[ { "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" } ]