Datasets:

LeoFan01
/

RoboBench

	[
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_arrange_word_ABCD_episode_2",
	"actions_list": [
	"left: move_to(none, 'a'_block),right:no_ops",
	"left:grasp('a'_block),right:no_ops",
	"left:pick_up('a'_block),right:no_ops",
	"left:place('a'_block, left_of_table),right:no_ops",
	"left:move_to(none,'b'_block),right:no_ops",
	"left:grasp('b'_block),right:no_ops",
	"left:pick_up('b'_block),right:no_ops",
	"left:place('b'_block,right_of_'a'_block), right:no_ops",
	"left:no_ops,right:move_to(none, 'd'_block)",
	"left:no_ops,right:grasp('d'_block)",
	"left:no_ops, right:pick_up('d'_block)",
	"left:no_ops,right:place('d'_clock,right_of_'c'_clock)"
	],
	"gt_dag": {
	"left: move_to(none, 'a'_block),right:no_ops": [
	"left:grasp('a'_block),right:no_ops"
	],
	"left:grasp('a'_block),right:no_ops": [
	"left:pick_up('a'_block),right:no_ops"
	],
	"left:pick_up('a'_block),right:no_ops": [
	"left:place('a'_block, left_of_table),right:no_ops"
	],
	"left:place('a'_block, left_of_table),right:no_ops": [
	"left:move_to(none,'b'_block),right:no_ops"
	],
	"left:move_to(none,'b'_block),right:no_ops": [
	"left:grasp('b'_block),right:no_ops"
	],
	"left:grasp('b'_block),right:no_ops": [
	"left:pick_up('b'_block),right:no_ops"
	],
	"left:pick_up('b'_block),right:no_ops": [
	"left:place('b'_block,right_of_'a'_block), right:no_ops"
	],
	"left:place('b'_block,right_of_'a'_block), right:no_ops": [],
	"left:no_ops,right:move_to(none, 'd'_block)": [
	"left:no_ops,right:grasp('d'_block)"
	],
	"left:no_ops,right:grasp('d'_block)": [
	"left:no_ops, right:pick_up('d'_block)"
	],
	"left:no_ops, right:pick_up('d'_block)": [
	"left:no_ops,right:place('d'_clock,right_of_'c'_clock)"
	],
	"left:no_ops,right:place('d'_clock,right_of_'c'_clock)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_arrange_word_ABCD_episode_2.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_arrange_word_2024_episode_0",
	"actions_list": [
	"left:move_to(none, '0'_block), right:no_ops",
	"left:grasp('0'_block), right:no_ops",
	"left:pick_up('0'_block), right:no_ops",
	"left:place('0'_block,left_of_table) right:no_ops",
	"left:move_to(none,'2'_block), right:no_ops",
	"left:grasp('2'_block), right:no_ops",
	"left:pick_up('2'_block),right:no_ops",
	"left:place('2'_block, left_of_'0'_block), right:no_ops",
	"left:no_ops,right:move_to(none,'2'_block)",
	"left:no_ops,right:grasp('2'_block)",
	"left:no_ops,right:pick_up('2'_block)",
	"left:no_ops right:place('2'_block,right_of_'0'_block)"
	],
	"gt_dag": {
	"left:move_to(none, '0'_block), right:no_ops": [],
	"left:grasp('0'_block), right:no_ops": [],
	"left:pick_up('0'_block), right:no_ops": [],
	"left:place('0'_block,left_of_table) right:no_ops": [],
	"left:move_to(none,'2'_block), right:no_ops": [],
	"left:grasp('2'_block), right:no_ops": [],
	"left:pick_up('2'_block),right:no_ops": [],
	"left:place('2'_block, left_of_'0'_block), right:no_ops": [],
	"left:no_ops,right:move_to(none,'2'_block)": [],
	"left:no_ops,right:grasp('2'_block)": [],
	"left:no_ops,right:pick_up('2'_block)": [],
	"left:no_ops right:place('2'_block,right_of_'0'_block)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_arrange_word_2024_episode_0.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_arrange_word_LEARNING_episode_0",
	"actions_list": [
	"left:move_to(none,'r'_block), right:no_ops",
	"left:grasp('r'_block), right:no_ops",
	"left:pick_up('r'_block), right:no_ops",
	"left:place('r'_block,left_of_'n'_block), right:no_ops",
	"left:move_to(none,'e'_block), right:no_ops",
	"left:grasp('e'_block), right:no_ops",
	"left:pick_up('e'_block), right:no_ops",
	"left:place('e'_block,right_of_'l'_block), right:no_ops",
	"left:move_to(none,'a'_block), right:no_ops",
	"left:grasp('a'_block), right:no_ops",
	"left: pick_up('a'_block), right:no_ops",
	"left:place('a'_block,right_of_'e'_block), right:no_ops"
	],
	"gt_dag": {
	"left:move_to(none,'r'_block), right:no_ops": [
	"left:grasp('r'_block), right:no_ops"
	],
	"left:grasp('r'_block), right:no_ops": [
	"left:pick_up('r'_block), right:no_ops"
	],
	"left:pick_up('r'_block), right:no_ops": [
	"left:place('r'_block,left_of_'n'_block), right:no_ops"
	],
	"left:place('r'_block,left_of_'n'_block), right:no_ops": [],
	"left:move_to(none,'e'_block), right:no_ops": [
	"left:grasp('e'_block), right:no_ops"
	],
	"left:grasp('e'_block), right:no_ops": [
	"left:pick_up('e'_block), right:no_ops"
	],
	"left:pick_up('e'_block), right:no_ops": [
	"left:place('e'_block,right_of_'l'_block), right:no_ops"
	],
	"left:place('e'_block,right_of_'l'_block), right:no_ops": [
	"left:move_to(none,'a'_block), right:no_ops"
	],
	"left:move_to(none,'a'_block), right:no_ops": [
	"left:grasp('a'_block), right:no_ops"
	],
	"left:grasp('a'_block), right:no_ops": [
	"left: pick_up('a'_block), right:no_ops"
	],
	"left: pick_up('a'_block), right:no_ops": [
	"left:place('a'_block,right_of_'e'_block), right:no_ops"
	],
	"left:place('a'_block,right_of_'e'_block), right:no_ops": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_arrange_word_LEARNING_episode_0.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_spell_car_episode_2",
	"actions_list": [
	"left:move_to(none, letter_'c'), right:no_ops",
	"left:grasp(letter_'c'), right:no_ops",
	"left:pick_up(letter_'c'), right:no_ops",
	"left:place(letter_'c',left_of_table), right:no_ops",
	"left:no_ops, right:move_to(none,letter_'a')",
	"left:no_ops, right:grasp(letter_'a')",
	"left:no_ops, right:pick_up(letter_'a')",
	"left:no_ops, right:place(letter_'a',right_of_'c')",
	"left:no_ops, right:move_to(none, letter_'r')",
	"left:no_ops, right:grasp(letter_'r')",
	"left:no_ops, right:pick_up(letter_'r')",
	"left:no_ops, right:place(letter_'r',right_of_'a')"
	],
	"gt_dag": {
	"left:move_to(none, letter_'c'), right:no_ops": [
	"left:grasp(letter_'c'), right:no_ops"
	],
	"left:grasp(letter_'c'), right:no_ops": [
	"left:pick_up(letter_'c'), right:no_ops"
	],
	"left:pick_up(letter_'c'), right:no_ops": [
	"left:place(letter_'c',left_of_table), right:no_ops"
	],
	"left:place(letter_'c',left_of_table), right:no_ops": [
	"left:no_ops, right:move_to(none,letter_'a')"
	],
	"left:no_ops, right:move_to(none,letter_'a')": [
	"left:no_ops, right:grasp(letter_'a')"
	],
	"left:no_ops, right:grasp(letter_'a')": [
	"left:no_ops, right:pick_up(letter_'a')"
	],
	"left:no_ops, right:pick_up(letter_'a')": [
	"left:no_ops, right:place(letter_'a',right_of_'c')"
	],
	"left:no_ops, right:place(letter_'a',right_of_'c')": [
	"left:no_ops, right:move_to(none, letter_'r')"
	],
	"left:no_ops, right:move_to(none, letter_'r')": [
	"left:no_ops, right:grasp(letter_'r')"
	],
	"left:no_ops, right:grasp(letter_'r')": [
	"left:no_ops, right:pick_up(letter_'r')"
	],
	"left:no_ops, right:pick_up(letter_'r')": [
	"left:no_ops, right:place(letter_'r',right_of_'a')"
	],
	"left:no_ops, right:place(letter_'r',right_of_'a')": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_spell_car_episode_2.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_draw_line_episode_1",
	"actions_list": [
	"left:no_ops, right:move_to(none, pen)",
	"left:no_ops, right:grasp(pen)",
	"left:no_ops, right:pick_up(pen)",
	"left:no_ops, right:draw(pen,a_straight_line,whiteboard)"
	],
	"gt_dag": {
	"left:no_ops, right:move_to(none, pen)": [
	"left:no_ops, right:grasp(pen)"
	],
	"left:no_ops, right:grasp(pen)": [
	"left:no_ops, right:pick_up(pen)"
	],
	"left:no_ops, right:pick_up(pen)": [
	"left:no_ops, right:draw(pen,a_straight_line,whiteboard)"
	],
	"left:no_ops, right:draw(pen,a_straight_line,whiteboard)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_draw_line_episode_1.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_spell_cool_episode_0",
	"actions_list": [
	"left:no_ops, right:move_to(none, letter_'c')",
	"left:no_ops, right:grasp(letter_'c')",
	"left:no_ops, right:pick_up(letter_'c')",
	"left:no_ops, right:place(letter_'c',left_of_table)",
	"left:no_ops, right:move_to(none, letter_'o')",
	"left:no_ops, right:grasp(letter_'o')",
	"left:no_ops, right:pick_up(letter_'o')",
	"left:no_ops, right:place(letter_'o',right_of_'c')",
	"left:no_ops, right:move_to(none, letter_'o')",
	"left:no_ops, right:grasp(letter_'o')",
	"left:no_ops, right:pick_up(letter_'o')",
	"left:no_ops, right:place(letter_'c',right_of_'c')",
	"left:no_ops, right:move_to(none, letter_'l')",
	"left:no_ops, right:grasp(letter_'l')",
	"left:no_ops, right:pick_up(letter_'l')",
	"left:no_ops, right:place(letter_'l',right_of_'c')"
	],
	"gt_dag": {
	"left:no_ops, right:move_to(none, letter_'c')": [
	"left:no_ops, right:grasp(letter_'c')"
	],
	"left:no_ops, right:grasp(letter_'c')": [
	"left:no_ops, right:pick_up(letter_'c')"
	],
	"left:no_ops, right:pick_up(letter_'c')": [
	"left:no_ops, right:place(letter_'c',left_of_table)"
	],
	"left:no_ops, right:place(letter_'c',left_of_table)": [
	"left:no_ops, right:move_to(none, letter_'o')",
	"left:no_ops, right:move_to(none, letter_'o')<1>"
	],
	"left:no_ops, right:grasp(letter_'o')": [
	"left:no_ops, right:pick_up(letter_'o')"
	],
	"left:no_ops, right:pick_up(letter_'o')": [
	"left:no_ops, right:place(letter_'o',right_of_'c')"
	],
	"left:no_ops, right:place(letter_'o',right_of_'c')": [
	"left:no_ops, right:move_to(none, letter_'l')"
	],
	"left:no_ops, right:move_to(none, letter_'o')": [
	"left:no_ops, right:grasp(letter_'o')"
	],
	"left:no_ops, right:place(letter_'c',right_of_'c')": [
	"left:no_ops, right:move_to(none, letter_'l')"
	],
	"left:no_ops, right:move_to(none, letter_'l')": [
	"left:no_ops, right:grasp(letter_'l')"
	],
	"left:no_ops, right:grasp(letter_'l')": [
	"left:no_ops, right:pick_up(letter_'l')"
	],
	"left:no_ops, right:pick_up(letter_'l')": [
	"left:no_ops, right:place(letter_'l',right_of_'c')"
	],
	"left:no_ops, right:place(letter_'l',right_of_'c')": [],
	"left:no_ops, right:move_to(none, letter_'o')<1>": [
	"left:no_ops, right:grasp(letter_'o') left:no_ops, right:pick_up(letter_'o')"
	],
	"left:no_ops, right:grasp(letter_'o') left:no_ops, right:pick_up(letter_'o')": [
	"left:no_ops, right:place(letter_'c',right_of_'c')"
	]
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_spell_cool_episode_0.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_draw_cross_episode_0",
	"actions_list": [
	"left:no_ops, right:move_to(none,pen)",
	"left:no_ops, right:grasp(pen)",
	"left:no_ops, right:pick_up(pen)",
	"left:no_ops, right:draw(pen,cross,whiteboard)"
	],
	"gt_dag": {
	"left:no_ops, right:move_to(none,pen)": [
	"left:no_ops, right:grasp(pen)"
	],
	"left:no_ops, right:grasp(pen)": [
	"left:no_ops, right:pick_up(pen)"
	],
	"left:no_ops, right:pick_up(pen)": [
	"left:no_ops, right:draw(pen,cross,whiteboard)"
	],
	"left:no_ops, right:draw(pen,cross,whiteboard)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_draw_cross_episode_0.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_spell_love_episode_0",
	"actions_list": [
	"left:move_to(none, letter_'l'), right:no_ops",
	"left:grasp(letter_'l'), right:no_ops",
	"left:pick_up(letter_'l'), right:no_ops",
	"left:place(letter_'l',left_of_table), right:no_ops",
	"left:no_ops, right:move_to(none, letter_'o')",
	"left:no_ops, right:grasp(letter_'o')",
	"left:no_ops, right:pick_up(letter_'o')",
	"left:no_ops, right:place(letter_'o', right_of_'l')",
	"left:no_ops, right:move_to(none, letter_'v')",
	"left:no_ops, right:grasp(letter_'v')",
	"left:no_ops, right:pick_up(letter_'v')",
	"left:no_ops, right:place(letter_'l', right_of_'v')",
	"left:no_ops, right:move_to(none, letter_'e')",
	"left:no_ops, right:grasp(letter_'e')",
	"left:no_ops, right:pick_up(letter_'e')",
	"left:no_ops, right:place(letter_'e', right_of_'v')"
	],
	"gt_dag": {
	"left:move_to(none, letter_'l'), right:no_ops": [
	"left:grasp(letter_'l'), right:no_ops"
	],
	"left:grasp(letter_'l'), right:no_ops": [
	"left:pick_up(letter_'l'), right:no_ops"
	],
	"left:pick_up(letter_'l'), right:no_ops": [
	"left:place(letter_'l',left_of_table), right:no_ops"
	],
	"left:place(letter_'l',left_of_table), right:no_ops": [
	"left:no_ops, right:move_to(none, letter_'o')"
	],
	"left:no_ops, right:move_to(none, letter_'o')": [
	"left:no_ops, right:grasp(letter_'o')"
	],
	"left:no_ops, right:grasp(letter_'o')": [
	"left:no_ops, right:pick_up(letter_'o')"
	],
	"left:no_ops, right:pick_up(letter_'o')": [
	"left:no_ops, right:place(letter_'o', right_of_'l')"
	],
	"left:no_ops, right:place(letter_'o', right_of_'l')": [
	"left:no_ops, right:move_to(none, letter_'v')"
	],
	"left:no_ops, right:move_to(none, letter_'v')": [
	"left:no_ops, right:grasp(letter_'v')"
	],
	"left:no_ops, right:grasp(letter_'v')": [
	"left:no_ops, right:pick_up(letter_'v')"
	],
	"left:no_ops, right:pick_up(letter_'v')": [
	"left:no_ops, right:place(letter_'l', right_of_'v')"
	],
	"left:no_ops, right:place(letter_'l', right_of_'v')": [
	"left:no_ops, right:move_to(none, letter_'e')"
	],
	"left:no_ops, right:move_to(none, letter_'e')": [
	"left:no_ops, right:grasp(letter_'e')"
	],
	"left:no_ops, right:grasp(letter_'e')": [
	"left:no_ops, right:pick_up(letter_'e')"
	],
	"left:no_ops, right:pick_up(letter_'e')": [
	"left:no_ops, right:place(letter_'e', right_of_'v')"
	],
	"left:no_ops, right:place(letter_'e', right_of_'v')": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_spell_love_episode_0.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_draw_char_A_episode_0",
	"actions_list": [
	"left:no_ops, right:move_to(pen, whiteboard)",
	"left:no_ops, right:grasp(pen)",
	"left:no_ops, right:pick_up(pen)",
	"left:no_ops, right:draw(pen,letter_'A',whiteboard)"
	],
	"gt_dag": {
	"left:no_ops, right:move_to(pen, whiteboard)": [
	"left:no_ops, right:grasp(pen)"
	],
	"left:no_ops, right:grasp(pen)": [
	"left:no_ops, right:pick_up(pen)"
	],
	"left:no_ops, right:pick_up(pen)": [
	"left:no_ops, right:draw(pen,letter_'A',whiteboard)"
	],
	"left:no_ops, right:draw(pen,letter_'A',whiteboard)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_draw_char_A_episode_0.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_draw_char_Z_episode_0",
	"actions_list": [
	"left:no_ops, right:move_to(none,pen)",
	"left:no_ops, right:grasp(pen)",
	"left:no_ops, right:pick_up(pen)",
	"left:no_ops, right:draw(pen,letter_'Z',whiteboard)"
	],
	"gt_dag": {
	"left:no_ops, right:move_to(none,pen)": [
	"left:no_ops, right:grasp(pen)"
	],
	"left:no_ops, right:grasp(pen)": [
	"left:no_ops, right:pick_up(pen)"
	],
	"left:no_ops, right:pick_up(pen)": [
	"left:no_ops, right:draw(pen,letter_'Z',whiteboard)"
	],
	"left:no_ops, right:draw(pen,letter_'Z',whiteboard)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_draw_char_Z_episode_0.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_draw_rectangle_episode_0",
	"actions_list": [
	"left:no_ops, right:move_to(none,pen)",
	"left:no_ops, right:grasp(pen)",
	"left:no_ops, right:pick_up(pen)",
	"left:no_ops, right:draw(pen,rectangle,whiteboard)"
	],
	"gt_dag": {
	"left:no_ops, right:move_to(none,pen)": [
	"left:no_ops, right:grasp(pen)"
	],
	"left:no_ops, right:grasp(pen)": [
	"left:no_ops, right:pick_up(pen)"
	],
	"left:no_ops, right:pick_up(pen)": [
	"left:no_ops, right:draw(pen,rectangle,whiteboard)"
	],
	"left:no_ops, right:draw(pen,rectangle,whiteboard)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_draw_rectangle_episode_0.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/fmb_episode_0",
	"actions_list": [
	"left:no_ops, right:move_to(none, green_block)",
	"left:no_ops, right:grasp(green_block)",
	"left:no_ops, right:pick_up(green_block)",
	"left:no_ops, right:insert(green_block, slot)"
	],
	"gt_dag": {
	"left:no_ops, right:move_to(none, green_block)": [
	"left:no_ops, right:grasp(green_block)"
	],
	"left:no_ops, right:grasp(green_block)": [
	"left:no_ops, right:pick_up(green_block)"
	],
	"left:no_ops, right:pick_up(green_block)": [
	"left:no_ops, right:insert(green_block, slot)"
	],
	"left:no_ops, right:insert(green_block, slot)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_fmb_episode_0.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/fmb_episode_1",
	"actions_list": [
	"left:no_ops, right:move_to(none, pink_cylinder_block)",
	"left:no_ops, right:grasp(pink_cylinder_block)",
	"left:no_ops, right:pick_up(pink_cylinder_block)",
	"left:no_ops, right:place(pink_cylinder_block,bracket)",
	"left:no_ops, right:grasp(pink_cylinder_block)",
	"left:no_ops, right:pick_up(pink_cylinder_block)",
	"left:no_ops, right:insert(pink_cylinder_block,slot)"
	],
	"gt_dag": {
	"left:no_ops, right:move_to(none, pink_cylinder_block)": [
	"left:no_ops, right:grasp(pink_cylinder_block)"
	],
	"left:no_ops, right:place(pink_cylinder_block,bracket)": [
	"left:no_ops, right:grasp(pink_cylinder_block) left:no_ops, right:pick_up(pink_cylinder_block)"
	],
	"left:no_ops, right:grasp(pink_cylinder_block)": [
	"left:no_ops, right:pick_up(pink_cylinder_block)"
	],
	"left:no_ops, right:pick_up(pink_cylinder_block)": [
	"left:no_ops, right:place(pink_cylinder_block,bracket)"
	],
	"left:no_ops, right:insert(pink_cylinder_block,slot)": [],
	"left:no_ops, right:grasp(pink_cylinder_block) left:no_ops, right:pick_up(pink_cylinder_block)": [
	"left:no_ops, right:insert(pink_cylinder_block,slot)"
	]
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_fmb_episode_1.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/fmb_episode_3",
	"actions_list": [
	"left:no_ops, right:move_to(none, purple_block)",
	"left:no_ops, right:grasp(purple_block)",
	"left:no_ops, right:pick_up(purple_block)",
	"left:no_ops, right:move_to(purple_object, blue_slotted_platform)",
	"left:no_ops, right:place(purple_block, bracket)",
	"left:no_ops, right:grasp(purple_block)",
	"left:no_ops, right:pick_up(purple_block)",
	"left:no_ops, right:insert(purple_block,slot)"
	],
	"gt_dag": {
	"left:no_ops, right:move_to(none, purple_block)": [
	"left:no_ops, right:grasp(purple_block)"
	],
	"left:no_ops, right:move_to(purple_object, blue_slotted_platform)": [
	"left:no_ops, right:place(purple_block, bracket)"
	],
	"left:no_ops, right:place(purple_block, bracket)": [
	"left:no_ops, right:grasp(purple_block)<1>"
	],
	"left:no_ops, right:grasp(purple_block)": [
	"left:no_ops, right:pick_up(purple_block)"
	],
	"left:no_ops, right:pick_up(purple_block)": [
	"left:no_ops, right:move_to(purple_object, blue_slotted_platform)"
	],
	"left:no_ops, right:insert(purple_block,slot)": [],
	"left:no_ops, right:grasp(purple_block)<1>": [
	"left:no_ops, right:pick_up(purple_block)<1>"
	],
	"left:no_ops, right:pick_up(purple_block)<1>": [
	"left:no_ops, right:insert(purple_block,slot)"
	]
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_fmb_episode_3.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/fmb_episode_6",
	"actions_list": [
	"left:move_to(none,blue_cylinder_block), right:no_ops",
	"left:grasp(blue_cylinder_block), right:no_ops",
	"left:pick_up(blue_cylinder_block), right:no_ops",
	"left:place(blue_cylinder_block,bracket), right:no_ops",
	"left:grasp(blue_cylinder_block), right:no_ops",
	"left:pick_up(blue_cylinder_block), right:no_ops",
	"left:insert(blue_cylinder_block,slot), right:no_ops"
	],
	"gt_dag": {
	"left:move_to(none,blue_cylinder_block), right:no_ops": [
	"left:grasp(blue_cylinder_block), right:no_ops"
	],
	"left:grasp(blue_cylinder_block), right:no_ops": [
	"left:pick_up(blue_cylinder_block), right:no_ops"
	],
	"left:pick_up(blue_cylinder_block), right:no_ops": [
	"left:place(blue_cylinder_block,bracket), right:no_ops"
	],
	"left:place(blue_cylinder_block,bracket), right:no_ops": [
	"left:grasp(blue_cylinder_block), right:no_ops<1>"
	],
	"left:insert(blue_cylinder_block,slot), right:no_ops": [],
	"left:grasp(blue_cylinder_block), right:no_ops<1>": [
	"left:pick_up(blue_cylinder_block), right:no_ops<1>"
	],
	"left:pick_up(blue_cylinder_block), right:no_ops<1>": [
	"left:insert(blue_cylinder_block,slot), right:no_ops"
	]
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_fmb_episode_6.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/fmb_episode_9",
	"actions_list": [
	"move_to(none, arch_shaped_object)",
	"grasp(arch_shaped_object)",
	"pick_up(arch_shaped_object)",
	"move_to(arch_shaped_object, matching_slot)",
	"insert(arch_shaped_object, slot)"
	],
	"gt_dag": {
	"move_to(none, arch_shaped_object)": [
	"grasp(arch_shaped_object)"
	],
	"grasp(arch_shaped_object)": [
	"pick_up(arch_shaped_object)"
	],
	"pick_up(arch_shaped_object)": [
	"move_to(arch_shaped_object, matching_slot)"
	],
	"move_to(arch_shaped_object, matching_slot)": [
	"insert(arch_shaped_object, slot)"
	],
	"insert(arch_shaped_object, slot)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_fmb_episode_9.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/fmb_episode_10",
	"actions_list": [
	"left:move_to(none, blue_cylinder_block), right:no_ops",
	"left:grasp(blue_cylinder_block), right:no_ops",
	"left:pick_up(blue_cylinder_block), right:no_ops",
	"left:place(blue_cylinder_block,bracket), right:no_ops",
	"left:grasp(blue_cylinder_block), right:no_ops",
	"left:pick_up(blue_cylinder_block), right:no_ops",
	"left:insert(blue_cylinder_block,slot), right:no_ops"
	],
	"gt_dag": {
	"left:move_to(none, blue_cylinder_block), right:no_ops": [
	"left:grasp(blue_cylinder_block), right:no_ops"
	],
	"left:place(blue_cylinder_block,bracket), right:no_ops": [
	"left:grasp(blue_cylinder_block), right:no_ops left:pick_up(blue_cylinder_block), right:no_ops"
	],
	"left:grasp(blue_cylinder_block), right:no_ops": [
	"left:pick_up(blue_cylinder_block), right:no_ops"
	],
	"left:pick_up(blue_cylinder_block), right:no_ops": [
	"left:place(blue_cylinder_block,bracket), right:no_ops"
	],
	"left:insert(blue_cylinder_block,slot), right:no_ops": [],
	"left:grasp(blue_cylinder_block), right:no_ops left:pick_up(blue_cylinder_block), right:no_ops": [
	"left:insert(blue_cylinder_block,slot), right:no_ops"
	]
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_fmb_episode_10.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_arrange_word_DEEP_episode_2",
	"actions_list": [
	"left:move_to(none, 'e'_block), right:no_ops",
	"left:grasp('e'_block), right:no_ops",
	"left:pick_up:('e'_block),right:no_ops",
	"left:place('e'_block,table), right:no_ops",
	"left:move_to(none,'e'_block), right:no_ops",
	"left:grasp( 'e'_block), right:no_ops",
	"left:pick_up('e'_block), right:no_ops",
	"left:place('e'_block,right_of_'e'_block), right:no_ops",
	"left:move_to(none, 'd'_block), right:no_ops",
	"left:grasp('d'_block), right:no_ops",
	"left:pick_up('d'_block), right:no_ops",
	"left:place('d'_block,right_'e'_block), right:no_ops",
	"left:no_ops, right:move_to(none,'p'_block)",
	"left:no_ops, right:grasp('p'_block)",
	"left:no_ops, right:pick_up('p'_block)",
	"left:no_ops, right:place('p'_block,right_'e'_block)"
	],
	"gt_dag": {
	"left:move_to(none, 'e'_block), right:no_ops": [
	"left:grasp('e'_block), right:no_ops"
	],
	"left:grasp('e'_block), right:no_ops": [
	"left:pick_up:('e'_block),right:no_ops"
	],
	"left:pick_up:('e'_block),right:no_ops": [
	"left:place('e'_block,table), right:no_ops"
	],
	"left:place('e'_block,table), right:no_ops": [],
	"left:move_to(none,'e'_block), right:no_ops": [
	"left:grasp( 'e'_block), right:no_ops"
	],
	"left:grasp( 'e'_block), right:no_ops": [
	"left:pick_up('e'_block), right:no_ops"
	],
	"left:pick_up('e'_block), right:no_ops": [
	"left:place('e'_block,right_of_'e'_block), right:no_ops"
	],
	"left:place('e'_block,right_of_'e'_block), right:no_ops": [],
	"left:move_to(none, 'd'_block), right:no_ops": [
	"left:grasp('d'_block), right:no_ops"
	],
	"left:grasp('d'_block), right:no_ops": [
	"left:pick_up('d'_block), right:no_ops"
	],
	"left:pick_up('d'_block), right:no_ops": [
	"left:place('d'_block,right_'e'_block), right:no_ops"
	],
	"left:place('d'_block,right_'e'_block), right:no_ops": [],
	"left:no_ops, right:move_to(none,'p'_block)": [
	"left:no_ops, right:grasp('p'_block)"
	],
	"left:no_ops, right:grasp('p'_block)": [
	"left:no_ops, right:pick_up('p'_block)"
	],
	"left:no_ops, right:pick_up('p'_block)": [
	"left:no_ops, right:place('p'_block,right_'e'_block)"
	],
	"left:no_ops, right:place('p'_block,right_'e'_block)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_arrange_word_DEEP_episode_2.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_flip_calendar_page_episode_0",
	"actions_list": [
	"left:no_ops, right:move_to(none, calendar)",
	"left:no_ops, right:grasp(top_of_the_current_calendar_page)",
	"left:no_ops, right:pick_up(top_of_the_current_calendar_page)",
	"left:no_ops, right:turn(page_of_the_calendar,up,backside )"
	],
	"gt_dag": {
	"left:no_ops, right:move_to(none, calendar)": [
	"left:no_ops, right:grasp(top_of_the_current_calendar_page)"
	],
	"left:no_ops, right:grasp(top_of_the_current_calendar_page)": [
	"left:no_ops, right:pick_up(top_of_the_current_calendar_page)"
	],
	"left:no_ops, right:pick_up(top_of_the_current_calendar_page)": [
	"left:no_ops, right:turn(page_of_the_calendar,up,backside )"
	],
	"left:no_ops, right:turn(page_of_the_calendar,up,backside )": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_flip_calendar_page_episode_0.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/droid_episode_11",
	"actions_list": [
	"move_to(none, lid)",
	"grasp(lid)",
	"move_to(lid, right)"
	],
	"gt_dag": {
	"move_to(none, lid)": [
	"grasp(lid)"
	],
	"grasp(lid)": [
	"move_to(lid, right)"
	],
	"move_to(lid, right)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_droid_episode_11.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/droid_episode_29",
	"actions_list": [
	"move_to(none, orange_bowl)",
	"grasp(orane_bowl)",
	"pick_up(orange_bowl)",
	"pour(orange_bowl,rice ,green_bowl)"
	],
	"gt_dag": {
	"move_to(none, orange_bowl)": [
	"grasp(orane_bowl)"
	],
	"grasp(orane_bowl)": [
	"pick_up(orange_bowl)"
	],
	"pick_up(orange_bowl)": [
	"pour(orange_bowl,rice ,green_bowl)"
	],
	"pour(orange_bowl,rice ,green_bowl)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_droid_episode_29.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/droid_episode_30",
	"actions_list": [
	"move_to(none, pot)",
	"grasp(plush_toy)",
	"pick_up(plush_toy)",
	"place(plush_toy, sink)"
	],
	"gt_dag": {
	"move_to(none, pot)": [
	"grasp(plush_toy)"
	],
	"grasp(plush_toy)": [
	"pick_up(plush_toy)"
	],
	"pick_up(plush_toy)": [
	"place(plush_toy, sink)"
	],
	"place(plush_toy, sink)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_droid_episode_30.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_flowering_fake_episode_0",
	"actions_list": [
	"left:no_ops, right:move_to(none, kettle)",
	"left:no_ops, right:grasp(kettle)",
	"left:no_ops, right:pick_up(kettle)",
	"left:no_ops, right:pour(kettle,water,plant)"
	],
	"gt_dag": {
	"left:no_ops, right:move_to(none, kettle)": [
	"left:no_ops, right:grasp(kettle)"
	],
	"left:no_ops, right:grasp(kettle)": [
	"left:no_ops, right:pick_up(kettle)"
	],
	"left:no_ops, right:pick_up(kettle)": [
	"left:no_ops, right:pour(kettle,water,plant)"
	],
	"left:no_ops, right:pour(kettle,water,plant)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_flowering_fake_episode_0.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_plug_charger_episode_0",
	"actions_list": [
	"right:move_to(none, charger),left:no_ops",
	"right:grasp(charger),left:no_ops",
	"right:pick_up(charger),left:no_ops",
	"transfer(right, left, charger)",
	"left:insert(charger, socket), right:no_ops"
	],
	"gt_dag": {
	"right:move_to(none, charger),left:no_ops": [
	"right:grasp(charger),left:no_ops"
	],
	"right:grasp(charger),left:no_ops": [
	"right:pick_up(charger),left:no_ops"
	],
	"right:pick_up(charger),left:no_ops": [
	"transfer(right, left, charger)"
	],
	"transfer(right, left, charger)": [
	"left:insert(charger, socket), right:no_ops"
	],
	"left:insert(charger, socket), right:no_ops": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_plug_charger_episode_0.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_pull_trash_can_episode_17",
	"actions_list": [
	"left:move_to(none, trash_can), right:no_ops",
	"left:grasp(trash_can_cover), right:move_to(none, trash_can)",
	"left:pick_up(trash_can_cover), right:grasp(garbage_bag)",
	"right:no_ops, left:pick_up(garbage_bag)",
	"left:no_ops, right:place(garbage_bag,table)"
	],
	"gt_dag": {
	"left:move_to(none, trash_can), right:no_ops": [
	"left:grasp(trash_can_cover), right:move_to(none, trash_can)"
	],
	"left:grasp(trash_can_cover), right:move_to(none, trash_can)": [
	"left:pick_up(trash_can_cover), right:grasp(garbage_bag)"
	],
	"left:pick_up(trash_can_cover), right:grasp(garbage_bag)": [
	"right:no_ops, left:pick_up(garbage_bag)"
	],
	"right:no_ops, left:pick_up(garbage_bag)": [
	"left:no_ops, right:place(garbage_bag,table)"
	],
	"left:no_ops, right:place(garbage_bag,table)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_pull_trash_can_episode_17.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/aloha_mobile_cabinet_episode_0",
	"actions_list": [
	"left:move_to(none,left_cabinet_handle)，right:move_to(none,right_cabinet_handle)",
	"left:grasp(left_cabinet_handle),right:grasp(right_cabinet_handle)",
	"left:pull(cabinet,open),right:pull(cabinet,open)",
	"left:move_to(none,left_pot_handle), right:move_to(none,right_pot_handle)",
	"left:grasp(left_pot_handle),right:grasp(right_pot_handle)",
	"left:pick_up(pot),right:pick_up(pot)",
	"left:move_to(pot,inside_cabinet),right:move_to(pot,inside_cabinet)",
	"left:place(pot,inside_cabinet),right:place(pot,inside_cabinet)",
	"left:grasp(left_pot_handle),right:grasp(right_pot_handle)",
	"left:push(cabinet,close),right:push(cabinet,close)"
	],
	"gt_dag": {
	"left:move_to(none,left_cabinet_handle)，right:move_to(none,right_cabinet_handle)": [
	"left:grasp(left_cabinet_handle),right:grasp(right_cabinet_handle)"
	],
	"left:grasp(left_cabinet_handle),right:grasp(right_cabinet_handle)": [
	"left:pull(cabinet,open),right:pull(cabinet,open)"
	],
	"left:pull(cabinet,open),right:pull(cabinet,open)": [
	"left:move_to(none,left_pot_handle), right:move_to(none,right_pot_handle)"
	],
	"left:move_to(none,left_pot_handle), right:move_to(none,right_pot_handle)": [
	"left:grasp(left_pot_handle),right:grasp(right_pot_handle)"
	],
	"left:pick_up(pot),right:pick_up(pot)": [
	"left:move_to(pot,inside_cabinet),right:move_to(pot,inside_cabinet)"
	],
	"left:move_to(pot,inside_cabinet),right:move_to(pot,inside_cabinet)": [
	"left:place(pot,inside_cabinet),right:place(pot,inside_cabinet)"
	],
	"left:place(pot,inside_cabinet),right:place(pot,inside_cabinet)": [
	"left:grasp(left_pot_handle),right:grasp(right_pot_handle)<1>"
	],
	"left:grasp(left_pot_handle),right:grasp(right_pot_handle)": [
	"left:pick_up(pot),right:pick_up(pot)"
	],
	"left:push(cabinet,close),right:push(cabinet,close)": [],
	"left:grasp(left_pot_handle),right:grasp(right_pot_handle)<1>": [
	"left:push(cabinet,close),right:push(cabinet,close)"
	]
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_aloha_mobile_cabinet_episode_0.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_draw_check_mark_episode_0",
	"actions_list": [
	"left:no_ops, right:move_to(none,pen)",
	"left:no_ops, right:grasp(pen)",
	"left:no_ops, right:pick_up(pen)",
	"left:no_ops, right:draw(pen,check_mark,whiteboard)"
	],
	"gt_dag": {
	"left:no_ops, right:move_to(none,pen)": [
	"left:no_ops, right:grasp(pen)"
	],
	"left:no_ops, right:grasp(pen)": [
	"left:no_ops, right:pick_up(pen)"
	],
	"left:no_ops, right:pick_up(pen)": [
	"left:no_ops, right:draw(pen,check_mark,whiteboard)"
	],
	"left:no_ops, right:draw(pen,check_mark,whiteboard)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_draw_check_mark_episode_0.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/droid_episode_121",
	"actions_list": [
	"move_to(none, gray_doll)",
	"grasp(gray_doll)",
	"pick_up(gray_doll)",
	"place(gray_doll, middle_of_table)"
	],
	"gt_dag": {
	"move_to(none, gray_doll)": [
	"grasp(gray_doll)"
	],
	"grasp(gray_doll)": [
	"pick_up(gray_doll)"
	],
	"pick_up(gray_doll)": [
	"place(gray_doll, middle_of_table)"
	],
	"place(gray_doll, middle_of_table)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_droid_episode_121.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/droid_episode_33111",
	"actions_list": [
	"move_to(none, letter_'a')",
	"grasp(letter_'a')",
	"pick_up(letter_'a')",
	"turn(letter_'a',clockwise,middle_of_table)"
	],
	"gt_dag": {
	"move_to(none, letter_'a')": [
	"grasp(letter_'a')"
	],
	"grasp(letter_'a')": [
	"pick_up(letter_'a')"
	],
	"pick_up(letter_'a')": [
	"turn(letter_'a',clockwise,middle_of_table)"
	],
	"turn(letter_'a',clockwise,middle_of_table)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_droid_episode_33111.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/droid_episode_19660",
	"actions_list": [
	"move_to(none, bowl)",
	"grasp(bowl)",
	"pick_up(bowl)",
	"place(bowl, right_table)"
	],
	"gt_dag": {
	"move_to(none, bowl)": [
	"grasp(bowl)"
	],
	"grasp(bowl)": [
	"pick_up(bowl)"
	],
	"pick_up(bowl)": [
	"place(bowl, right_table)"
	],
	"place(bowl, right_table)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_droid_episode_19660.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/droid_episode_195",
	"actions_list": [
	"move_to(none, marker)",
	"grasp(marker)",
	"pick_up(marker)",
	"place(marker, middle_of_bowl)"
	],
	"gt_dag": {
	"move_to(none, marker)": [
	"grasp(marker)"
	],
	"grasp(marker)": [
	"pick_up(marker)"
	],
	"pick_up(marker)": [
	"place(marker, middle_of_bowl)"
	],
	"place(marker, middle_of_bowl)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_droid_episode_195.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_7",
	"actions_list": [
	"left:move_to(none, charging_cable), right:move_to(none, phone)",
	"left:grasp(charging_cable), right:grasp(phone)",
	"left:pick_up(charging_cable), right:pick_up(phone)",
	"left:insert(charging_cable,phone), right:hold(phone)"
	],
	"gt_dag": {
	"left:move_to(none, charging_cable), right:move_to(none, phone)": [
	"left:grasp(charging_cable), right:grasp(phone)"
	],
	"left:grasp(charging_cable), right:grasp(phone)": [
	"left:pick_up(charging_cable), right:pick_up(phone)"
	],
	"left:pick_up(charging_cable), right:pick_up(phone)": [
	"left:insert(charging_cable,phone), right:hold(phone)"
	],
	"left:insert(charging_cable,phone), right:hold(phone)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_connect_charging_cable_episode_7.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_11",
	"actions_list": [
	"left:move_to(none, charging_cable), right:move_to(none, phone)",
	"left:grasp(charging_cable), right:grasp(phone)",
	"left:pcik_up(charging_cable), right:pick_up(phone)",
	"left:insert(charging_cable, phone), right:hold(phone)"
	],
	"gt_dag": {
	"left:move_to(none, charging_cable), right:move_to(none, phone)": [
	"left:grasp(charging_cable), right:grasp(phone)"
	],
	"left:grasp(charging_cable), right:grasp(phone)": [
	"left:pcik_up(charging_cable), right:pick_up(phone)"
	],
	"left:pcik_up(charging_cable), right:pick_up(phone)": [
	"left:insert(charging_cable, phone), right:hold(phone)"
	],
	"left:insert(charging_cable, phone), right:hold(phone)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_connect_charging_cable_episode_11.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_13",
	"actions_list": [
	"left:move_to(none, charging_cable), right:move_to(none, phone)",
	"left:grasp(charging_cable), right:grasp(phone)",
	"left:pick_up(charging_cable), right:pick_up(phone)",
	"left:insert(charging_cable, phone), right:hold(phone)"
	],
	"gt_dag": {
	"left:move_to(none, charging_cable), right:move_to(none, phone)": [
	"left:grasp(charging_cable), right:grasp(phone)"
	],
	"left:grasp(charging_cable), right:grasp(phone)": [
	"left:pick_up(charging_cable), right:pick_up(phone)"
	],
	"left:pick_up(charging_cable), right:pick_up(phone)": [
	"left:insert(charging_cable, phone), right:hold(phone)"
	],
	"left:insert(charging_cable, phone), right:hold(phone)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_connect_charging_cable_episode_13.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_22",
	"actions_list": [
	"left:move_to(none, charging_cable), right:move_to(none, phone)",
	"left:grasp(charging_cable), right:grasp(phone)",
	"left:pick_up(charging_cable), right:pick_up(phone)",
	"left:insert(charging_cable,phone), right:hold(phone)"
	],
	"gt_dag": {
	"left:move_to(none, charging_cable), right:move_to(none, phone)": [
	"left:grasp(charging_cable), right:grasp(phone)"
	],
	"left:grasp(charging_cable), right:grasp(phone)": [
	"left:pick_up(charging_cable), right:pick_up(phone)"
	],
	"left:pick_up(charging_cable), right:pick_up(phone)": [
	"left:insert(charging_cable,phone), right:hold(phone)"
	],
	"left:insert(charging_cable,phone), right:hold(phone)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_connect_charging_cable_episode_22.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_28",
	"actions_list": [
	"left:move_to(none, charging_cable), right:move_to(none, phone)",
	"left:grasp(charging_cable), right:grasp(phone)",
	"left:pick_up(charging_cable), right:pick_up(phone)",
	"left:insert(charging_cable, phone_charging_port), right:hold(phone)"
	],
	"gt_dag": {
	"left:move_to(none, charging_cable), right:move_to(none, phone)": [
	"left:grasp(charging_cable), right:grasp(phone)"
	],
	"left:grasp(charging_cable), right:grasp(phone)": [
	"left:pick_up(charging_cable), right:pick_up(phone)"
	],
	"left:pick_up(charging_cable), right:pick_up(phone)": [
	"left:insert(charging_cable, phone_charging_port), right:hold(phone)"
	],
	"left:insert(charging_cable, phone_charging_port), right:hold(phone)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_connect_charging_cable_episode_28.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_connect_charging_cable_episode_30",
	"actions_list": [
	"left:move_to(none, charging_cable), right:move_to(none, phone)",
	"left:grasp(charging_cable), right:grasp(phone)",
	"left:pick_up(charging_cable), right:pick_up(phone)",
	"left:insert(charging_cable, phone), right:hold(phone)"
	],
	"gt_dag": {
	"left:move_to(none, charging_cable), right:move_to(none, phone)": [
	"left:grasp(charging_cable), right:grasp(phone)"
	],
	"left:grasp(charging_cable), right:grasp(phone)": [
	"left:pick_up(charging_cable), right:pick_up(phone)"
	],
	"left:pick_up(charging_cable), right:pick_up(phone)": [
	"left:insert(charging_cable, phone), right:hold(phone)"
	],
	"left:insert(charging_cable, phone), right:hold(phone)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_connect_charging_cable_episode_30.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_flip_bottle_episode_6",
	"actions_list": [
	"right:move_to(none, bottle), left:no_ops",
	"right:grasp(bottle), left:no_ops",
	"right:pick_up(bottle), left:no_ops",
	"right:turn(bottle,anticlockwise,inverted),left:no_ops",
	"transfer(right,left,bottle)",
	"left:place(bottle,table),right:no_ops"
	],
	"gt_dag": {
	"right:move_to(none, bottle), left:no_ops": [
	"right:grasp(bottle), left:no_ops"
	],
	"right:grasp(bottle), left:no_ops": [
	"right:pick_up(bottle), left:no_ops"
	],
	"right:pick_up(bottle), left:no_ops": [
	"right:turn(bottle,anticlockwise,inverted),left:no_ops"
	],
	"right:turn(bottle,anticlockwise,inverted),left:no_ops": [
	"transfer(right,left,bottle)"
	],
	"transfer(right,left,bottle)": [
	"left:place(bottle,table),right:no_ops"
	],
	"left:place(bottle,table),right:no_ops": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_flip_bottle_episode_6.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_flip_bottle_episode_14",
	"actions_list": [
	"left: no_ops, right:move_to(none, bottle)",
	"left: no_ops, right:grasp(bottle)",
	"left: no_ops, right:pick_up(bottle)",
	"left: no_ops, right:turn(bottle, clockwise, inverted)",
	"left: no_ops, right:place(bottle, table)"
	],
	"gt_dag": {
	"left: no_ops, right:move_to(none, bottle)": [
	"left: no_ops, right:grasp(bottle)"
	],
	"left: no_ops, right:grasp(bottle)": [
	"left: no_ops, right:pick_up(bottle)"
	],
	"left: no_ops, right:pick_up(bottle)": [
	"left: no_ops, right:turn(bottle, clockwise, inverted)"
	],
	"left: no_ops, right:turn(bottle, clockwise, inverted)": [
	"left: no_ops, right:place(bottle, table)"
	],
	"left: no_ops, right:place(bottle, table)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_flip_bottle_episode_14.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_0",
	"actions_list": [
	"left:move_to(none,brown_paper_ball), right:no_ops",
	"left:grasp(brown_paper_ball), right:no_ops",
	"left:pick_up(brown_paper_ball), right:no_ops",
	"left:place(brown_paper_ball, trash_can), right:no_ops",
	"left:move_to(none,white_paper_ball), right:no_ops",
	"left:grasp(white_paper_ball), right:no_ops",
	"left:pick_up(white_paper_ball), right:no_ops",
	"left:place(white_paper_ball, trash_can), right:no_ops",
	"left: no_ops, right:move_to(none,patterned_paper_ball)",
	"left: no_ops, right:grasp(patterned_paper_ball)",
	"left: no_ops, right:pick_up(patterned_paper_ball)",
	"left: no_ops, right:place(patterned_paper_ball, trash_can)",
	"left: no_ops, right:move_to(none,paper_ball)",
	"left: no_ops, right:grasp(paper_ball)",
	"left: no_ops, right:pick_up(paper_ball)",
	"left: no_ops, right:place(paper_ball, trash_can)"
	],
	"gt_dag": {
	"left:move_to(none,brown_paper_ball), right:no_ops": [
	"left:grasp(brown_paper_ball), right:no_ops"
	],
	"left:grasp(brown_paper_ball), right:no_ops": [
	"left:pick_up(brown_paper_ball), right:no_ops"
	],
	"left:pick_up(brown_paper_ball), right:no_ops": [
	"left:place(brown_paper_ball, trash_can), right:no_ops"
	],
	"left:place(brown_paper_ball, trash_can), right:no_ops": [],
	"left:move_to(none,white_paper_ball), right:no_ops": [
	"left:grasp(white_paper_ball), right:no_ops"
	],
	"left:grasp(white_paper_ball), right:no_ops": [
	"left:pick_up(white_paper_ball), right:no_ops"
	],
	"left:pick_up(white_paper_ball), right:no_ops": [
	"left:place(white_paper_ball, trash_can), right:no_ops"
	],
	"left:place(white_paper_ball, trash_can), right:no_ops": [],
	"left: no_ops, right:move_to(none,patterned_paper_ball)": [
	"left: no_ops, right:grasp(patterned_paper_ball)"
	],
	"left: no_ops, right:grasp(patterned_paper_ball)": [
	"left: no_ops, right:pick_up(patterned_paper_ball)"
	],
	"left: no_ops, right:pick_up(patterned_paper_ball)": [
	"left: no_ops, right:place(patterned_paper_ball, trash_can)"
	],
	"left: no_ops, right:place(patterned_paper_ball, trash_can)": [],
	"left: no_ops, right:move_to(none,paper_ball)": [
	"left: no_ops, right:grasp(paper_ball)"
	],
	"left: no_ops, right:grasp(paper_ball)": [
	"left: no_ops, right:pick_up(paper_ball)"
	],
	"left: no_ops, right:pick_up(paper_ball)": [
	"left: no_ops, right:place(paper_ball, trash_can)"
	],
	"left: no_ops, right:place(paper_ball, trash_can)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_gather_paper_ball_episode_0.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_4",
	"actions_list": [
	"left:move_to(none, paper_ball), right:no_ops",
	"left:grasp(paper_ball), right:no_ops",
	"left:pick_up(paper_ball), right:no_ops",
	"left:place(paper_ball, trash_can), right:no_ops",
	"left:move_to(none, paper_ball), right:no_ops",
	"left:grasp(paper_ball), right:no_ops",
	"left:pick_up(paper_ball), right:no_ops",
	"left:place(paper_ball, trash_can), right:no_ops",
	"left:move_to(none, paper_ball), right:no_ops",
	"left:grasp(paper_ball), right:no_ops",
	"left:pick_up(paper_ball), right:no_ops",
	"left:place(paper_ball, trash_can), right:no_ops",
	"left:no_ops, right:move_to(none, paper_ball)",
	"left:no_ops, right:grasp(paper_ball)",
	"left:no_ops, right:pick_up(paper_ball)",
	"left:no_ops, right:place(paper_ball, trash_can)"
	],
	"gt_dag": {
	"left:move_to(none, paper_ball), right:no_ops": [
	"left:grasp(paper_ball), right:no_ops"
	],
	"left:grasp(paper_ball), right:no_ops": [
	"left:pick_up(paper_ball), right:no_ops"
	],
	"left:pick_up(paper_ball), right:no_ops": [
	"left:place(paper_ball, trash_can), right:no_ops"
	],
	"left:place(paper_ball, trash_can), right:no_ops": [],
	"left:no_ops, right:move_to(none, paper_ball)": [
	"left:no_ops, right:grasp(paper_ball)"
	],
	"left:no_ops, right:grasp(paper_ball)": [
	"left:no_ops, right:pick_up(paper_ball)"
	],
	"left:no_ops, right:pick_up(paper_ball)": [
	"left:no_ops, right:place(paper_ball, trash_can)"
	],
	"left:no_ops, right:place(paper_ball, trash_can)": [],
	"left:move_to(none, paper_ball), right:no_ops<1>": [
	"left:grasp(paper_ball), right:no_ops<1>"
	],
	"left:grasp(paper_ball), right:no_ops<1>": [
	"left:pick_up(paper_ball), right:no_ops<1>"
	],
	"left:pick_up(paper_ball), right:no_ops<1>": [
	"left:place(paper_ball, trash_can), right:no_ops<1>"
	],
	"left:place(paper_ball, trash_can), right:no_ops<1>": [],
	"left:move_to(none, paper_ball), right:no_ops<2>": [
	"left:grasp(paper_ball), right:no_ops<2>"
	],
	"left:grasp(paper_ball), right:no_ops<2>": [
	"left:pick_up(paper_ball), right:no_ops<2>"
	],
	"left:pick_up(paper_ball), right:no_ops<2>": [
	"left:place(paper_ball, trash_can), right:no_ops<2>"
	],
	"left:place(paper_ball, trash_can), right:no_ops<2>": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_gather_paper_ball_episode_4.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_13",
	"actions_list": [
	"right:move_to(none, paper_ball), left:no_ops",
	"right:grasp(paper_ball), left:no_ops",
	"right:pick_up(paper_ball), left:no_ops",
	"right:place(paper_ball, inside_trash_can), left:no_ops"
	],
	"gt_dag": {
	"right:move_to(none, paper_ball), left:no_ops": [
	"right:grasp(paper_ball), left:no_ops"
	],
	"right:grasp(paper_ball), left:no_ops": [
	"right:pick_up(paper_ball), left:no_ops"
	],
	"right:pick_up(paper_ball), left:no_ops": [
	"right:place(paper_ball, inside_trash_can), left:no_ops"
	],
	"right:place(paper_ball, inside_trash_can), left:no_ops": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_gather_paper_ball_episode_13.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_14",
	"actions_list": [
	"right:move_to(none, paper_ball), left:no_ops",
	"right:grasp(paper_ball), left:no_ops",
	"right:pick_up(paper_ball), left:no_ops",
	"right:place(paper_ball, inside_trash_can), left:no_ops"
	],
	"gt_dag": {
	"right:move_to(none, paper_ball), left:no_ops": [
	"right:grasp(paper_ball), left:no_ops"
	],
	"right:grasp(paper_ball), left:no_ops": [
	"right:pick_up(paper_ball), left:no_ops"
	],
	"right:pick_up(paper_ball), left:no_ops": [
	"right:place(paper_ball, inside_trash_can), left:no_ops"
	],
	"right:place(paper_ball, inside_trash_can), left:no_ops": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_gather_paper_ball_episode_14.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_15",
	"actions_list": [
	"right:move_to(none, paper_ball), left:no_ops",
	"right:grasp(paper_ball), left:no_ops",
	"right:pick_up(paper_ball), left:no_ops",
	"right:place(paper_ball, inside_trash_can), left:no_ops"
	],
	"gt_dag": {
	"right:move_to(none, paper_ball), left:no_ops": [
	"right:grasp(paper_ball), left:no_ops"
	],
	"right:grasp(paper_ball), left:no_ops": [
	"right:pick_up(paper_ball), left:no_ops"
	],
	"right:pick_up(paper_ball), left:no_ops": [
	"right:place(paper_ball, inside_trash_can), left:no_ops"
	],
	"right:place(paper_ball, inside_trash_can), left:no_ops": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_gather_paper_ball_episode_15.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_gather_paper_ball_episode_16",
	"actions_list": [
	"right:move_to(none, paper_ball), left:no_ops",
	"right:grasp(paper_ball), left:no_ops",
	"right:pick_up(paper_ball), left:no_ops",
	"right:place(paper_ball, inside_trash_can), left:no_ops"
	],
	"gt_dag": {
	"right:move_to(none, paper_ball), left:no_ops": [
	"right:grasp(paper_ball), left:no_ops"
	],
	"right:grasp(paper_ball), left:no_ops": [
	"right:pick_up(paper_ball), left:no_ops"
	],
	"right:pick_up(paper_ball), left:no_ops": [
	"right:place(paper_ball, inside_trash_can), left:no_ops"
	],
	"right:place(paper_ball, inside_trash_can), left:no_ops": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_gather_paper_ball_episode_16.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_4",
	"actions_list": [
	"left:move_to(none, charger), right:move_to(none,data_cable)",
	"left:grasp(charger), right:grasp(data_cable)",
	"left:pick_up(charger), right:pick_up(data_cable)",
	"left:hold(charger), right:insert(data_cable,charger)",
	"left:place(charger,table), right:no_ops"
	],
	"gt_dag": {
	"left:move_to(none, charger), right:move_to(none,data_cable)": [
	"left:grasp(charger), right:grasp(data_cable)"
	],
	"left:grasp(charger), right:grasp(data_cable)": [
	"left:pick_up(charger), right:pick_up(data_cable)"
	],
	"left:pick_up(charger), right:pick_up(data_cable)": [
	"left:hold(charger), right:insert(data_cable,charger)"
	],
	"left:hold(charger), right:insert(data_cable,charger)": [
	"left:place(charger,table), right:no_ops"
	],
	"left:place(charger,table), right:no_ops": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_insert_cable_charger_episode_4.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_5",
	"actions_list": [
	"left:move_to(none, charger), right:move_to(none,data_cable)",
	"left:grasp(charger), right:grasp(data_cable)",
	"left:pick_up(charger), right:pick_up(data_cable)",
	"left:hold(charger), right:insert(data_cable,charger)",
	"left:place(charger,table), right:no_ops"
	],
	"gt_dag": {
	"left:move_to(none, charger), right:move_to(none,data_cable)": [
	"left:grasp(charger), right:grasp(data_cable)"
	],
	"left:grasp(charger), right:grasp(data_cable)": [
	"left:pick_up(charger), right:pick_up(data_cable)"
	],
	"left:pick_up(charger), right:pick_up(data_cable)": [
	"left:hold(charger), right:insert(data_cable,charger)"
	],
	"left:hold(charger), right:insert(data_cable,charger)": [
	"left:place(charger,table), right:no_ops"
	],
	"left:place(charger,table), right:no_ops": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_insert_cable_charger_episode_5.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_11",
	"actions_list": [
	"left:move_to(none, charger), right:move_to(none,data_cable)",
	"left:grasp(charger), right:grasp(data_cable)",
	"left:pick_up(charger), right:pick_up(data_cable)",
	"left:hold(charger), right:insert(data_cable,charger)",
	"left:place(charger,table), right:no_ops"
	],
	"gt_dag": {
	"left:move_to(none, charger), right:move_to(none,data_cable)": [
	"left:grasp(charger), right:grasp(data_cable)"
	],
	"left:grasp(charger), right:grasp(data_cable)": [
	"left:pick_up(charger), right:pick_up(data_cable)"
	],
	"left:pick_up(charger), right:pick_up(data_cable)": [
	"left:hold(charger), right:insert(data_cable,charger)"
	],
	"left:hold(charger), right:insert(data_cable,charger)": [
	"left:place(charger,table), right:no_ops"
	],
	"left:place(charger,table), right:no_ops": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_insert_cable_charger_episode_11.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_14",
	"actions_list": [
	"left:move_to(none, charger), right:move_to(none,data_cable)",
	"left:grasp(charger), right:grasp(data_cable)",
	"left:pick_up(charger), right:pick_up(data_cable)",
	"left:hold(charger), right:insert(data_cable,charger)",
	"left:place(charger,table), right:no_ops"
	],
	"gt_dag": {
	"left:move_to(none, charger), right:move_to(none,data_cable)": [
	"left:grasp(charger), right:grasp(data_cable)"
	],
	"left:grasp(charger), right:grasp(data_cable)": [
	"left:pick_up(charger), right:pick_up(data_cable)"
	],
	"left:pick_up(charger), right:pick_up(data_cable)": [
	"left:hold(charger), right:insert(data_cable,charger)"
	],
	"left:hold(charger), right:insert(data_cable,charger)": [
	"left:place(charger,table), right:no_ops"
	],
	"left:place(charger,table), right:no_ops": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_insert_cable_charger_episode_14.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_insert_cable_charger_episode_15",
	"actions_list": [
	"left:move_to(none, charger), right:move_to(none,data_cable)",
	"left:grasp(charger), right:grasp(data_cable)",
	"left:pick_up(charger), right:pick_up(data_cable)",
	"left:hold(charger), right:insert(data_cable,charger)",
	"left:place(charger,table), right:no_ops"
	],
	"gt_dag": {
	"left:move_to(none, charger), right:move_to(none,data_cable)": [
	"left:grasp(charger), right:grasp(data_cable)"
	],
	"left:grasp(charger), right:grasp(data_cable)": [
	"left:pick_up(charger), right:pick_up(data_cable)"
	],
	"left:pick_up(charger), right:pick_up(data_cable)": [
	"left:hold(charger), right:insert(data_cable,charger)"
	],
	"left:hold(charger), right:insert(data_cable,charger)": [
	"left:place(charger,table), right:no_ops"
	],
	"left:place(charger,table), right:no_ops": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_insert_cable_charger_episode_15.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_pick_backpack_from_chair_to_desk_episode_1",
	"actions_list": [
	"left:move_to(none, backpack), right:no_ops",
	"left:grasp(backpack), right:no_ops",
	"left:pick_up(backpack), right:no_ops",
	"left:place(backpack, desk), right:no_ops"
	],
	"gt_dag": {
	"left:move_to(none, backpack), right:no_ops": [
	"left:grasp(backpack), right:no_ops"
	],
	"left:grasp(backpack), right:no_ops": [
	"left:pick_up(backpack), right:no_ops"
	],
	"left:pick_up(backpack), right:no_ops": [
	"left:place(backpack, desk), right:no_ops"
	],
	"left:place(backpack, desk), right:no_ops": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_pick_backpack_from_chair_to_desk_episode_1.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_pick_orange_into_bag_episode_11",
	"actions_list": [
	"left:move_to(none, orange), right:no_ops",
	"left:grasp(orange), right:no_ops",
	"left:pick_up(orange), right:no_ops",
	"left:place(orange,inside_bag), right:no_ops"
	],
	"gt_dag": {
	"left:move_to(none, orange), right:no_ops": [
	"left:grasp(orange), right:no_ops"
	],
	"left:grasp(orange), right:no_ops": [
	"left:pick_up(orange), right:no_ops"
	],
	"left:pick_up(orange), right:no_ops": [
	"left:place(orange,inside_bag), right:no_ops"
	],
	"left:place(orange,inside_bag), right:no_ops": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_pick_orange_into_bag_episode_11.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_pick_tape_into_bag_episode_18",
	"actions_list": [
	"right:move_to(none, tape), left:no_ops",
	"right:grasp(tape), left:no_ops",
	"right:pick_up(tape), left:no_ops",
	"right:place(tape, inside_bag), left:no_ops"
	],
	"gt_dag": {
	"right:move_to(none, tape), left:no_ops": [
	"right:grasp(tape), left:no_ops"
	],
	"right:grasp(tape), left:no_ops": [
	"right:pick_up(tape), left:no_ops"
	],
	"right:pick_up(tape), left:no_ops": [
	"right:place(tape, inside_bag), left:no_ops"
	],
	"right:place(tape, inside_bag), left:no_ops": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_pick_tape_into_bag_episode_18.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_pick_tomato_to_desk_episode_16",
	"actions_list": [
	"left:no_ops, right:move_to(none, can)",
	"left:no_ops, right:grasp(can)",
	"left:no_ops, right:pick_up(can)",
	"left:no_ops, right:place(can, right_side_of_the_table)"
	],
	"gt_dag": {
	"left:no_ops, right:move_to(none, can)": [
	"left:no_ops, right:grasp(can)"
	],
	"left:no_ops, right:grasp(can)": [
	"left:no_ops, right:pick_up(can)"
	],
	"left:no_ops, right:pick_up(can)": [
	"left:no_ops, right:place(can, right_side_of_the_table)"
	],
	"left:no_ops, right:place(can, right_side_of_the_table)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_pick_tomato_to_desk_episode_16.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_place_octopus_upright_episode_12",
	"actions_list": [
	"left:no_ops, right:move_to(none, octopus_plushie)",
	"left:no_ops, right:grasp(octopus_plushie)",
	"left:no_ops, right:pick_up(octopus_plushie)",
	"left:no_ops, right:turn(octopus_plushie, clock，horizontally_ on_table,)",
	"transfer(left, right, octopus_plushie)",
	"right:no_ops, left:turn(octopus_plushie, clock，handstand_ on_table)",
	"right:no_ops, left:place(octopus_plushie,table)"
	],
	"gt_dag": {
	"left:no_ops, right:move_to(none, octopus_plushie)": [
	"left:no_ops, right:grasp(octopus_plushie)"
	],
	"left:no_ops, right:grasp(octopus_plushie)": [
	"left:no_ops, right:pick_up(octopus_plushie)"
	],
	"left:no_ops, right:pick_up(octopus_plushie)": [
	"left:no_ops, right:turn(octopus_plushie, clock，horizontally_ on_table,)"
	],
	"left:no_ops, right:turn(octopus_plushie, clock，horizontally_ on_table,)": [
	"transfer(left, right, octopus_plushie)"
	],
	"transfer(left, right, octopus_plushie)": [
	"right:no_ops, left:turn(octopus_plushie, clock，handstand_ on_table)"
	],
	"right:no_ops, left:turn(octopus_plushie, clock，handstand_ on_table)": [
	"right:no_ops, left:place(octopus_plushie,table)"
	],
	"right:no_ops, left:place(octopus_plushie,table)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_place_octopus_upright_episode_12.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_pull_chair_episode_8",
	"actions_list": [
	"left:no_ops, right:move_to(none, chair)",
	"left:no_ops, right:grasp(right_side_of_the_chair)",
	"left:no_ops, right:pull(chair, behind)"
	],
	"gt_dag": {
	"left:no_ops, right:move_to(none, chair)": [
	"left:no_ops, right:grasp(right_side_of_the_chair)"
	],
	"left:no_ops, right:grasp(right_side_of_the_chair)": [
	"left:no_ops, right:pull(chair, behind)"
	],
	"left:no_ops, right:pull(chair, behind)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_pull_chair_episode_8.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_put_clothes_into_backpack_episode_9",
	"actions_list": [
	"left:move_to(none, gray_clothes), right:no_ops",
	"left:grasp(gray_clothes), right:no_ops",
	"left:pick_up(gray_clothes), right:no_ops",
	"left:place(gray_clothes, backpack), right:no_ops"
	],
	"gt_dag": {
	"left:move_to(none, gray_clothes), right:no_ops": [
	"left:grasp(gray_clothes), right:no_ops"
	],
	"left:grasp(gray_clothes), right:no_ops": [
	"left:pick_up(gray_clothes), right:no_ops"
	],
	"left:pick_up(gray_clothes), right:no_ops": [
	"left:place(gray_clothes, backpack), right:no_ops"
	],
	"left:place(gray_clothes, backpack), right:no_ops": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_put_clothes_into_backpack_episode_9.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_2",
	"actions_list": [
	"left:move_to(none,orange), right:no_ops",
	"left:grasp(orange), right:no_ops",
	"left:pick_up(orange), right:no_ops",
	"left:place(orange, bag), right:no_ops",
	"left:move_to(none,orange), right:no_ops",
	"left:grasp(orange), right:no_ops",
	"left:pick_up(orange), right:no_ops",
	"left:place(orange, bag), right:no_ops"
	],
	"gt_dag": {
	"left:move_to(none,orange), right:no_ops": [
	"left:grasp(orange), right:no_ops"
	],
	"left:grasp(orange), right:no_ops": [
	"left:pick_up(orange), right:no_ops"
	],
	"left:pick_up(orange), right:no_ops": [
	"left:place(orange, bag), right:no_ops"
	],
	"left:place(orange, bag), right:no_ops": [
	"left:move_to(none,orange), right:no_ops<1>"
	],
	"left:move_to(none,orange), right:no_ops<1>": [
	"left:grasp(orange), right:no_ops<1>"
	],
	"left:grasp(orange), right:no_ops<1>": [
	"left:pick_up(orange), right:no_ops<1>"
	],
	"left:pick_up(orange), right:no_ops<1>": [
	"left:place(orange, bag), right:no_ops<1>"
	],
	"left:place(orange, bag), right:no_ops<1>": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_put_orange_into_box_episode_2.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_6",
	"actions_list": [
	"left:move_to(none,orange), right:no_ops",
	"left:grasp(orange), right:no_ops",
	"left:pick_up(orange), right:no_ops",
	"left:place(orange, bag), right:no_ops",
	"left:move_to(none,orange), right:no_ops",
	"left:grasp(orange), right:no_ops",
	"left:pick_up(orange), right:no_ops",
	"left:place(orange, bag), right:no_ops"
	],
	"gt_dag": {
	"left:move_to(none,orange), right:no_ops": [
	"left:grasp(orange), right:no_ops"
	],
	"left:grasp(orange), right:no_ops": [
	"left:pick_up(orange), right:no_ops"
	],
	"left:pick_up(orange), right:no_ops": [
	"left:place(orange, bag), right:no_ops"
	],
	"left:place(orange, bag), right:no_ops": [
	"left:move_to(none,orange), right:no_ops<1>"
	],
	"left:move_to(none,orange), right:no_ops<1>": [
	"left:grasp(orange), right:no_ops<1>"
	],
	"left:grasp(orange), right:no_ops<1>": [
	"left:pick_up(orange), right:no_ops<1>"
	],
	"left:pick_up(orange), right:no_ops<1>": [
	"left:place(orange, bag), right:no_ops<1>"
	],
	"left:place(orange, bag), right:no_ops<1>": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_put_orange_into_box_episode_6.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_7",
	"actions_list": [
	"left:move_to(none, orange), right:no_ops",
	"left:grasp(orange), right:no_ops",
	"left:pick_up(orange), right:no_ops",
	"left:place(orange, bag), right:no_ops",
	"left:move_to(none, orange), right:no_ops",
	"left:grasp(orange), right:no_ops",
	"left:pick_up(orange), right:no_ops",
	"left:place(orange, bag), right:no_ops"
	],
	"gt_dag": {
	"left:move_to(none, orange), right:no_ops": [
	"left:grasp(orange), right:no_ops"
	],
	"left:grasp(orange), right:no_ops": [
	"left:pick_up(orange), right:no_ops"
	],
	"left:pick_up(orange), right:no_ops": [
	"left:place(orange, bag), right:no_ops"
	],
	"left:place(orange, bag), right:no_ops": [
	"left:move_to(none, orange), right:no_ops<1>"
	],
	"left:move_to(none, orange), right:no_ops<1>": [
	"left:grasp(orange), right:no_ops<1>"
	],
	"left:grasp(orange), right:no_ops<1>": [
	"left:pick_up(orange), right:no_ops<1>"
	],
	"left:pick_up(orange), right:no_ops<1>": [
	"left:place(orange, bag), right:no_ops<1>"
	],
	"left:place(orange, bag), right:no_ops<1>": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_put_orange_into_box_episode_7.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_8",
	"actions_list": [
	"right:move_to(none, first_orange), left:no_ops",
	"right:grasp(first_orange), left:no_ops",
	"right:pick_up(first_orange), left:no_ops",
	"right:place(first_orange, bag), left:no_ops",
	"right:move_to(none, second_orange), left:no_ops",
	"right:grasp(second_orange), left:no_ops",
	"right:pick_up(second_orange), left:no_ops",
	"right:place(second_orange, bag), left:no_ops"
	],
	"gt_dag": {
	"right:move_to(none, first_orange), left:no_ops": [
	"right:grasp(first_orange), left:no_ops"
	],
	"right:grasp(first_orange), left:no_ops": [
	"right:pick_up(first_orange), left:no_ops"
	],
	"right:pick_up(first_orange), left:no_ops": [
	"right:place(first_orange, bag), left:no_ops"
	],
	"right:place(first_orange, bag), left:no_ops": [
	"right:move_to(none, second_orange), left:no_ops"
	],
	"right:move_to(none, second_orange), left:no_ops": [
	"right:grasp(second_orange), left:no_ops"
	],
	"right:grasp(second_orange), left:no_ops": [
	"right:pick_up(second_orange), left:no_ops"
	],
	"right:pick_up(second_orange), left:no_ops": [
	"right:place(second_orange, bag), left:no_ops"
	],
	"right:place(second_orange, bag), left:no_ops": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_put_orange_into_box_episode_8.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_put_orange_into_box_episode_10",
	"actions_list": [
	"left:move_to(none,orange), right:no_ops",
	"left:grasp(orange), right:no_ops",
	"left:pick_up(orange), right:no_ops",
	"left:place(orange, bag), right:no_ops",
	"left:move_to(none,orange), right:no_ops",
	"left:grasp(orange), right:no_ops",
	"left:pick_up(orange), right:no_ops",
	"left:place(orange, bag), right:no_ops"
	],
	"gt_dag": {
	"left:move_to(none,orange), right:no_ops": [
	"left:grasp(orange), right:no_ops"
	],
	"left:grasp(orange), right:no_ops": [
	"left:pick_up(orange), right:no_ops"
	],
	"left:pick_up(orange), right:no_ops": [
	"left:place(orange, bag), right:no_ops"
	],
	"left:place(orange, bag), right:no_ops": [
	"left:move_to(none,orange), right:no_ops<1>"
	],
	"left:move_to(none,orange), right:no_ops<1>": [
	"left:grasp(orange), right:no_ops<1>"
	],
	"left:grasp(orange), right:no_ops<1>": [
	"left:pick_up(orange), right:no_ops<1>"
	],
	"left:pick_up(orange), right:no_ops<1>": [
	"left:place(orange, bag), right:no_ops<1>"
	],
	"left:place(orange, bag), right:no_ops<1>": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_put_orange_into_box_episode_10.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_search_wipe_glass_water_episode_2",
	"actions_list": [
	"left:move_to(none, sponge), right:no_ops",
	"left:grasp(sponge), right:no_ops",
	"left:pick_up(sponge), right:no_ops",
	"left:wipe(sponge, left_surface,table), right:no_ops",
	"left:place(sponge,middle_table), right:no_ops",
	"rgiht:move_to(none, sponge), right:no_ops",
	"right:grasp(sponge), left:no_ops",
	"right:pick_up(sponge), left:no_ops",
	"right:wipe(sponge,right_surface,table), left:no_ops",
	"right:place(sponge,middle_table), left:no_ops"
	],
	"gt_dag": {
	"left:move_to(none, sponge), right:no_ops": [
	"left:grasp(sponge), right:no_ops"
	],
	"left:grasp(sponge), right:no_ops": [
	"left:pick_up(sponge), right:no_ops"
	],
	"left:pick_up(sponge), right:no_ops": [
	"left:wipe(sponge, left_surface,table), right:no_ops"
	],
	"left:wipe(sponge, left_surface,table), right:no_ops": [
	"left:place(sponge,middle_table), right:no_ops"
	],
	"left:place(sponge,middle_table), right:no_ops": [
	"rgiht:move_to(none, sponge), right:no_ops"
	],
	"rgiht:move_to(none, sponge), right:no_ops": [
	"right:grasp(sponge), left:no_ops"
	],
	"right:grasp(sponge), left:no_ops": [
	"right:pick_up(sponge), left:no_ops"
	],
	"right:pick_up(sponge), left:no_ops": [
	"right:wipe(sponge,right_surface,table), left:no_ops"
	],
	"right:wipe(sponge,right_surface,table), left:no_ops": [
	"right:place(sponge,middle_table), left:no_ops"
	],
	"right:place(sponge,middle_table), left:no_ops": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_search_wipe_glass_water_episode_2.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_search_wipe_glass_water_episode_5",
	"actions_list": [
	"right:move_to(none, sponge), left:no_ops",
	"right:grasp(sponge), left:no_ops",
	"right:pick_up(sponge), left:no_ops",
	"right:wipe(sponge,right_surface,table), left:no_ops",
	"right:place(sponge,middle_of_table),left:no_ops",
	"left:move_to(none, sponge), right:no_ops",
	"left:grasp(sponge), right:no_ops",
	"left:pick_up(sponge), right:no_ops",
	"left:wipe(sponge,left_surface,table), right:no_ops",
	"left:place(sponge,middle_of_table),right:no_ops"
	],
	"gt_dag": {
	"right:move_to(none, sponge), left:no_ops": [
	"right:grasp(sponge), left:no_ops"
	],
	"right:grasp(sponge), left:no_ops": [
	"right:pick_up(sponge), left:no_ops"
	],
	"right:pick_up(sponge), left:no_ops": [
	"right:wipe(sponge,right_surface,table), left:no_ops"
	],
	"right:wipe(sponge,right_surface,table), left:no_ops": [
	"right:place(sponge,middle_of_table),left:no_ops"
	],
	"right:place(sponge,middle_of_table),left:no_ops": [
	"left:move_to(none, sponge), right:no_ops"
	],
	"left:move_to(none, sponge), right:no_ops": [
	"left:grasp(sponge), right:no_ops"
	],
	"left:grasp(sponge), right:no_ops": [
	"left:pick_up(sponge), right:no_ops"
	],
	"left:pick_up(sponge), right:no_ops": [
	"left:wipe(sponge,left_surface,table), right:no_ops"
	],
	"left:wipe(sponge,left_surface,table), right:no_ops": [
	"left:place(sponge,middle_of_table),right:no_ops"
	],
	"left:place(sponge,middle_of_table),right:no_ops": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_search_wipe_glass_water_episode_5.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_search_wipe_glass_water_episode_9",
	"actions_list": [
	"right:move_to(none, sponge), left:no_ops",
	"right:grasp(sponge), left:no_ops",
	"right:pick_up(sponge), left:no_ops",
	"right:wipe(sponge, right_surface,table), left:no_ops",
	"right:place(sponge,middle_of_table),left:no_ops",
	"left:move_to(none, sponge), right:no_ops",
	"left:grasp(sponge), right:no_ops",
	"left:pick_up(sponge), right:no_ops",
	"left:wipe(sponge,left_surface,table), right:no_ops",
	"left:place(sponge,middle_of_table),right:no_ops"
	],
	"gt_dag": {
	"right:move_to(none, sponge), left:no_ops": [
	"right:grasp(sponge), left:no_ops"
	],
	"right:grasp(sponge), left:no_ops": [
	"right:pick_up(sponge), left:no_ops"
	],
	"right:pick_up(sponge), left:no_ops": [
	"right:wipe(sponge, right_surface,table), left:no_ops"
	],
	"right:wipe(sponge, right_surface,table), left:no_ops": [
	"right:place(sponge,middle_of_table),left:no_ops"
	],
	"right:place(sponge,middle_of_table),left:no_ops": [
	"left:move_to(none, sponge), right:no_ops"
	],
	"left:move_to(none, sponge), right:no_ops": [
	"left:grasp(sponge), right:no_ops"
	],
	"left:grasp(sponge), right:no_ops": [
	"left:pick_up(sponge), right:no_ops"
	],
	"left:pick_up(sponge), right:no_ops": [
	"left:wipe(sponge,left_surface,table), right:no_ops"
	],
	"left:wipe(sponge,left_surface,table), right:no_ops": [
	"left:place(sponge,middle_of_table),right:no_ops"
	],
	"left:place(sponge,middle_of_table),right:no_ops": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_search_wipe_glass_water_episode_9.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_search_wipe_glass_water_episode_11",
	"actions_list": [
	"left:move_to(none, sponge), right:no_ops",
	"left:grasp(sponge), right:no_ops",
	"left:pick_up(sponge), right:no_ops",
	"left:wipe(sponge,left_surface,table), right:no_ops",
	"left:place(sponge,middle_of_table),right:no_ops",
	"right:move_to(none, sponge), left:no_ops",
	"right:grasp(sponge), left:no_ops",
	"right:pick_up(sponge), left:no_ops",
	"right:wipe(sponge,right_surface,table), left:no_ops",
	"right:place(sponge,middle_of_table),left:no_ops"
	],
	"gt_dag": {
	"left:move_to(none, sponge), right:no_ops": [
	"left:grasp(sponge), right:no_ops"
	],
	"left:grasp(sponge), right:no_ops": [
	"left:pick_up(sponge), right:no_ops"
	],
	"left:pick_up(sponge), right:no_ops": [
	"left:wipe(sponge,left_surface,table), right:no_ops"
	],
	"left:wipe(sponge,left_surface,table), right:no_ops": [
	"left:place(sponge,middle_of_table),right:no_ops"
	],
	"left:place(sponge,middle_of_table),right:no_ops": [
	"right:move_to(none, sponge), left:no_ops"
	],
	"right:move_to(none, sponge), left:no_ops": [
	"right:grasp(sponge), left:no_ops"
	],
	"right:grasp(sponge), left:no_ops": [
	"right:pick_up(sponge), left:no_ops"
	],
	"right:pick_up(sponge), left:no_ops": [
	"right:wipe(sponge,right_surface,table), left:no_ops"
	],
	"right:wipe(sponge,right_surface,table), left:no_ops": [
	"right:place(sponge,middle_of_table),left:no_ops"
	],
	"right:place(sponge,middle_of_table),left:no_ops": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_search_wipe_glass_water_episode_11.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_take_out_glassescase_from_bag_episode_3",
	"actions_list": [
	"left:move_to(none, bag), right:move_to(none,glass_case)",
	"left:grasp(bag_handle), right:grasp(glass_case)",
	"left:pick_up(bag), right:pick_up(glass_case)",
	"left:no_ops, right:move_to(glasses_case,table)",
	"left:place(bag,table), right:place(glasses_case, table)"
	],
	"gt_dag": {
	"left:move_to(none, bag), right:move_to(none,glass_case)": [
	"left:grasp(bag_handle), right:grasp(glass_case)"
	],
	"left:grasp(bag_handle), right:grasp(glass_case)": [
	"left:pick_up(bag), right:pick_up(glass_case)"
	],
	"left:pick_up(bag), right:pick_up(glass_case)": [
	"left:no_ops, right:move_to(glasses_case,table)"
	],
	"left:no_ops, right:move_to(glasses_case,table)": [
	"left:place(bag,table), right:place(glasses_case, table)"
	],
	"left:place(bag,table), right:place(glasses_case, table)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_take_out_glassescase_from_bag_episode_3.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_take_out_glassescase_from_bag_episode_6",
	"actions_list": [
	"left:move_to(none, bag), right:move_to(none,glass_case)",
	"left:grasp(bag_handle), right:grasp(glass_case)",
	"left:pick_up(bag), right:pick_up(glass_case)",
	"left:no_ops, right:move_to(glasses_case,table)",
	"left:place(bag,table), right:place(glasses_case, table)"
	],
	"gt_dag": {
	"left:move_to(none, bag), right:move_to(none,glass_case)": [
	"left:grasp(bag_handle), right:grasp(glass_case)"
	],
	"left:grasp(bag_handle), right:grasp(glass_case)": [
	"left:pick_up(bag), right:pick_up(glass_case)"
	],
	"left:pick_up(bag), right:pick_up(glass_case)": [
	"left:no_ops, right:move_to(glasses_case,table)"
	],
	"left:no_ops, right:move_to(glasses_case,table)": [
	"left:place(bag,table), right:place(glasses_case, table)"
	],
	"left:place(bag,table), right:place(glasses_case, table)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_take_out_glassescase_from_bag_episode_6.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_take_out_pen_lid_episode_4",
	"actions_list": [
	"left:no_ops, right:move_to(none, pen_body)",
	"left:move_to(none, pen_cap), right:grasp(pen_body)",
	"left:grasp(pen_cap), right:pick_up(pen_body)",
	"left:pullout(pen_cap,pen) right:hold(pen_body)",
	"left:place(pen_cap,table), right:place(pen_body, table)"
	],
	"gt_dag": {
	"left:no_ops, right:move_to(none, pen_body)": [
	"left:move_to(none, pen_cap), right:grasp(pen_body)"
	],
	"left:move_to(none, pen_cap), right:grasp(pen_body)": [
	"left:grasp(pen_cap), right:pick_up(pen_body)"
	],
	"left:grasp(pen_cap), right:pick_up(pen_body)": [
	"left:pullout(pen_cap,pen) right:hold(pen_body)"
	],
	"left:pullout(pen_cap,pen) right:hold(pen_body)": [
	"left:place(pen_cap,table), right:place(pen_body, table)"
	],
	"left:place(pen_cap,table), right:place(pen_body, table)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_take_out_pen_lid_episode_4.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_take_out_pen_lid_episode_10",
	"actions_list": [
	"left:no_ops, right:move_to(none, pen_body)",
	"left:move_to(none, pen_cap), right:grasp(pen_body)",
	"left:grasp(pen_cap), right:pick_up(pen_body)",
	"left:pullout(pen_cap,pen) right:hold(pen_body)",
	"left:place(pen_cap,table), right:place(pen_body, table)"
	],
	"gt_dag": {
	"left:no_ops, right:move_to(none, pen_body)": [
	"left:move_to(none, pen_cap), right:grasp(pen_body)"
	],
	"left:move_to(none, pen_cap), right:grasp(pen_body)": [
	"left:grasp(pen_cap), right:pick_up(pen_body)"
	],
	"left:grasp(pen_cap), right:pick_up(pen_body)": [
	"left:pullout(pen_cap,pen) right:hold(pen_body)"
	],
	"left:pullout(pen_cap,pen) right:hold(pen_body)": [
	"left:place(pen_cap,table), right:place(pen_body, table)"
	],
	"left:place(pen_cap,table), right:place(pen_body, table)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_take_out_pen_lid_episode_10.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_take_out_pen_lid_episode_13",
	"actions_list": [
	"left:no_ops, right:move_to(none, pen_body)",
	"left:move_to(none, pen_cap), right:grasp(pen_body)",
	"left:grasp(pen_cap), right:pick_up(pen_body)",
	"left:pullout(pen_cap,pen) right:hold(pen_body)",
	"left:place(pen_cap,table), right:place(pen_body, table)"
	],
	"gt_dag": {
	"left:no_ops, right:move_to(none, pen_body)": [
	"left:move_to(none, pen_cap), right:grasp(pen_body)"
	],
	"left:move_to(none, pen_cap), right:grasp(pen_body)": [
	"left:grasp(pen_cap), right:pick_up(pen_body)"
	],
	"left:grasp(pen_cap), right:pick_up(pen_body)": [
	"left:pullout(pen_cap,pen) right:hold(pen_body)"
	],
	"left:pullout(pen_cap,pen) right:hold(pen_body)": [
	"left:place(pen_cap,table), right:place(pen_body, table)"
	],
	"left:place(pen_cap,table), right:place(pen_body, table)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_take_out_pen_lid_episode_13.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_turn_off_light_episode_5",
	"actions_list": [
	"left:move_to(none, light_switch), right:no_ops",
	"left:grasp(switch), right:no_ops",
	"left:press(switch), right:no_ops"
	],
	"gt_dag": {
	"left:move_to(none, light_switch), right:no_ops": [
	"left:grasp(switch), right:no_ops"
	],
	"left:grasp(switch), right:no_ops": [
	"left:press(switch), right:no_ops"
	],
	"left:press(switch), right:no_ops": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_turn_off_light_episode_5.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_turn_off_light_episode_7",
	"actions_list": [
	"left:move_to(none, switch), right:no_ops",
	"left:grasp(switch), right:no_ops",
	"left:press(switch), right:no_ops"
	],
	"gt_dag": {
	"left:move_to(none, switch), right:no_ops": [
	"left:grasp(switch), right:no_ops"
	],
	"left:grasp(switch), right:no_ops": [
	"left:press(switch), right:no_ops"
	],
	"left:press(switch), right:no_ops": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_turn_off_light_episode_7.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_turn_off_light_episode_8",
	"actions_list": [
	"left:move_to(none, switch), right:no_ops",
	"left:grasp(switch), right:no_ops",
	"left:press(switch), right:no_ops"
	],
	"gt_dag": {
	"left:move_to(none, switch), right:no_ops": [
	"left:grasp(switch), right:no_ops"
	],
	"left:grasp(switch), right:no_ops": [
	"left:press(switch), right:no_ops"
	],
	"left:press(switch), right:no_ops": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_turn_off_light_episode_8.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_unwind_charging_cable_episode_10",
	"actions_list": [
	"left:move_to(none, charging_cable), right:no_ops",
	"left:grasp(charging_cable), right:no_ops",
	"left:pick_up(charging_cable), right:no_ops",
	"left:no_ops, right:grasp(other_ end_charging)",
	"left:pull(charging,straight), right:pull(charging,straight)"
	],
	"gt_dag": {
	"left:move_to(none, charging_cable), right:no_ops": [
	"left:grasp(charging_cable), right:no_ops"
	],
	"left:grasp(charging_cable), right:no_ops": [
	"left:pick_up(charging_cable), right:no_ops"
	],
	"left:pick_up(charging_cable), right:no_ops": [
	"left:no_ops, right:grasp(other_ end_charging)"
	],
	"left:no_ops, right:grasp(other_ end_charging)": [
	"left:pull(charging,straight), right:pull(charging,straight)"
	],
	"left:pull(charging,straight), right:pull(charging,straight)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_unwind_charging_cable_episode_10.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_unzip_the_bag_episode_7",
	"actions_list": [
	"left:no_ops,right:move_to(none, bag)",
	"right:grasp(plastic_file_bag), left:move_to(none, plastic_file_bag_zipper)",
	"right:pick_up(plastic_file_bag), left:grasp(plastic_file_bag_zipper)",
	"right:hold(plastic_file_bag), left:pull(zipper,other_end_of_plastic_file_bag)"
	],
	"gt_dag": {
	"left:no_ops,right:move_to(none, bag)": [
	"right:grasp(plastic_file_bag), left:move_to(none, plastic_file_bag_zipper)"
	],
	"right:grasp(plastic_file_bag), left:move_to(none, plastic_file_bag_zipper)": [
	"right:pick_up(plastic_file_bag), left:grasp(plastic_file_bag_zipper)"
	],
	"right:pick_up(plastic_file_bag), left:grasp(plastic_file_bag_zipper)": [
	"right:hold(plastic_file_bag), left:pull(zipper,other_end_of_plastic_file_bag)"
	],
	"right:hold(plastic_file_bag), left:pull(zipper,other_end_of_plastic_file_bag)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_unzip_the_bag_episode_7.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_wash_cup_1_episode_5",
	"actions_list": [
	"left:move_to(none, faucet), right:move_to(none, mug)",
	"left:grasp(faucet), right:grasp(mug)",
	"left:no_ops, right:pick_up(mug)",
	"left:turn_on(faucet), right:place(mug,faucet)"
	],
	"gt_dag": {
	"left:move_to(none, faucet), right:move_to(none, mug)": [
	"left:grasp(faucet), right:grasp(mug)"
	],
	"left:grasp(faucet), right:grasp(mug)": [
	"left:no_ops, right:pick_up(mug)"
	],
	"left:no_ops, right:pick_up(mug)": [
	"left:turn_on(faucet), right:place(mug,faucet)"
	],
	"left:turn_on(faucet), right:place(mug,faucet)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_wash_cup_1_episode_5.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_wash_cup_3_episode_4",
	"actions_list": [
	"left:move_to(none,faucet), right:move_to(none, mug)",
	"left:no_ops, right:grasp(mug)",
	"left:no_ops right:pick_up(mug)",
	"left:turn_on(faucet),right:place(mug,faucet)"
	],
	"gt_dag": {
	"left:move_to(none,faucet), right:move_to(none, mug)": [
	"left:no_ops, right:grasp(mug)"
	],
	"left:no_ops, right:grasp(mug)": [
	"left:no_ops right:pick_up(mug)"
	],
	"left:no_ops right:pick_up(mug)": [
	"left:turn_on(faucet),right:place(mug,faucet)"
	],
	"left:turn_on(faucet),right:place(mug,faucet)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_wash_cup_3_episode_4.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_wash_water_episode_12",
	"actions_list": [
	"left:move_to(none, faucet), right:move_to(none, mug)",
	"left:grasp(faucet), right:grasp(mug)",
	"left:no_ops, right:pick_up(mug)",
	"left:turn_on(faucet), right:place(mug,faucet)"
	],
	"gt_dag": {
	"left:move_to(none, faucet), right:move_to(none, mug)": [
	"left:grasp(faucet), right:grasp(mug)"
	],
	"left:grasp(faucet), right:grasp(mug)": [
	"left:no_ops, right:pick_up(mug)"
	],
	"left:no_ops, right:pick_up(mug)": [
	"left:turn_on(faucet), right:place(mug,faucet)"
	],
	"left:turn_on(faucet), right:place(mug,faucet)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_wash_water_episode_12.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_write_hi_whiteboard_episode_3",
	"actions_list": [
	"left:no_ops, right:move_to(none,marker)",
	"left:no_ops, right:grasp(marker)",
	"left:no_ops, right:pick_up(marker)",
	"right:draw(marker,'H', whiteboard)",
	"right:draw(marker,'i', whiteboard)",
	"right:draw(marker,'!', whiteboard)"
	],
	"gt_dag": {
	"left:no_ops, right:move_to(none,marker)": [
	"left:no_ops, right:grasp(marker)"
	],
	"left:no_ops, right:grasp(marker)": [
	"left:no_ops, right:pick_up(marker)"
	],
	"left:no_ops, right:pick_up(marker)": [
	"right:draw(marker,'H', whiteboard)"
	],
	"right:draw(marker,'H', whiteboard)": [
	"right:draw(marker,'i', whiteboard)"
	],
	"right:draw(marker,'i', whiteboard)": [
	"right:draw(marker,'!', whiteboard)"
	],
	"right:draw(marker,'!', whiteboard)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_write_hi_whiteboard_episode_3.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_write_hi_whiteboard_episode_14",
	"actions_list": [
	"left:no_ops, right:move_to(none,marker)",
	"left:no_ops, right:grasp(marker)",
	"left:no_ops, right:pick_up(marker)",
	"left:no_ops, right:draw(marker'H', whiteboard)",
	"left:no_ops:, right:draw(marker,'i', whiteboard)",
	"left:no_ops:, right:draw(marker,'!', whiteboard)"
	],
	"gt_dag": {
	"left:no_ops, right:move_to(none,marker)": [
	"left:no_ops, right:grasp(marker)"
	],
	"left:no_ops, right:grasp(marker)": [
	"left:no_ops, right:pick_up(marker)"
	],
	"left:no_ops, right:pick_up(marker)": [
	"left:no_ops, right:draw(marker'H', whiteboard)"
	],
	"left:no_ops, right:draw(marker'H', whiteboard)": [
	"left:no_ops:, right:draw(marker,'i', whiteboard)"
	],
	"left:no_ops:, right:draw(marker,'i', whiteboard)": [
	"left:no_ops:, right:draw(marker,'!', whiteboard)"
	],
	"left:no_ops:, right:draw(marker,'!', whiteboard)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_write_hi_whiteboard_episode_14.png"
	},
	{
	"id": "3_generalized_planning/cross_view/single_view/images/RDT-FT_imgs_1_zip_the_bag_episode_7",
	"actions_list": [
	"left:move_to(none, plastic_file_bag), right:no_ops",
	"left:grasp(plastic_file_bag), right:move_to(none, plastic_file_bag_zipper)",
	"left:pick_up(plastic_file_bag), right:grasp(plastic_file_bag_zipper)",
	"left:hold(plastic_file_bag), right:pull(zipper,other_end_of_plastic_file_bag)"
	],
	"gt_dag": {
	"left:move_to(none, plastic_file_bag), right:no_ops": [
	"left:grasp(plastic_file_bag), right:move_to(none, plastic_file_bag_zipper)"
	],
	"left:grasp(plastic_file_bag), right:move_to(none, plastic_file_bag_zipper)": [
	"left:pick_up(plastic_file_bag), right:grasp(plastic_file_bag_zipper)"
	],
	"left:pick_up(plastic_file_bag), right:grasp(plastic_file_bag_zipper)": [
	"left:hold(plastic_file_bag), right:pull(zipper,other_end_of_plastic_file_bag)"
	],
	"left:hold(plastic_file_bag), right:pull(zipper,other_end_of_plastic_file_bag)": []
	},
	"v2": "3_generalized_planning_cross_view_single_view_images_RDT-FT_imgs_1_zip_the_bag_episode_7.png"
	}
	]