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_69881", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N26_S333_s02_T2/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N26_S333_s02_T2/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N26_S333_s02_T2/align_rgb/00065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.598, 1.290]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.608, 1.168]). The trajectory involves 5 precise waypoints with total movement distance of 0.123." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 69881, + "action": "open", + "object": "Trash Can", + "frame_index": 65, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_69923", + "task": "carry Trash Can to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N25_S367_s01_T2/align_rgb/00111.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N25_S367_s01_T2/align_rgb/00112.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N25_S367_s01_T2/align_rgb/00113.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Trash Can to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Trash Can to the left, execute the following phases: 1) Initial approach phase (start at [1.641, 1.284]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.935, 1.104]). The trajectory involves 5 precise waypoints with total movement distance of 0.735." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 69923, + "action": "carry", + "object": "Trash Can", + "frame_index": 113, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_69924", + "task": "carry Trash Can to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N25_S367_s01_T2/align_rgb/00113.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N25_S367_s01_T2/align_rgb/00114.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N25_S367_s01_T2/align_rgb/00115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Trash Can to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Trash Can to the left, execute the following phases: 1) Initial approach phase (start at [1.643, 1.267]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.958, 1.099]). The trajectory involves 5 precise waypoints with total movement distance of 0.714." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 69924, + "action": "carry", + "object": "Trash Can", + "frame_index": 115, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_69949", + "task": "carry Trash Can to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N25_S209_s03_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N25_S209_s03_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N25_S209_s03_T2/align_rgb/00202.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Trash Can to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Trash Can to the right, execute the following phases: 1) Initial approach phase (start at [1.435, 1.381]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.255, 1.698]). The trajectory involves 5 precise waypoints with total movement distance of 0.916." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 69949, + "action": "carry", + "object": "Trash Can", + "frame_index": 202, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_70000", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N24_S367_s01_T1/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N24_S367_s01_T1/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N24_S367_s01_T1/align_rgb/00222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.560, 0.975]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.555, 1.217]). The trajectory involves 5 precise waypoints with total movement distance of 0.242." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 70000, + "action": "close", + "object": "Trash Can", + "frame_index": 222, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_70030", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N23_S158_s03_T1/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N23_S158_s03_T1/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N23_S158_s03_T1/align_rgb/00107.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.441, 1.513]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.376, 1.737]). The trajectory involves 5 precise waypoints with total movement distance of 0.235." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 70030, + "action": "close", + "object": "Trash Can", + "frame_index": 107, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_70154", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N19_S209_s02_T2/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N19_S209_s02_T2/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N19_S209_s02_T2/align_rgb/00095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.438, 1.133]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.426, 1.359]). The trajectory involves 5 precise waypoints with total movement distance of 0.227." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 70154, + "action": "close", + "object": "Trash Can", + "frame_index": 95, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_70207", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N19_S158_s02_T1/align_rgb/00253.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N19_S158_s02_T1/align_rgb/00254.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N19_S158_s02_T1/align_rgb/00255.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.318, 1.495]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.267, 1.804]). The trajectory involves 5 precise waypoints with total movement distance of 0.314." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 70207, + "action": "close", + "object": "Trash Can", + "frame_index": 255, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Body of the Trash Can", + "Lid" + ] + } + }, + { + "id": "hoi4d_70241", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N17_S158_s02_T1/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N17_S158_s02_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N17_S158_s02_T1/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.398, 1.498]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.407, 1.322]). The trajectory involves 5 precise waypoints with total movement distance of 0.176." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 70241, + "action": "open", + "object": "Trash Can", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_70267", + "task": "open the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N17_S158_s02_T1/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N17_S158_s02_T1/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N17_S158_s02_T1/align_rgb/00218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: open the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: open the trash can, execute the following phases: 1) Initial approach phase (start at [1.431, 1.488]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.476, 1.263]). The trajectory involves 5 precise waypoints with total movement distance of 0.230." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 70267, + "action": "open", + "object": "Trash Can", + "frame_index": 218, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_70276", + "task": "close the trash can", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C14_N17_S158_s02_T1/align_rgb/00254.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N17_S158_s02_T1/align_rgb/00255.jpg", + "hoi4d_frame/ZY20210800001_H1_C14_N17_S158_s02_T1/align_rgb/00256.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: close the trash can?" + }, + { + "from": "gpt", + "value": "To complete this door/drawer operation: close the trash can, execute the following phases: 1) Initial approach phase (start at [1.498, 1.260]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.452, 1.448]). The trajectory involves 5 precise waypoints with total movement distance of 0.194." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 70276, + "action": "close", + "object": "Trash Can", + "frame_index": 256, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Lid", + "Body of the Trash Can" + ] + } + }, + { + "id": "hoi4d_70335", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C13_N50_S238_s03_T4/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N50_S238_s03_T4/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N50_S238_s03_T4/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.908, 1.387]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.212, 1.208]). The trajectory involves 5 precise waypoints with total movement distance of 0.753." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 70335, + "action": "carry", + "object": "Knife", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_70341", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C13_N50_S238_s03_T4/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N50_S238_s03_T4/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N50_S238_s03_T4/align_rgb/00079.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.940, 1.324]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.223, 1.266]). The trajectory involves 5 precise waypoints with total movement distance of 0.734." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 70341, + "action": "carry", + "object": "Knife", + "frame_index": 79, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_70426", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C13_N46_S238_s03_T4/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N46_S238_s03_T4/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N46_S238_s03_T4/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.822, 1.305]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.996, 1.316]). The trajectory involves 5 precise waypoints with total movement distance of 0.872." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 70426, + "action": "carry", + "object": "Knife", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_70427", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C13_N46_S238_s03_T4/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N46_S238_s03_T4/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N46_S238_s03_T4/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.834, 1.319]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.053, 1.380]). The trajectory involves 5 precise waypoints with total movement distance of 0.849." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 70427, + "action": "carry", + "object": "Knife", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_70458", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C13_N44_S238_s02_T4/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N44_S238_s02_T4/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N44_S238_s02_T4/align_rgb/00070.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.831, 1.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.813, 1.488]). The trajectory involves 5 precise waypoints with total movement distance of 1.048." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 70458, + "action": "carry", + "object": "Knife", + "frame_index": 70, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_70504", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C13_N42_S238_s02_T4/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N42_S238_s02_T4/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N42_S238_s02_T4/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.924, 1.206]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.100, 1.085]). The trajectory involves 5 precise waypoints with total movement distance of 0.855." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 70504, + "action": "carry", + "object": "Knife", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_70506", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C13_N42_S238_s02_T4/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N42_S238_s02_T4/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N42_S238_s02_T4/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.963, 1.207]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.035, 1.275]). The trajectory involves 5 precise waypoints with total movement distance of 0.963." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 70506, + "action": "carry", + "object": "Knife", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_70548", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C13_N42_S136_s02_T1/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N42_S136_s02_T1/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N42_S136_s02_T1/align_rgb/00239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.364, 1.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.467, 1.514]). The trajectory involves 5 precise waypoints with total movement distance of 0.104." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 70548, + "action": "carry", + "object": "Knife", + "frame_index": 239, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_70556", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C13_N40_S366_s01_T4/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N40_S366_s01_T4/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N40_S366_s01_T4/align_rgb/00063.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.392, 1.303]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [4.248, 2.277]). The trajectory involves 5 precise waypoints with total movement distance of 3.062." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 70556, + "action": "carry", + "object": "Knife", + "frame_index": 63, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_70557", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C13_N40_S366_s01_T4/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N40_S366_s01_T4/align_rgb/00064.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N40_S366_s01_T4/align_rgb/00065.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.372, 1.282]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [4.279, 2.246]). The trajectory involves 5 precise waypoints with total movement distance of 3.109." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 70557, + "action": "carry", + "object": "Knife", + "frame_index": 65, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_70558", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C13_N40_S366_s01_T4/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N40_S366_s01_T4/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N40_S366_s01_T4/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.381, 1.261]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [4.234, 2.227]). The trajectory involves 5 precise waypoints with total movement distance of 3.066." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 70558, + "action": "carry", + "object": "Knife", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_70569", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C13_N40_S366_s01_T4/align_rgb/00086.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N40_S366_s01_T4/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N40_S366_s01_T4/align_rgb/00088.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.413, 1.226]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.750, 1.597]). The trajectory involves 5 precise waypoints with total movement distance of 1.408." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 70569, + "action": "carry", + "object": "Knife", + "frame_index": 88, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_70588", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C13_N40_S238_s02_T4/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N40_S238_s02_T4/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N40_S238_s02_T4/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.895, 1.254]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.952, 1.442]). The trajectory involves 5 precise waypoints with total movement distance of 1.025." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 70588, + "action": "carry", + "object": "Knife", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_70729", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C13_N23_S238_s01_T3/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N23_S238_s01_T3/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N23_S238_s01_T3/align_rgb/00223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.593, 1.276]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.555, 1.623]). The trajectory involves 5 precise waypoints with total movement distance of 0.350." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 70729, + "action": "putdown", + "object": "Knife", + "frame_index": 223, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_70768", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C13_N22_S238_s01_T3/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N22_S238_s01_T3/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N22_S238_s01_T3/align_rgb/00217.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.723, 1.260]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.663, 1.678]). The trajectory involves 5 precise waypoints with total movement distance of 0.426." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 70768, + "action": "putdown", + "object": "Knife", + "frame_index": 217, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_70822", + "task": "put down the knife", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C13_N21_S238_s01_T3/align_rgb/00232.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N21_S238_s01_T3/align_rgb/00233.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N21_S238_s01_T3/align_rgb/00234.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the knife?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the knife, execute the following phases: 1) Initial approach phase (start at [1.619, 1.474]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.585, 1.627]). The trajectory involves 5 precise waypoints with total movement distance of 0.157." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 70822, + "action": "putdown", + "object": "Knife", + "frame_index": 234, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_70968", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C13_N17_S179_s05_T4/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N17_S179_s05_T4/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N17_S179_s05_T4/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.719, 1.494]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.926, 1.588]). The trajectory involves 5 precise waypoints with total movement distance of 0.811." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 70968, + "action": "carry", + "object": "Knife", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_70971", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C13_N17_S179_s05_T4/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N17_S179_s05_T4/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N17_S179_s05_T4/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.648, 1.448]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.840, 1.619]). The trajectory involves 5 precise waypoints with total movement distance of 0.849." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 70971, + "action": "carry", + "object": "Knife", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_70973", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C13_N17_S179_s05_T4/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N17_S179_s05_T4/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N17_S179_s05_T4/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.632, 1.467]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.794, 1.624]). The trajectory involves 5 precise waypoints with total movement distance of 0.868." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 70973, + "action": "carry", + "object": "Knife", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_70983", + "task": "carry Knife to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C13_N17_S179_s05_T4/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N17_S179_s05_T4/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N17_S179_s05_T4/align_rgb/00242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the right, execute the following phases: 1) Initial approach phase (start at [1.586, 1.492]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.670, 1.485]). The trajectory involves 5 precise waypoints with total movement distance of 0.085." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 70983, + "action": "carry", + "object": "Knife", + "frame_index": 242, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_71004", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C13_N16_S179_s04_T4/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N16_S179_s04_T4/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N16_S179_s04_T4/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.765, 1.622]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.710, 1.724]). The trajectory involves 5 precise waypoints with total movement distance of 1.070." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71004, + "action": "carry", + "object": "Knife", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_71030", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C13_N15_S179_s04_T4/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N15_S179_s04_T4/align_rgb/00068.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N15_S179_s04_T4/align_rgb/00069.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.744, 1.597]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.791, 1.674]). The trajectory involves 5 precise waypoints with total movement distance of 0.970." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71030, + "action": "carry", + "object": "Knife", + "frame_index": 69, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_71150", + "task": "carry Knife to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C13_N12_S179_s03_T4/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N12_S179_s03_T4/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800001_H1_C13_N12_S179_s03_T4/align_rgb/00086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Knife to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Knife to the left, execute the following phases: 1) Initial approach phase (start at [1.745, 1.477]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [0.850, 1.398]). The trajectory involves 5 precise waypoints with total movement distance of 0.903." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71150, + "action": "carry", + "object": "Knife", + "frame_index": 86, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Knife" + ] + } + }, + { + "id": "hoi4d_71268", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00077.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00078.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.315, 1.481]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.526, 1.354]). The trajectory involves 5 precise waypoints with total movement distance of 0.248." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71268, + "action": "carry", + "object": "Kettle", + "frame_index": 78, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71270", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00082.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.327, 1.465]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.573, 1.349]). The trajectory involves 5 precise waypoints with total movement distance of 0.273." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71270, + "action": "carry", + "object": "Kettle", + "frame_index": 82, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71274", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.393, 1.438]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.674, 1.341]). The trajectory involves 5 precise waypoints with total movement distance of 0.304." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71274, + "action": "carry", + "object": "Kettle", + "frame_index": 90, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71282", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00104.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00105.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00106.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.561, 1.328]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.847, 1.376]). The trajectory involves 5 precise waypoints with total movement distance of 0.294." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71282, + "action": "carry", + "object": "Kettle", + "frame_index": 106, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71283", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.598, 1.293]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.882, 1.350]). The trajectory involves 5 precise waypoints with total movement distance of 0.290." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71283, + "action": "carry", + "object": "Kettle", + "frame_index": 108, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71285", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00110.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N50_S169_s02_T1/align_rgb/00111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.652, 1.322]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.913, 1.414]). The trajectory involves 5 precise waypoints with total movement distance of 0.280." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71285, + "action": "carry", + "object": "Kettle", + "frame_index": 111, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71320", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00197.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00198.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00199.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.533, 1.295]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.158, 1.937]). The trajectory involves 5 precise waypoints with total movement distance of 1.780." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71320, + "action": "carry", + "object": "Kettle", + "frame_index": 199, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71321", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00199.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00200.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00201.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.542, 1.254]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.221, 1.964]). The trajectory involves 5 precise waypoints with total movement distance of 1.869." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71321, + "action": "carry", + "object": "Kettle", + "frame_index": 201, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71322", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00201.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00203.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.532, 1.243]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.223, 1.994]). The trajectory involves 5 precise waypoints with total movement distance of 1.915." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71322, + "action": "carry", + "object": "Kettle", + "frame_index": 203, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71323", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.552, 1.255]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.233, 2.031]). The trajectory involves 5 precise waypoints with total movement distance of 1.913." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71323, + "action": "carry", + "object": "Kettle", + "frame_index": 205, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71324", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00206.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N49_S203_s01_T2/align_rgb/00207.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.550, 1.256]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.159, 2.020]). The trajectory involves 5 precise waypoints with total movement distance of 1.841." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71324, + "action": "carry", + "object": "Kettle", + "frame_index": 207, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71332", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N49_S169_s01_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N49_S169_s01_T1/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N49_S169_s01_T1/align_rgb/00100.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.494, 1.112]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.919, 1.134]). The trajectory involves 5 precise waypoints with total movement distance of 0.435." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71332, + "action": "carry", + "object": "Kettle", + "frame_index": 100, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71446", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N47_S203_s01_T2/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N47_S203_s01_T2/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N47_S203_s01_T2/align_rgb/00232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.588, 1.146]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.774, 1.980]). The trajectory involves 5 precise waypoints with total movement distance of 1.519." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71446, + "action": "carry", + "object": "Kettle", + "frame_index": 232, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71450", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N47_S169_s01_T1/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N47_S169_s01_T1/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N47_S169_s01_T1/align_rgb/00086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.586, 1.246]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.897, 1.250]). The trajectory involves 5 precise waypoints with total movement distance of 0.315." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71450, + "action": "carry", + "object": "Kettle", + "frame_index": 86, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71453", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N47_S169_s01_T1/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N47_S169_s01_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N47_S169_s01_T1/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.612, 1.224]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.894, 1.261]). The trajectory involves 5 precise waypoints with total movement distance of 0.292." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71453, + "action": "carry", + "object": "Kettle", + "frame_index": 92, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71461", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N47_S169_s01_T1/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N47_S169_s01_T1/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N47_S169_s01_T1/align_rgb/00108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.764, 1.262]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.041, 1.383]). The trajectory involves 5 precise waypoints with total movement distance of 0.308." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71461, + "action": "carry", + "object": "Kettle", + "frame_index": 108, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71467", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N47_S169_s01_T1/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N47_S169_s01_T1/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N47_S169_s01_T1/align_rgb/00228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.690, 1.312]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.228, 1.289]). The trajectory involves 5 precise waypoints with total movement distance of 0.487." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71467, + "action": "carry", + "object": "Kettle", + "frame_index": 228, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71489", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N46_S203_s01_T2/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N46_S203_s01_T2/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N46_S203_s01_T2/align_rgb/00215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.537, 1.391]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.693, 1.699]). The trajectory involves 5 precise waypoints with total movement distance of 1.280." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71489, + "action": "carry", + "object": "Kettle", + "frame_index": 215, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71496", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N46_S203_s01_T2/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N46_S203_s01_T2/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N46_S203_s01_T2/align_rgb/00229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.627, 1.208]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.823, 2.073]). The trajectory involves 5 precise waypoints with total movement distance of 1.506." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71496, + "action": "carry", + "object": "Kettle", + "frame_index": 229, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71503", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00091.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.535, 1.277]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.921, 1.359]). The trajectory involves 5 precise waypoints with total movement distance of 0.397." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71503, + "action": "carry", + "object": "Kettle", + "frame_index": 91, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71505", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.593, 1.236]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.996, 1.321]). The trajectory involves 5 precise waypoints with total movement distance of 0.413." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71505, + "action": "carry", + "object": "Kettle", + "frame_index": 95, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71507", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00097.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00098.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00099.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.629, 1.238]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.022, 1.342]). The trajectory involves 5 precise waypoints with total movement distance of 0.406." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71507, + "action": "carry", + "object": "Kettle", + "frame_index": 99, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71515", + "task": "pick up the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00211.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00212.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the kettle, execute the following phases: 1) Initial approach phase (start at [1.877, 1.538]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.839, 1.407]). The trajectory involves 5 precise waypoints with total movement distance of 0.137." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71515, + "action": "pickup", + "object": "Kettle", + "frame_index": 212, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71516", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.840, 1.335]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.423, 1.072]). The trajectory involves 5 precise waypoints with total movement distance of 0.508." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71516, + "action": "carry", + "object": "Kettle", + "frame_index": 220, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71517", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N46_S169_s01_T1/align_rgb/00222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.827, 1.300]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.414, 1.081]). The trajectory involves 5 precise waypoints with total movement distance of 0.490." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71517, + "action": "carry", + "object": "Kettle", + "frame_index": 222, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71598", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N44_S165_s05_T1/align_rgb/00109.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N44_S165_s05_T1/align_rgb/00110.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N44_S165_s05_T1/align_rgb/00111.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.557, 1.364]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.828, 1.382]). The trajectory involves 5 precise waypoints with total movement distance of 0.283." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71598, + "action": "carry", + "object": "Kettle", + "frame_index": 111, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71627", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N43_S200_s05_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N43_S200_s05_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N43_S200_s05_T2/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.485, 1.424]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.659, 1.733]). The trajectory involves 5 precise waypoints with total movement distance of 1.402." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71627, + "action": "carry", + "object": "Kettle", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71639", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N43_S165_s05_T1/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N43_S165_s05_T1/align_rgb/00089.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N43_S165_s05_T1/align_rgb/00090.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.539, 1.191]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.909, 1.140]). The trajectory involves 5 precise waypoints with total movement distance of 0.375." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71639, + "action": "carry", + "object": "Kettle", + "frame_index": 90, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71640", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N43_S165_s05_T1/align_rgb/00090.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N43_S165_s05_T1/align_rgb/00091.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N43_S165_s05_T1/align_rgb/00092.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.558, 1.202]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.918, 1.160]). The trajectory involves 5 precise waypoints with total movement distance of 0.363." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71640, + "action": "carry", + "object": "Kettle", + "frame_index": 92, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71648", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N43_S165_s05_T1/align_rgb/00106.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N43_S165_s05_T1/align_rgb/00107.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N43_S165_s05_T1/align_rgb/00108.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.790, 1.232]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.048, 1.285]). The trajectory involves 5 precise waypoints with total movement distance of 0.269." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71648, + "action": "carry", + "object": "Kettle", + "frame_index": 108, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71753", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N41_S165_s04_T1/align_rgb/00065.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N41_S165_s04_T1/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N41_S165_s04_T1/align_rgb/00067.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.479, 1.358]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.931, 1.343]). The trajectory involves 5 precise waypoints with total movement distance of 0.466." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71753, + "action": "carry", + "object": "Kettle", + "frame_index": 67, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71760", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N41_S165_s04_T1/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N41_S165_s04_T1/align_rgb/00080.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N41_S165_s04_T1/align_rgb/00081.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.696, 1.281]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.023, 1.324]). The trajectory involves 5 precise waypoints with total movement distance of 0.334." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71760, + "action": "carry", + "object": "Kettle", + "frame_index": 81, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71768", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N41_S165_s04_T1/align_rgb/00114.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N41_S165_s04_T1/align_rgb/00115.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N41_S165_s04_T1/align_rgb/00116.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [2.081, 1.479]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.070, 1.673]). The trajectory involves 5 precise waypoints with total movement distance of 0.195." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71768, + "action": "putdown", + "object": "Kettle", + "frame_index": 116, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71794", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N40_S200_s04_T2/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N40_S200_s04_T2/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N40_S200_s04_T2/align_rgb/00221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.584, 1.401]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.984, 2.164]). The trajectory involves 5 precise waypoints with total movement distance of 1.671." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71794, + "action": "carry", + "object": "Kettle", + "frame_index": 221, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71795", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N40_S200_s04_T2/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N40_S200_s04_T2/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N40_S200_s04_T2/align_rgb/00223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.586, 1.357]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.002, 2.190]). The trajectory involves 5 precise waypoints with total movement distance of 1.727." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71795, + "action": "carry", + "object": "Kettle", + "frame_index": 223, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71806", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N40_S165_s04_T1/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N40_S165_s04_T1/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N40_S165_s04_T1/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.558, 1.252]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.969, 1.348]). The trajectory involves 5 precise waypoints with total movement distance of 0.432." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71806, + "action": "carry", + "object": "Kettle", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71853", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N39_S200_s04_T2/align_rgb/00212.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N39_S200_s04_T2/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N39_S200_s04_T2/align_rgb/00214.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.484, 1.373]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.671, 1.911]). The trajectory involves 5 precise waypoints with total movement distance of 1.368." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71853, + "action": "carry", + "object": "Kettle", + "frame_index": 214, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71854", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N39_S200_s04_T2/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N39_S200_s04_T2/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N39_S200_s04_T2/align_rgb/00216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.482, 1.322]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.638, 1.889]). The trajectory involves 5 precise waypoints with total movement distance of 1.354." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71854, + "action": "carry", + "object": "Kettle", + "frame_index": 216, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71855", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N39_S200_s04_T2/align_rgb/00216.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N39_S200_s04_T2/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N39_S200_s04_T2/align_rgb/00218.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.472, 1.370]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.605, 2.001]). The trajectory involves 5 precise waypoints with total movement distance of 1.356." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71855, + "action": "carry", + "object": "Kettle", + "frame_index": 218, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71883", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N39_S165_s04_T1/align_rgb/00141.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N39_S165_s04_T1/align_rgb/00142.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N39_S165_s04_T1/align_rgb/00143.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.944, 1.378]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.888, 1.509]). The trajectory involves 5 precise waypoints with total movement distance of 0.146." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71883, + "action": "putdown", + "object": "Kettle", + "frame_index": 143, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71975", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N37_S200_s03_T2/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N37_S200_s03_T2/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N37_S200_s03_T2/align_rgb/00220.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.775, 1.405]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.106, 2.248]). The trajectory involves 5 precise waypoints with total movement distance of 1.590." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71975, + "action": "carry", + "object": "Kettle", + "frame_index": 220, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71976", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N37_S200_s03_T2/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N37_S200_s03_T2/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N37_S200_s03_T2/align_rgb/00222.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.785, 1.361]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.064, 2.140]). The trajectory involves 5 precise waypoints with total movement distance of 1.513." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71976, + "action": "carry", + "object": "Kettle", + "frame_index": 222, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71981", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N37_S200_s03_T2/align_rgb/00230.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N37_S200_s03_T2/align_rgb/00231.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N37_S200_s03_T2/align_rgb/00232.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.764, 1.325]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.692, 2.069]). The trajectory involves 5 precise waypoints with total movement distance of 1.243." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71981, + "action": "carry", + "object": "Kettle", + "frame_index": 232, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71986", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.517, 1.166]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.822, 1.124]). The trajectory involves 5 precise waypoints with total movement distance of 0.311." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71986, + "action": "carry", + "object": "Kettle", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71987", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00072.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00074.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.538, 1.143]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.866, 1.100]). The trajectory involves 5 precise waypoints with total movement distance of 0.336." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71987, + "action": "carry", + "object": "Kettle", + "frame_index": 74, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71990", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.614, 1.148]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.000, 1.177]). The trajectory involves 5 precise waypoints with total movement distance of 0.392." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71990, + "action": "carry", + "object": "Kettle", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_71993", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00084.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00085.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00086.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.697, 1.128]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.053, 1.177]). The trajectory involves 5 precise waypoints with total movement distance of 0.361." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 71993, + "action": "carry", + "object": "Kettle", + "frame_index": 86, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_72012", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N37_S165_s03_T1/align_rgb/00229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [2.037, 1.258]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.683, 1.130]). The trajectory involves 5 precise waypoints with total movement distance of 0.376." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 72012, + "action": "carry", + "object": "Kettle", + "frame_index": 229, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_72102", + "task": "pick up the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N35_S165_s03_T1/align_rgb/00062.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N35_S165_s03_T1/align_rgb/00063.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N35_S165_s03_T1/align_rgb/00064.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the kettle, execute the following phases: 1) Initial approach phase (start at [1.451, 1.336]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.426, 1.186]). The trajectory involves 5 precise waypoints with total movement distance of 0.181." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 72102, + "action": "pickup", + "object": "Kettle", + "frame_index": 64, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_72117", + "task": "put down the kettle", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N35_S165_s03_T1/align_rgb/00127.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N35_S165_s03_T1/align_rgb/00128.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N35_S165_s03_T1/align_rgb/00129.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the kettle?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the kettle, execute the following phases: 1) Initial approach phase (start at [1.893, 1.198]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.926, 1.461]). The trajectory involves 5 precise waypoints with total movement distance of 0.265." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 72117, + "action": "putdown", + "object": "Kettle", + "frame_index": 129, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_72132", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N34_S165_s03_T1/align_rgb/00069.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N34_S165_s03_T1/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N34_S165_s03_T1/align_rgb/00071.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.536, 1.220]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.868, 1.191]). The trajectory involves 5 precise waypoints with total movement distance of 0.334." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 72132, + "action": "carry", + "object": "Kettle", + "frame_index": 71, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_72135", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N34_S165_s03_T1/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N34_S165_s03_T1/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N34_S165_s03_T1/align_rgb/00077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.553, 1.193]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.885, 1.183]). The trajectory involves 5 precise waypoints with total movement distance of 0.338." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 72135, + "action": "carry", + "object": "Kettle", + "frame_index": 77, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_72138", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N34_S165_s03_T1/align_rgb/00081.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N34_S165_s03_T1/align_rgb/00082.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N34_S165_s03_T1/align_rgb/00083.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.635, 1.197]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.996, 1.207]). The trajectory involves 5 precise waypoints with total movement distance of 0.364." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 72138, + "action": "carry", + "object": "Kettle", + "frame_index": 83, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_72144", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N34_S165_s03_T1/align_rgb/00093.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N34_S165_s03_T1/align_rgb/00094.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N34_S165_s03_T1/align_rgb/00095.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.827, 1.154]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.109, 1.225]). The trajectory involves 5 precise waypoints with total movement distance of 0.296." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 72144, + "action": "carry", + "object": "Kettle", + "frame_index": 95, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_72180", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N33_S200_s02_T2/align_rgb/00217.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N33_S200_s02_T2/align_rgb/00218.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N33_S200_s02_T2/align_rgb/00219.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.501, 1.274]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.717, 1.968]). The trajectory involves 5 precise waypoints with total movement distance of 1.500." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 72180, + "action": "carry", + "object": "Kettle", + "frame_index": 219, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_72185", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N33_S200_s02_T2/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N33_S200_s02_T2/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N33_S200_s02_T2/align_rgb/00228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.561, 1.238]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.648, 2.102]). The trajectory involves 5 precise waypoints with total movement distance of 1.425." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 72185, + "action": "carry", + "object": "Kettle", + "frame_index": 228, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_72194", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N33_S165_s02_T1/align_rgb/00070.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N33_S165_s02_T1/align_rgb/00071.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N33_S165_s02_T1/align_rgb/00072.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.593, 1.277]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.983, 1.331]). The trajectory involves 5 precise waypoints with total movement distance of 0.394." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 72194, + "action": "carry", + "object": "Kettle", + "frame_index": 72, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_72306", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N31_S200_s02_T2/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N31_S200_s02_T2/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N31_S200_s02_T2/align_rgb/00215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.584, 1.262]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.213, 1.691]). The trajectory involves 5 precise waypoints with total movement distance of 1.800." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 72306, + "action": "carry", + "object": "Kettle", + "frame_index": 215, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_72310", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N31_S200_s02_T2/align_rgb/00221.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N31_S200_s02_T2/align_rgb/00222.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N31_S200_s02_T2/align_rgb/00223.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.531, 1.149]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.985, 1.818]). The trajectory involves 5 precise waypoints with total movement distance of 1.680." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 72310, + "action": "carry", + "object": "Kettle", + "frame_index": 223, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_72313", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N31_S200_s02_T2/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N31_S200_s02_T2/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N31_S200_s02_T2/align_rgb/00229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.493, 1.142]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.750, 1.912]). The trajectory involves 5 precise waypoints with total movement distance of 1.535." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 72313, + "action": "carry", + "object": "Kettle", + "frame_index": 229, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_72435", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N29_S200_s01_T2/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N29_S200_s01_T2/align_rgb/00228.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N29_S200_s01_T2/align_rgb/00229.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.662, 1.500]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [3.027, 2.635]). The trajectory involves 5 precise waypoints with total movement distance of 1.822." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 72435, + "action": "carry", + "object": "Kettle", + "frame_index": 229, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_72449", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N29_S165_s01_T1/align_rgb/00087.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N29_S165_s01_T1/align_rgb/00088.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N29_S165_s01_T1/align_rgb/00089.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.614, 1.248]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.031, 1.173]). The trajectory involves 5 precise waypoints with total movement distance of 0.432." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 72449, + "action": "carry", + "object": "Kettle", + "frame_index": 89, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_72502", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N28_S200_s01_T2/align_rgb/00237.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N28_S200_s01_T2/align_rgb/00238.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N28_S200_s01_T2/align_rgb/00239.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.536, 1.446]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.503, 1.789]). The trajectory involves 5 precise waypoints with total movement distance of 1.040." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 72502, + "action": "carry", + "object": "Kettle", + "frame_index": 239, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_72518", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N28_S165_s01_T1/align_rgb/00113.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N28_S165_s01_T1/align_rgb/00114.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N28_S165_s01_T1/align_rgb/00115.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.779, 1.143]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.994, 1.252]). The trajectory involves 5 precise waypoints with total movement distance of 0.242." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 72518, + "action": "carry", + "object": "Kettle", + "frame_index": 115, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_72558", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N27_S200_s01_T2/align_rgb/00213.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N27_S200_s01_T2/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N27_S200_s01_T2/align_rgb/00215.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.418, 1.411]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.573, 1.945]). The trajectory involves 5 precise waypoints with total movement distance of 1.355." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 72558, + "action": "carry", + "object": "Kettle", + "frame_index": 215, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_72561", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N27_S200_s01_T2/align_rgb/00219.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N27_S200_s01_T2/align_rgb/00220.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N27_S200_s01_T2/align_rgb/00221.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.422, 1.353]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.495, 1.984]). The trajectory involves 5 precise waypoints with total movement distance of 1.294." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 72561, + "action": "carry", + "object": "Kettle", + "frame_index": 221, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_72565", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N27_S200_s01_T2/align_rgb/00226.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N27_S200_s01_T2/align_rgb/00227.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N27_S200_s01_T2/align_rgb/00228.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.457, 1.342]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.304, 1.916]). The trajectory involves 5 precise waypoints with total movement distance of 1.058." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 72565, + "action": "carry", + "object": "Kettle", + "frame_index": 228, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_72579", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N27_S165_s01_T1/align_rgb/00099.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N27_S165_s01_T1/align_rgb/00100.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N27_S165_s01_T1/align_rgb/00101.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.680, 1.244]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.992, 1.318]). The trajectory involves 5 precise waypoints with total movement distance of 0.326." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 72579, + "action": "carry", + "object": "Kettle", + "frame_index": 101, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_72585", + "task": "carry Kettle to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N27_S165_s01_T1/align_rgb/00214.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N27_S165_s01_T1/align_rgb/00215.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N27_S165_s01_T1/align_rgb/00216.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the left, execute the following phases: 1) Initial approach phase (start at [1.968, 1.464]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.638, 1.210]). The trajectory involves 5 precise waypoints with total movement distance of 0.431." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 72585, + "action": "carry", + "object": "Kettle", + "frame_index": 216, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_72629", + "task": "carry Kettle to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C12_N26_S165_s01_T1/align_rgb/00078.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N26_S165_s01_T1/align_rgb/00079.jpg", + "hoi4d_frame/ZY20210800001_H1_C12_N26_S165_s01_T1/align_rgb/00080.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Kettle to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Kettle to the right, execute the following phases: 1) Initial approach phase (start at [1.467, 1.148]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.858, 1.180]). The trajectory involves 5 precise waypoints with total movement distance of 0.393." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 72629, + "action": "carry", + "object": "Kettle", + "frame_index": 80, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Kettle" + ] + } + }, + { + "id": "hoi4d_73109", + "task": "carry Pliers to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C11_N58_S376_s02_T2/align_rgb/00202.jpg", + "hoi4d_frame/ZY20210800001_H1_C11_N58_S376_s02_T2/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800001_H1_C11_N58_S376_s02_T2/align_rgb/00204.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Pliers to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Pliers to the right, execute the following phases: 1) Initial approach phase (start at [1.339, 1.046]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.878, 1.128]). The trajectory involves 5 precise waypoints with total movement distance of 0.549." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 73109, + "action": "carry", + "object": "Pliers", + "frame_index": 204, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Left Part of the Pliers", + "Right Part of the Pliers" + ] + } + }, + { + "id": "hoi4d_73110", + "task": "carry Pliers to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C11_N58_S376_s02_T2/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800001_H1_C11_N58_S376_s02_T2/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800001_H1_C11_N58_S376_s02_T2/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Pliers to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Pliers to the right, execute the following phases: 1) Initial approach phase (start at [1.315, 1.042]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.880, 1.130]). The trajectory involves 5 precise waypoints with total movement distance of 0.579." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 73110, + "action": "carry", + "object": "Pliers", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Left Part of the Pliers", + "Right Part of the Pliers" + ] + } + }, + { + "id": "hoi4d_73119", + "task": "carry Pliers to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C11_N58_S376_s01_T1/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800001_H1_C11_N58_S376_s01_T1/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800001_H1_C11_N58_S376_s01_T1/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Pliers to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Pliers to the right, execute the following phases: 1) Initial approach phase (start at [0.922, 1.323]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.501, 1.172]). The trajectory involves 5 precise waypoints with total movement distance of 0.600." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 73119, + "action": "carry", + "object": "Pliers", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Left Part of the Pliers", + "Right Part of the Pliers" + ] + } + }, + { + "id": "hoi4d_73320", + "task": "carry Pliers to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C11_N52_S367_s01_T1/align_rgb/00073.jpg", + "hoi4d_frame/ZY20210800001_H1_C11_N52_S367_s01_T1/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800001_H1_C11_N52_S367_s01_T1/align_rgb/00075.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Pliers to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Pliers to the right, execute the following phases: 1) Initial approach phase (start at [0.994, 1.277]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.372, 1.201]). The trajectory involves 5 precise waypoints with total movement distance of 0.389." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 73320, + "action": "carry", + "object": "Pliers", + "frame_index": 75, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Left Part of the Pliers", + "Right Part of the Pliers" + ] + } + }, + { + "id": "hoi4d_73965", + "task": "pick up the pliers", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C11_N10_S367_s04_T1/align_rgb/00047.jpg", + "hoi4d_frame/ZY20210800001_H1_C11_N10_S367_s04_T1/align_rgb/00048.jpg", + "hoi4d_frame/ZY20210800001_H1_C11_N10_S367_s04_T1/align_rgb/00049.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the pliers?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the pliers, execute the following phases: 1) Initial approach phase (start at [1.258, 1.446]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.277, 1.248]). The trajectory involves 5 precise waypoints with total movement distance of 0.200." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 73965, + "action": "pickup", + "object": "Pliers", + "frame_index": 49, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Left Part of the Pliers", + "Right Part of the Pliers" + ] + } + }, + { + "id": "hoi4d_73979", + "task": "carry Pliers to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C11_N10_S367_s04_T1/align_rgb/00203.jpg", + "hoi4d_frame/ZY20210800001_H1_C11_N10_S367_s04_T1/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800001_H1_C11_N10_S367_s04_T1/align_rgb/00205.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Pliers to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Pliers to the left, execute the following phases: 1) Initial approach phase (start at [1.964, 1.350]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.398, 1.231]). The trajectory involves 5 precise waypoints with total movement distance of 0.591." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 73979, + "action": "carry", + "object": "Pliers", + "frame_index": 205, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Left Part of the Pliers", + "Right Part of the Pliers" + ] + } + }, + { + "id": "hoi4d_73980", + "task": "carry Pliers to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C11_N10_S367_s04_T1/align_rgb/00204.jpg", + "hoi4d_frame/ZY20210800001_H1_C11_N10_S367_s04_T1/align_rgb/00205.jpg", + "hoi4d_frame/ZY20210800001_H1_C11_N10_S367_s04_T1/align_rgb/00206.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Pliers to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Pliers to the left, execute the following phases: 1) Initial approach phase (start at [1.951, 1.328]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.354, 1.223]). The trajectory involves 5 precise waypoints with total movement distance of 0.633." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 73980, + "action": "carry", + "object": "Pliers", + "frame_index": 206, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Left Part of the Pliers", + "Right Part of the Pliers" + ] + } + }, + { + "id": "hoi4d_74079", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C1_N50_S106_s03_T1/align_rgb/00074.jpg", + "hoi4d_frame/ZY20210800001_H1_C1_N50_S106_s03_T1/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800001_H1_C1_N50_S106_s03_T1/align_rgb/00076.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.794, 1.259]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.787, 1.389]). The trajectory involves 5 precise waypoints with total movement distance of 0.130." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 74079, + "action": "putdown", + "object": "Toy Car", + "frame_index": 76, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_74177", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C1_N44_S99_s02_T2/align_rgb/00066.jpg", + "hoi4d_frame/ZY20210800001_H1_C1_N44_S99_s02_T2/align_rgb/00067.jpg", + "hoi4d_frame/ZY20210800001_H1_C1_N44_S99_s02_T2/align_rgb/00068.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.471, 1.438]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.291, 1.546]). The trajectory involves 5 precise waypoints with total movement distance of 0.865." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 74177, + "action": "carry", + "object": "Toy Car", + "frame_index": 68, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_74260", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C1_N37_S104_s02_T2/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800001_H1_C1_N37_S104_s02_T2/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800001_H1_C1_N37_S104_s02_T2/align_rgb/00056.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.995, 1.455]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.174, 1.258]). The trajectory involves 5 precise waypoints with total movement distance of 0.860." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 74260, + "action": "carry", + "object": "Toy Car", + "frame_index": 56, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_74364", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C1_N32_S108_s01_T2/align_rgb/00043.jpg", + "hoi4d_frame/ZY20210800001_H1_C1_N32_S108_s01_T2/align_rgb/00044.jpg", + "hoi4d_frame/ZY20210800001_H1_C1_N32_S108_s01_T2/align_rgb/00045.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.629, 1.273]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.332, 1.503]). The trajectory involves 5 precise waypoints with total movement distance of 0.766." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 74364, + "action": "carry", + "object": "Toy Car", + "frame_index": 45, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_74388", + "task": "carry Toy Car to the left", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C1_N30_S104_s04_T2/align_rgb/00051.jpg", + "hoi4d_frame/ZY20210800001_H1_C1_N30_S104_s04_T2/align_rgb/00052.jpg", + "hoi4d_frame/ZY20210800001_H1_C1_N30_S104_s04_T2/align_rgb/00053.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the left?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the left, execute the following phases: 1) Initial approach phase (start at [1.590, 1.488]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.066, 1.479]). The trajectory involves 5 precise waypoints with total movement distance of 0.552." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 74388, + "action": "carry", + "object": "Toy Car", + "frame_index": 53, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_74455", + "task": "put down the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C1_N28_S100_s03_T1/align_rgb/00209.jpg", + "hoi4d_frame/ZY20210800001_H1_C1_N28_S100_s03_T1/align_rgb/00210.jpg", + "hoi4d_frame/ZY20210800001_H1_C1_N28_S100_s03_T1/align_rgb/00211.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: put down the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: put down the toy car, execute the following phases: 1) Initial approach phase (start at [1.965, 1.452]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.976, 1.652]). The trajectory involves 5 precise waypoints with total movement distance of 0.201." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 74455, + "action": "putdown", + "object": "Toy Car", + "frame_index": 211, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_74489", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C1_N26_S104_s05_T2/align_rgb/00075.jpg", + "hoi4d_frame/ZY20210800001_H1_C1_N26_S104_s05_T2/align_rgb/00076.jpg", + "hoi4d_frame/ZY20210800001_H1_C1_N26_S104_s05_T2/align_rgb/00077.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.582, 1.486]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.582, 1.578]). The trajectory involves 5 precise waypoints with total movement distance of 1.074." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 74489, + "action": "carry", + "object": "Toy Car", + "frame_index": 77, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_74552", + "task": "pick up the toy car", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C1_N21_S99_s04_T2/align_rgb/00033.jpg", + "hoi4d_frame/ZY20210800001_H1_C1_N21_S99_s04_T2/align_rgb/00034.jpg", + "hoi4d_frame/ZY20210800001_H1_C1_N21_S99_s04_T2/align_rgb/00035.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pick up the toy car?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pick up the toy car, execute the following phases: 1) Initial approach phase (start at [1.472, 1.547]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.721, 1.461]). The trajectory involves 5 precise waypoints with total movement distance of 0.269." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 74552, + "action": "pickup", + "object": "Toy Car", + "frame_index": 35, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_74553", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C1_N21_S99_s04_T2/align_rgb/00042.jpg", + "hoi4d_frame/ZY20210800001_H1_C1_N21_S99_s04_T2/align_rgb/00043.jpg", + "hoi4d_frame/ZY20210800001_H1_C1_N21_S99_s04_T2/align_rgb/00044.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.500, 1.589]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.537, 1.816]). The trajectory involves 5 precise waypoints with total movement distance of 1.070." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 74553, + "action": "carry", + "object": "Toy Car", + "frame_index": 44, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_74567", + "task": "pull Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C1_N21_S99_s04_T2/align_rgb/00240.jpg", + "hoi4d_frame/ZY20210800001_H1_C1_N21_S99_s04_T2/align_rgb/00241.jpg", + "hoi4d_frame/ZY20210800001_H1_C1_N21_S99_s04_T2/align_rgb/00242.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: pull Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: pull Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.560, 1.593]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [1.785, 1.611]). The trajectory involves 5 precise waypoints with total movement distance of 0.226." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 74567, + "action": "pull", + "object": "Toy Car", + "frame_index": 242, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_74569", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C1_N21_S99_s04_T1/align_rgb/00060.jpg", + "hoi4d_frame/ZY20210800001_H1_C1_N21_S99_s04_T1/align_rgb/00061.jpg", + "hoi4d_frame/ZY20210800001_H1_C1_N21_S99_s04_T1/align_rgb/00062.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.699, 1.415]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.253, 1.497]). The trajectory involves 5 precise waypoints with total movement distance of 0.576." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 74569, + "action": "carry", + "object": "Toy Car", + "frame_index": 62, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + }, + { + "id": "hoi4d_74591", + "task": "carry Toy Car to the right", + "selected_step": 1, + "image": [ + "hoi4d_frame/ZY20210800001_H1_C1_N19_S100_s02_T2/align_rgb/00054.jpg", + "hoi4d_frame/ZY20210800001_H1_C1_N19_S100_s02_T2/align_rgb/00055.jpg", + "hoi4d_frame/ZY20210800001_H1_C1_N19_S100_s02_T2/align_rgb/00056.jpg" + ], + "conversations": [ + { + "from": "human", + "value": " How should I execute this task: carry Toy Car to the right?" + }, + { + "from": "gpt", + "value": "To complete this object manipulation: carry Toy Car to the right, execute the following phases: 1) Initial approach phase (start at [1.183, 1.447]), 2) Active manipulation phase (perform complex movements), 3) Completion phase (end at [2.285, 1.449]). The trajectory involves 5 precise waypoints with total movement distance of 1.145." + } + ], + "metadata": { + "original_dataset": "A0-hoi4d_frame", + "hoi4d_id": 74591, + "action": "carry", + "object": "Toy Car", + "frame_index": 56, + "data_source": "molmo", + "trajectory_length": 5, + "coordinate_system": "normalized", + "keypoint_parts": [ + "Toy Car" + ] + } + } +] \ No newline at end of file