ThinkingVLA
Collection
Datasets for ThinkingVLA: Interleaved Vision and Language Reasoning for Robotic Manipulation. • 30 items • Updated
observation.images.image imagewidth (px) 128 128 | observation.images.image_future imagewidth (px) 128 128 | observation.state listlengths 8 8 | action listlengths 7 7 | timestamp float32 0 181 | future_timestamp float32 2 181 | gen_cot stringlengths 194 662 | action_cot stringlengths 108 519 | frame_index int64 0 905 | future_frame_index int64 10 905 | episode_index int64 0 267 | index int64 0 108k | task_index int64 0 43 | task stringclasses 44
values |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
0.05354268476366997,
-1.0859544277191162,
-0.007350767031311989,
-2.5096375942230225,
0.015879197046160698,
1.7759945392608643,
0.12567853927612305,
0.08500000089406967
] | [
-0.000032782554626464844,
0.00010493025183677673,
-0.00023099780082702637,
-0.00025400519371032715,
-0.0005926657468080521,
1,
0
] | 0 | 2 | The robot arm is positioned above the pot on the countertop, gripper open and ready to grasp. It will descend, close around the pot’s handle, lift it smoothly, and move leftward toward the sink. The pot will be lowered into the sink basin, gripper releasing it, leaving the pot resting inside while the arm retracts slig... | The pot remains in its original position near the yellow bowl, and no movement toward the sink is observed; since the goal is to pick the pot and place it in the sink but no progress is evident, the next step is to initiate contact. subtask: approach | 0 | 10 | 0 | 0 | 0 | pick pot and place in sink | ||
[
0.05075223371386528,
-1.0859590768814087,
-0.0062988996505737305,
-2.5100932121276855,
0.018698159605264664,
1.7759913206100464,
0.12411532551050186,
0.08500000089406967
] | [
-0.00002866983413696289,
0.0002907458692789078,
-0.0004397928714752197,
-0.0005432367324829102,
-0.001273825764656067,
1,
0
] | 0.2 | 2.2 | The robot arm is positioned above the small metallic pot, gripper open and ready to grasp. It will close around the pot, lift it vertically, then move laterally toward the sink area. The pot will be released into the sink basin, and the gripper will open again, leaving the pot stationary in the sink while the arm retra... | The pot remains on the counter near the yellow bowl and has not been moved toward the sink; no progress is visible toward the goal. Since the current and future frames are identical, no action occurred. subtask: finish | 1 | 11 | 0 | 1 | 0 | pick pot and place in sink | ||
[
0.04758825898170471,
-1.085780143737793,
-0.005400322377681732,
-2.5108237266540527,
0.022956524044275284,
1.775991439819336,
0.12159382551908493,
0.08500000089406967
] | [
-0.000016003847122192383,
0.00011087581515312195,
-0.0006144344806671143,
-0.0007321685552597046,
-0.0012891851365566254,
1,
0
] | 0.4 | 2.4 | The robot arm is positioned above the small silver pot on the counter, gripper open and ready to grasp. It will close around the pot’s handle, lift it vertically, then move leftward toward the sink. The pot will be lowered into the sink basin, gripper releasing it. The arm will retract slightly, leaving the pot resting... | The pot remains on the countertop near the yellow bowl, and no movement toward the sink is observed; since the goal is to pick the pot and place it in the sink but no progress is made, the required action is to initiate contact with the pot. subtask: approach | 2 | 12 | 0 | 2 | 0 | pick pot and place in sink | ||
[
0.04482141137123108,
-1.0854452848434448,
-0.005187816917896271,
-2.511861562728882,
0.026797674596309662,
1.7759931087493896,
0.11918006092309952,
0.08500000089406967
] | [
-0.00009575486183166504,
-0.000030288472771644592,
-0.0009622573852539062,
-0.0010068416595458984,
-0.0015986468642950058,
1,
0
] | 0.6 | 2.6 | The robot arm is positioned near a small metallic pot on the countertop, with its gripper open and ready to grasp. It will close around the pot’s handle, lift it smoothly, and move toward the sink area. The pot will then be released into the sink basin, leaving the gripper open and hovering above the sink, ready for th... | The pot remains on the countertop near the yellow bowl and has not been moved toward the sink; no progress toward the goal is evident. subtask: finish | 3 | 13 | 0 | 3 | 0 | pick pot and place in sink | ||
[
0.04237361252307892,
-1.0853703022003174,
-0.005672784522175789,
-2.5136168003082275,
0.030370548367500305,
1.7760398387908936,
0.11731939017772675,
0.08500000089406967
] | [
-0.00017651915550231934,
0.00004715286195278168,
-0.0012781322002410889,
-0.001050323247909546,
-0.002096801996231079,
1,
0
] | 0.8 | 2.8 | The robot arm is positioned above the pot, gripper open and ready to grasp. It will descend, close around the pot’s handle, lift it steadily, and move toward the sink. The pot will be lowered into the sink basin, gripper releasing it. The arm will then retract, leaving the pot resting in the sink, surrounded by other k... | The pot remains on the countertop near the yellow bowl and red cup, with no visible movement toward the sink; the dish rack and sink area are unchanged. No progress toward placing the pot in the sink has occurred. subtask: approach | 4 | 14 | 0 | 4 | 0 | pick pot and place in sink | ||
[
0.03975246474146843,
-1.0859359502792358,
-0.006511220708489418,
-2.5166070461273193,
0.03500109165906906,
1.7765226364135742,
0.11525950580835342,
0.08500000089406967
] | [
-0.00009709596633911133,
0.0000748857855796814,
-0.001548469066619873,
-0.0006720870733261108,
-0.0027116164565086365,
1,
0
] | 1 | 3 | The robot arm is positioned above the small silver pot, gripper open and ready to grasp. It will close around the pot’s handle, lift it vertically, then move laterally toward the sink area. Upon arrival, the gripper will open, releasing the pot into the sink basin, leaving the arm retracted and the pot stationary in th... | The pot remains on the countertop near the yellow bowl and has not been moved toward the sink; no progress toward the goal is visible. subtask: approach | 5 | 15 | 0 | 5 | 0 | pick pot and place in sink | ||
[
0.03735055774450302,
-1.0872955322265625,
-0.007974393665790558,
-2.5209603309631348,
0.040164969861507416,
1.7784693241119385,
0.11292761564254761,
0.08500000089406967
] | [
-0.00018668174743652344,
0.0001328941434621811,
-0.002113252878189087,
-0.0007154345512390137,
-0.0035958439111709595,
1,
0
] | 1.2 | 3.2 | The robot arm is positioned above the small metallic pot on the countertop, gripper open and ready to grasp. It will descend, close around the pot’s handle, lift it steadily, then move leftward toward the sink area. The pot will be released into the sink basin, and the gripper will retract upward, leaving the pot resti... | The pot remains on the countertop near the yellow bowl, and no movement toward the sink is observed; the scene is unchanged, indicating no action has occurred. subtask: finish | 6 | 16 | 0 | 6 | 0 | pick pot and place in sink | ||
[
0.03528260439634323,
-1.0895576477050781,
-0.01033003069460392,
-2.5270471572875977,
0.046143993735313416,
1.7812788486480713,
0.11009488254785538,
0.08500000089406967
] | [
-0.0003102719783782959,
0.000049132853746414185,
-0.002238035202026367,
-0.0008338391780853271,
-0.003798123449087143,
1,
0
] | 1.4 | 3.4 | The robot arm is positioned above the small metallic pot on the countertop, gripper open and ready to grasp. It will descend, close its gripper around the pot’s handle, lift it, and move leftward toward the sink area. The pot will be released into the sink basin, and the gripper will open again, completing the placemen... | The pot remains on the countertop near the yellow bowl, and no movement toward the sink is observed; the scene is unchanged. Since the goal of placing the pot in the sink is not yet initiated or completed, no progress has been made. subtask: finish | 7 | 17 | 0 | 7 | 0 | pick pot and place in sink | ||
[
0.03366944566369057,
-1.0923148393630981,
-0.013656108640134335,
-2.533914804458618,
0.052338842302560806,
1.7840466499328613,
0.10651195794343948,
0.08500000089406967
] | [
-0.0003447234630584717,
-0.00014038942754268646,
-0.0025049149990081787,
-0.0008908957242965698,
-0.003931321203708649,
1,
0
] | 1.6 | 3.6 | The robot arm is positioned above the small metallic pot, gripper open and ready to grasp. It will close around the pot’s handle, lift it vertically, then arc toward the sink area. The pot will appear suspended mid-air, moving leftward, while the gripper remains closed around it, preparing for placement into the sink b... | The pot remains on the counter and no movement toward the sink is observed; since the goal is to pick the pot and place it in the sink but no progress is made, the next step is to initiate contact. subtask: approach | 8 | 18 | 0 | 8 | 0 | pick pot and place in sink | ||
[
0.032642610371112823,
-1.095300316810608,
-0.017855776473879814,
-2.5413572788238525,
0.05782347545027733,
1.7870365381240845,
0.10234952718019485,
0.08500000089406967
] | [
-0.0005205273628234863,
-0.000282924622297287,
-0.002725273370742798,
-0.0010436922311782837,
-0.0038969777524471283,
1,
0
] | 1.8 | 3.8 | The robot arm is positioned above the small silver pot on the countertop, gripper open and ready to grasp. It will close around the pot’s handle, lift it vertically, then move leftward toward the sink area. The pot will be lowered and released into the sink basin, with the gripper reopening and retracting slightly afte... | The pot remains on the countertop near the yellow bowl and has not been moved toward the sink; no progress is evident. Since the goal is to pick the pot and place it in the sink, and no motion has occurred, the next step is to initiate movement toward the pot. subtask: approach | 9 | 19 | 0 | 9 | 0 | pick pot and place in sink | ||
[
0.03180493041872978,
-1.098807454109192,
-0.02251995913684368,
-2.549417018890381,
0.06284213811159134,
1.7897580862045288,
0.0980789065361023,
0.08500000089406967
] | [
-0.0006662309169769287,
-0.0003141537308692932,
-0.0027561187744140625,
-0.0013189762830734253,
-0.0038272440433502197,
1,
0
] | 2 | 4 | The robot arm is positioned above the pot on the counter, gripper open and ready to grasp. It will close around the pot, lift it vertically, then move horizontally toward the sink. The pot will be lowered and released into the sink basin, with the gripper opening again. The arm will then retract slightly, leaving the p... | The pot remains on the counter near the sink, unchanged in position or state between frames, indicating no progress toward the goal of placing it in the sink. No manipulation has occurred. subtask: finish | 10 | 20 | 0 | 10 | 0 | pick pot and place in sink | ||
[
0.031086711212992668,
-1.1021896600723267,
-0.0271803867071867,
-2.5570600032806396,
0.06744091957807541,
1.7916511297225952,
0.09382403641939163,
0.08500000089406967
] | [
-0.0006574392318725586,
-0.0002764575183391571,
-0.002530127763748169,
-0.0013381242752075195,
-0.0036147721111774445,
1,
0
] | 2.2 | 4.2 | The robot arm is positioned above the pot, gripper open and ready to grasp. It will descend, close around the pot, lift it, and move toward the sink. The pot will be released into the sink basin, and the gripper will open again. The arm will then retract slightly, leaving the pot stationary in the sink. | The pot remains on the countertop near the sink, with no visible movement or interaction occurring between the current and future frames. Since the pot has not been picked or placed in the sink, no progress has been made toward the goal. subtask: finish | 11 | 21 | 0 | 11 | 0 | pick pot and place in sink | ||
[
0.03049950860440731,
-1.1052595376968384,
-0.03184081241488457,
-2.5641279220581055,
0.07189644128084183,
1.7930915355682373,
0.08938044309616089,
0.08500000089406967
] | [
-0.0006803572177886963,
-0.00027592480182647705,
-0.0027504265308380127,
-0.0017023831605911255,
-0.0035493262112140656,
1,
0
] | 2.4 | 4.4 | The robot arm is poised above the small metallic pot on the counter; it will descend, close its gripper around the pot’s handle, lift it clear of the surface, and move leftward toward the sink area, where it will release the pot into the basin, leaving the arm retracted and the pot resting inside the sink. | The pot remains on the countertop near the yellow bowl and red cup, with no movement toward the sink observed between frames. Since the pot has not been grasped or relocated, the required action is to initiate contact. subtask: approach | 12 | 22 | 0 | 12 | 0 | pick pot and place in sink | ||
[
0.03013598918914795,
-1.1079500913619995,
-0.03666163608431816,
-2.571310520172119,
0.07605462521314621,
1.794260859489441,
0.08463820815086365,
0.08500000089406967
] | [
-0.0006692111492156982,
-0.00003586336970329285,
-0.0025537610054016113,
-0.0018124431371688843,
-0.003975730389356613,
1,
0
] | 2.6 | 4.6 | The robot arm is positioned near a small metallic pot on the countertop, with the gripper open and ready to grasp. It will close around the pot, lift it, and move toward the sink area. The pot will be released into the sink basin, and the gripper will open again, completing the placement while the surrounding objects r... | The pot remains on the countertop near the yellow bowl and has not been moved toward the sink; no progress toward the goal is visible. subtask: finish | 13 | 23 | 0 | 13 | 0 | pick pot and place in sink | ||
[
0.029843349009752274,
-1.110183835029602,
-0.0414421483874321,
-2.577791452407837,
0.08102964609861374,
1.794966459274292,
0.08001293987035751,
0.08500000089406967
] | [
-0.0006700456142425537,
5.6438148021698e-7,
-0.0024851560592651367,
-0.001884952187538147,
-0.0041266679763793945,
1,
0
] | 2.8 | 4.8 | The robot arm is positioned above a small metallic pot on the counter, gripper open and ready. It will descend, close around the pot’s rim, lift it steadily, then move rightward toward the sink. The pot will be released into the sink basin, gripper opens, and arm retracts slightly, leaving the pot resting in the sink w... | The pot remains on the countertop near the sink, and no movement toward placing it in the sink has occurred; the scene is unchanged. subtask: finish | 14 | 24 | 0 | 14 | 0 | pick pot and place in sink | ||
[
0.029706118628382683,
-1.112178087234497,
-0.04648074507713318,
-2.583981513977051,
0.08612388372421265,
1.7954356670379639,
0.07530400902032852,
0.08500000089406967
] | [
-0.0006923675537109375,
-0.000048469752073287964,
-0.0023804306983947754,
-0.0018837153911590576,
-0.004035420715808868,
1,
0
] | 3 | 5 | The robotic arm is positioned above a small metallic pot on the countertop, gripper open and ready to grasp. It will close around the pot, lift it, and move toward the sink area. The pot will be released into the sink basin, and the gripper will open again, leaving the pot stationary in the sink while the arm retracts ... | The pot remains on the counter near the sink, unchanged in position or state; no progress toward placing it in the sink is evident. Since the goal requires moving the pot into the sink and no such motion is observed, the task is incomplete. subtask: finish | 15 | 25 | 0 | 15 | 0 | pick pot and place in sink | ||
[
0.029551884159445763,
-1.114126205444336,
-0.05170613154768944,
-2.590012311935425,
0.09113972634077072,
1.7956184148788452,
0.07038727402687073,
0.08500000089406967
] | [
-0.000660240650177002,
0.00003116577863693237,
-0.002271890640258789,
-0.0018677115440368652,
-0.0038775354623794556,
1,
0
] | 3.2 | 5.2 | The robot arm is positioned above the pot on the counter, gripper open and ready to grasp. It will descend, close around the pot’s handle, lift it clear of the surface, then move laterally toward the sink. The gripper will release the pot into the sink basin, leaving the arm retracted and the pot resting in the sink, a... | The pot is not visible in either frame, and no movement toward sink placement is evident; the scene remains static with dish rack and cups unchanged. Since no progress is made toward picking or placing the pot, the task cannot proceed from this state. subtask: finish | 16 | 26 | 0 | 16 | 0 | pick pot and place in sink | ||
[
0.02943122386932373,
-1.1157468557357788,
-0.05647712200880051,
-2.595487594604492,
0.09586986154317856,
1.7956660985946655,
0.06568973511457443,
0.08500000089406967
] | [
-0.0007222294807434082,
0.00028248317539691925,
-0.002451986074447632,
-0.002113237977027893,
-0.004797741770744324,
1,
0
] | 3.4 | 5.4 | The robot arm is positioned above the red pot on the counter, gripper open and ready to grasp. It will descend, close around the pot, lift it, and move toward the sink area. The pot will be released into the sink basin, and the gripper will open again, leaving the pot stationary in the sink while the arm retracts sligh... | The pot is not visible in either frame, and no movement toward the sink is evident; the scene remains static with no manipulation occurring. Since no progress is made toward picking or placing the pot, the task cannot advance. subtask: finish | 17 | 27 | 0 | 17 | 0 | pick pot and place in sink | ||
[
0.029368171468377113,
-1.1173386573791504,
-0.06163661181926727,
-2.601243734359741,
0.10183568298816681,
1.7956641912460327,
0.060833778232336044,
0.08500000089406967
] | [
-0.0006830096244812012,
0.00027241557836532593,
-0.002361685037612915,
-0.0020218491554260254,
-0.004388786852359772,
1,
0
] | 3.6 | 5.6 | The robot arm is positioned above the red pot on the counter, gripper open and ready to grasp. It will descend, close around the pot, lift it, and move toward the sink. The pot will be released into the sink basin, and the arm will retract slightly, leaving the pot stationary in the sink while the gripper opens again. | The pot remains on the countertop near the dish rack, and no movement toward the sink is observed; since the goal is to pick the pot and place it in the sink, and no progress is made, the next step is to initiate contact. subtask: approach | 18 | 28 | 0 | 18 | 0 | pick pot and place in sink | ||
[
0.029328595846891403,
-1.118781328201294,
-0.06640567630529404,
-2.606745481491089,
0.10726649314165115,
1.795677661895752,
0.05621015653014183,
0.08500000089406967
] | [
-0.0007058382034301758,
0.000374792143702507,
-0.0023335516452789307,
-0.0019793957471847534,
-0.00442919135093689,
1,
0
] | 3.8 | 5.8 | The robot arm is positioned above a metallic pot on the countertop, gripper open and ready to grasp. It will close around the pot, lift it, and move toward the sink area. The pot will be released into the sink basin, and the gripper will open again. The arm may then retract slightly, leaving the pot resting in the sink... | The pot remains on the counter and no movement toward the sink is observed; since the goal is to pick the pot and place it in the sink but no progress is made, the next step is to initiate contact. subtask: approach | 19 | 29 | 0 | 19 | 0 | pick pot and place in sink | ||
[
0.0292939655482769,
-1.1204280853271484,
-0.07146874815225601,
-2.6127827167510986,
0.11339012533426285,
1.7956666946411133,
0.05098359286785126,
0.08500000089406967
] | [
-0.0008094310760498047,
0.0005814600735902786,
-0.0025380849838256836,
-0.0021052509546279907,
-0.004731602966785431,
1,
0
] | 4 | 6 | The robot arm is positioned above a metallic pot on the countertop, gripper open and ready to grasp. It will close around the pot, lift it vertically, then move horizontally toward the sink area. The pot will be lowered into the sink basin, and the gripper will open to release it, leaving the pot resting inside the sin... | The pot remains on the countertop near the dish rack, and no movement toward the sink is observed; the scene is unchanged, indicating no action has occurred. subtask: finish | 20 | 30 | 0 | 20 | 0 | pick pot and place in sink | ||
[
0.02926495298743248,
-1.122240662574768,
-0.07607327401638031,
-2.6189332008361816,
0.11964275687932968,
1.795667290687561,
0.04577573388814926,
0.08500000089406967
] | [
-0.0006388425827026367,
0.0005935579538345337,
-0.002063959836959839,
-0.001788020133972168,
-0.00405583530664444,
1,
0
] | 4.2 | 6.2 | The robot arm is positioned above the metallic pot on the counter, gripper open and ready to grasp. It will descend, close around the pot’s handle, lift it smoothly, and move leftward toward the sink. The pot will be lowered into the sink basin, gripper releasing, leaving the pot resting inside while the arm retracts s... | The pot remains on the counter near the sink, unchanged in position or state between frames, indicating no manipulation has occurred. Since the goal is to pick the pot and place it in the sink, and no progress is visible, the next required action is to initiate contact. subtask: approach | 21 | 31 | 0 | 21 | 0 | pick pot and place in sink | ||
[
0.029156502336263657,
-1.123620629310608,
-0.0799207091331482,
-2.624220848083496,
0.12551413476467133,
1.7956678867340088,
0.041746750473976135,
0.08500000089406967
] | [
-0.0007097721099853516,
0.0008971542119979858,
-0.00238645076751709,
-0.0021500885486602783,
-0.004923500120639801,
1,
0
] | 4.4 | 6.4 | The robot arm is positioned above the red pot on the counter, gripper open and ready to grasp. It will descend, close around the pot, lift it, and move leftward toward the sink. The pot will be released into the sink basin, and the gripper will open again, leaving the pot resting in the sink while the arm retracts slig... | The pot is not visible in either frame, suggesting it may be out of view or already placed; no observable transition indicates movement toward the sink. Since the goal state isn’t visibly achieved and no pot is present to manipulate, the task cannot proceed. subtask: finish | 22 | 32 | 0 | 22 | 0 | pick pot and place in sink | ||
[
0.029111657291650772,
-1.1248596906661987,
-0.08409187197685242,
-2.6300554275512695,
0.13271570205688477,
1.7956568002700806,
0.036797113716602325,
0.08500000089406967
] | [
-0.0005459785461425781,
0.0009056311100721359,
-0.0020783841609954834,
-0.0020330846309661865,
-0.004482239484786987,
1,
0
] | 4.6 | 6.6 | The robot arm is poised above the red pot on the counter, gripper open and ready to grasp. It will descend, close around the pot’s rim, lift it smoothly, and pivot toward the sink. The pot will then be lowered into the sink basin, gripper releasing as the arm retracts slightly, leaving the pot resting in the sink while... | The pot remains in the dish rack, and no movement toward the sink is observed; the scene is unchanged, indicating no action has occurred. Since the goal of placing the pot in the sink is not met and no progress is visible, the system must initiate motion. subtask: approach | 23 | 33 | 0 | 23 | 0 | pick pot and place in sink | ||
[
0.029095180332660675,
-1.125373363494873,
-0.0875597596168518,
-2.6347692012786865,
0.13918130099773407,
1.7956212759017944,
0.03265168517827988,
0.08500000089406967
] | [
-0.00048041343688964844,
0.0011165551841259003,
-0.0019541680812835693,
-0.0021274983882904053,
-0.004616260528564453,
1,
0
] | 4.8 | 6.8 | The robot arm is positioned above the pot on the counter, gripper open and ready to grasp. It will descend, close around the pot’s handle, lift it clear of the surface, then move rightward toward the sink. The gripper will release the pot into the sink basin, leaving the arm retracted and the pot resting inside the sin... | The pot remains on the counter near the dish rack; no movement toward the sink is observed. Since the goal is to place the pot in the sink and no progress is made, the next step is to initiate contact. subtask: approach | 24 | 34 | 0 | 24 | 0 | pick pot and place in sink | ||
[
0.02912650816142559,
-1.1253255605697632,
-0.09082889556884766,
-2.6391289234161377,
0.1464771181344986,
1.7954225540161133,
0.02816760167479515,
0.08500000089406967
] | [
-0.0004366934299468994,
0.001120215281844139,
-0.001870870590209961,
-0.0022208690643310547,
-0.004322551190853119,
1,
0
] | 5 | 7 | The robot arm is positioned above the pot, gripper open and ready to grasp. It will descend, close around the pot, lift it, and move toward the sink. The pot will be released into the sink basin, and the gripper will open and retract, leaving the pot resting in the sink while surrounding objects remain undisturbed. | The pot remains in its original position near the left edge of the counter, and no movement toward the sink is observed; since the goal is to pick the pot and place it in the sink but no progress is evident, no action has occurred. subtask: finish | 25 | 35 | 0 | 25 | 0 | pick pot and place in sink | ||
[
0.029135791584849358,
-1.124794363975525,
-0.09378433972597122,
-2.6431305408477783,
0.15369245409965515,
1.7949855327606201,
0.02384774759411812,
0.08500000089406967
] | [
-0.00043264031410217285,
0.0013100579380989075,
-0.0018122196197509766,
-0.0024539530277252197,
-0.00476287305355072,
1,
0
] | 5.2 | 7.2 | The robot arm is poised above the red pot, gripper open and ready to grasp. It will close around the pot, lift it smoothly from the counter, and arc toward the sink area. As it moves, the pot will leave its original position, and the gripper will remain closed around it until it’s lowered into the sink basin. | The pot is not visible in either frame, and no movement toward sink placement is evident; the scene remains static with dishes in the rack and items on the counter. Since no progress is made toward picking or placing the pot, the task cannot proceed. subtask: finish | 26 | 36 | 0 | 26 | 0 | pick pot and place in sink | ||
[
0.02914712205529213,
-1.123844027519226,
-0.09659920632839203,
-2.6465909481048584,
0.1612638384103775,
1.7942454814910889,
0.019892079755663872,
0.08500000089406967
] | [
-0.00032964348793029785,
0.0013707950711250305,
-0.0015092194080352783,
-0.002351418137550354,
-0.004548273980617523,
1,
0
] | 5.4 | 7.4 | The robot arm is positioned above the red pot, ready to grasp it. It will lower its gripper, close around the pot, lift it, and move it toward the sink area. The pot will be released into the sink, and the arm will retract slightly, leaving the pot stationary in the sink while the gripper opens. | The pot remains on the counter near the sink, and no movement toward placing it in the sink is observed; the scene is unchanged. Since the goal is not yet achieved and no action has occurred, the system must initiate motion. subtask: approach | 27 | 37 | 0 | 27 | 0 | pick pot and place in sink | ||
[
0.029346995055675507,
-1.1222763061523438,
-0.099228136241436,
-2.649358034133911,
0.1691913902759552,
1.7932912111282349,
0.015808746218681335,
0.08500000089406967
] | [
-0.00036260485649108887,
0.001688241958618164,
-0.0014234483242034912,
-0.0026716142892837524,
-0.005079299211502075,
1,
0
] | 5.6 | 7.6 | The robot arm is poised above the red pot on the counter, gripper open and ready to grasp. It will descend, close around the pot, lift it smoothly, and arc toward the sink. The pot will be released into the sink basin, the gripper will open, and the arm will retract slightly, leaving the pot resting in the sink while t... | The pot is not visible in either frame, and no movement toward sink placement is evident; the scene remains static with dish rack and cups unchanged. Since no pot is present or being manipulated, the task cannot progress. subtask: finish | 28 | 38 | 0 | 28 | 0 | pick pot and place in sink | ||
[
0.02954762428998947,
-1.1202893257141113,
-0.10153239220380783,
-2.651550054550171,
0.17778286337852478,
1.791835904121399,
0.011826903559267521,
0.08500000089406967
] | [
-0.0003758668899536133,
0.0019070282578468323,
-0.0012302994728088379,
-0.0028313249349594116,
-0.005244404077529907,
1,
0
] | 5.8 | 7.8 | The robot arm is positioned above the red pot on the counter, gripper open and ready to grasp. It will descend, close around the pot, lift it, and move toward the sink area. The pot will be released into the sink basin, and the gripper will open again, leaving the pot resting in the sink while the arm retracts slightly... | The pot is not visible in either frame, and no movement toward the sink is evident; the scene remains static with dishes in the rack and items on the counter. Since no progress toward picking or placing the pot is observed, the task cannot advance. subtask: finish | 29 | 39 | 0 | 29 | 0 | pick pot and place in sink | ||
[
0.02995574101805687,
-1.1177958250045776,
-0.10368230193853378,
-2.653162956237793,
0.1872401237487793,
1.789783239364624,
0.007653408218175173,
0.08500000089406967
] | [
-0.0002944469451904297,
0.0018845871090888977,
-0.0011216998100280762,
-0.0028197020292282104,
-0.005079925060272217,
1,
0
] | 6 | 8 | The robot arm is poised above the red pot on the counter, gripper open and ready to grasp. It will descend, close around the pot, lift it smoothly, and arc toward the sink area. The pot will be lowered into the sink basin, gripper releasing, leaving the pot resting there while the arm retracts slightly, completing the ... | The pot is not visible in either frame, and no movement toward the sink is evident; the scene remains static with no manipulation occurring. Since the goal of picking and placing the pot in the sink is unfulfilled and no progress is shown, no valid subtask can be derived from this transition. subtask: finish | 30 | 40 | 0 | 30 | 0 | pick pot and place in sink | ||
[
0.03060583770275116,
-1.1147879362106323,
-0.1058453768491745,
-2.654404878616333,
0.19663259387016296,
1.787676215171814,
0.0033924102317541838,
0.08500000089406967
] | [
-0.0003776252269744873,
0.002289310097694397,
-0.0010200440883636475,
-0.002934366464614868,
-0.005832061171531677,
1,
0
] | 6.2 | 8.2 | The robot arm is positioned above the red pot, ready to grasp it. It will close its gripper around the pot, lift it from the counter, and move it toward the sink area. The pot will be released into the sink, and the gripper will open, leaving the pot resting inside while the arm retracts slightly to complete the placem... | The pot is not visible in either frame, and no movement toward sink placement is evident; the scene remains static with kitchen items unchanged. Since no progress toward picking or placing the pot is observed, the task cannot advance from this state. subtask: finish | 31 | 41 | 0 | 31 | 0 | pick pot and place in sink | ||
[
0.03142557665705681,
-1.1119492053985596,
-0.10790036618709564,
-2.6555428504943848,
0.2069055587053299,
1.7853575944900513,
-0.0011466662399470806,
0.08500000089406967
] | [
-0.00042873620986938477,
0.0023772232234477997,
-0.0008593499660491943,
-0.0026291757822036743,
-0.005669355392456055,
1,
0
] | 6.4 | 8.4 | The robot arm is positioned above the red pot on the countertop, gripper open and ready to grasp. It will close around the pot, lift it vertically, then move leftward toward the sink. The pot will be lowered and released into the sink basin, with the gripper opening and retracting upward, leaving the pot stationary in ... | The pot is not visible in either frame, and no movement toward sink placement is evident; the scene remains static with no manipulation occurring. Since the goal of picking and placing the pot in the sink is unfulfilled and no action is underway, the task cannot progress from this state. subtask: finish | 32 | 42 | 0 | 32 | 0 | pick pot and place in sink | ||
[
0.032830994576215744,
-1.109520435333252,
-0.10998766124248505,
-2.65682053565979,
0.2175549566745758,
1.7830599546432495,
-0.00591719476506114,
0.08500000089406967
] | [
-0.0005559921264648438,
0.0025592558085918427,
-0.0007540583610534668,
-0.002461828291416168,
-0.0059015750885009766,
1,
0
] | 6.6 | 8.6 | The robot arm is positioned above the red pot, ready to grasp it; upon closing the gripper, it will lift the pot and move leftward toward the sink area, placing it inside while the surrounding objects remain undisturbed and the gripper reopens after release. | The pot is not visible in either frame, and no movement toward sink placement is evident; the scene remains static with no manipulation occurring. Since the goal of picking and placing the pot in the sink is unmet and no action is underway, the system must first locate the pot. subtask: finish | 33 | 43 | 0 | 33 | 0 | pick pot and place in sink | ||
[
0.034499894827604294,
-1.107877492904663,
-0.1119949147105217,
-2.6583549976348877,
0.22822536528110504,
1.780789852142334,
-0.010403509251773357,
0.08500000089406967
] | [
-0.0007302761077880859,
0.002875596284866333,
-0.0007236897945404053,
-0.0024517104029655457,
-0.006038963794708252,
1,
0
] | 6.8 | 8.8 | The robot arm is positioned near a pot on the counter, gripper open and ready. It will grasp the pot, lift it, and move it toward the sink area. The pot will be released into the sink basin, and the gripper will retract. The dish rack and surrounding objects remain undisturbed as the arm completes the transfer. | The pot remains on the countertop near the yellow bowl, and no movement toward the sink is observed; the scene is unchanged. Since no progress is made toward placing the pot in the sink, the task is not yet initiated. subtask: finish | 34 | 44 | 0 | 34 | 0 | pick pot and place in sink | ||
[
0.03647990524768829,
-1.1068370342254639,
-0.11358727514743805,
-2.6602365970611572,
0.23944725096225739,
1.778308629989624,
-0.014921555295586586,
0.08500000089406967
] | [
-0.0007876455783843994,
0.002658683806657791,
-0.0006654560565948486,
-0.002154633402824402,
-0.005256816744804382,
1,
0
] | 7 | 9 | The robot arm is positioned above the red pot, ready to grasp it. Upon closing the gripper, the pot will be lifted and moved toward the sink area. The arm will then lower the pot into the sink basin, releasing it while maintaining stability. The surrounding objects remain undisturbed as the pot transitions from counter... | The pot remains on the counter near the sink, and no movement toward placing it in the sink is observed; the scene is unchanged. Since no progress is made toward the goal and no manipulation is occurring, the task cannot advance from this state. subtask: finish | 35 | 45 | 0 | 35 | 0 | pick pot and place in sink | ||
[
0.03849596530199051,
-1.1064071655273438,
-0.11481702327728271,
-2.6622250080108643,
0.24930134415626526,
1.775976300239563,
-0.01905779168009758,
0.08500000089406967
] | [
-0.0009790360927581787,
0.003227807581424713,
-0.0006986260414123535,
-0.0023495033383369446,
-0.006232887506484985,
1,
0
] | 7.2 | 9.2 | The robot arm is positioned above the red pot on the counter, gripper open and ready to grasp. It will descend, close around the pot, lift it, and move leftward toward the sink. The pot will be released into the sink basin, and the gripper will open, leaving the pot stationary in the sink while the arm retracts slightl... | The pot remains on the counter near the sink, and no movement toward grasping or relocating it is evident; the scene is unchanged, indicating no progress toward the goal. subtask: finish | 36 | 46 | 0 | 36 | 0 | pick pot and place in sink | ||
[
0.040492940694093704,
-1.1064257621765137,
-0.11576852202415466,
-2.664761543273926,
0.2609623372554779,
1.7734886407852173,
-0.023237187415361404,
0.08500000089406967
] | [
-0.0010268986225128174,
0.002934850752353668,
-0.0007824301719665527,
-0.002307802438735962,
-0.005361244082450867,
1,
0
] | 7.4 | 9.4 | The robot arm is positioned above the red pot on the counter, gripper open and ready to grasp. It will descend, close around the pot, lift it, and move leftward toward the sink. The pot will be released into the sink basin, and the gripper will open again, leaving the pot resting in the sink while the arm retracts slig... | The pot remains on the counter near the sink, unchanged in position or state between frames, indicating no manipulation occurred. Since the goal is to pick the pot and place it in the sink, and no progress is visible, the next required action is to approach the pot. subtask: approach | 37 | 47 | 0 | 37 | 0 | pick pot and place in sink | ||
[
0.042468711733818054,
-1.1066356897354126,
-0.11643052846193314,
-2.6675455570220947,
0.27184250950813293,
1.7708196640014648,
-0.02730199135839939,
0.08500000089406967
] | [
-0.0010092556476593018,
0.002759631723165512,
-0.0008556842803955078,
-0.002253994345664978,
-0.004841968417167664,
1,
0
] | 7.6 | 9.6 | The robot arm is positioned above the red pot on the counter, gripper open and ready to grasp. It will descend, close around the pot, lift it, and move leftward toward the sink. The pot will be released into the sink basin, and the gripper will open again, leaving the pot resting inside the sink while the arm retracts ... | The pot remains on the countertop near the sink, unchanged in position or state between frames, indicating no manipulation has occurred yet. To progress toward placing it in the sink, the pot must first be grasped. subtask: grasp | 38 | 48 | 0 | 38 | 0 | pick pot and place in sink | ||
[
0.04412272945046425,
-1.1068998575210571,
-0.11670354008674622,
-2.6703789234161377,
0.28158262372016907,
1.768448829650879,
-0.03083534725010395,
0.08500000089406967
] | [
-0.0011627674102783203,
0.0031304508447647095,
-0.0009019374847412109,
-0.0024547427892684937,
-0.005314826965332031,
1,
0
] | 7.8 | 9.8 | The robot arm is positioned above the red pot on the counter, ready to grasp it. It will lower its gripper, securely close around the pot, then lift and move it toward the sink area. The pot will be released into the sink, and the arm will retract slightly, leaving the pot resting inside the sink basin. | The pot is not visible in either frame, suggesting it may already be in the sink or out of view; no manipulation is needed based on visible changes. subtask: finish | 39 | 49 | 0 | 39 | 0 | pick pot and place in sink | ||
[
0.045720599591732025,
-1.107350468635559,
-0.11658820509910583,
-2.673579692840576,
0.2926357388496399,
1.765770673751831,
-0.03470463678240776,
0.08500000089406967
] | [
-0.001103818416595459,
0.0028048157691955566,
-0.0008707046508789062,
-0.002285376191139221,
-0.0046682655811309814,
1,
0
] | 8 | 10 | The robot arm is positioned above the red pot on the counter, gripper open and ready to grasp. It will descend, close around the pot, lift it, and move leftward toward the sink. The pot will be released into the sink basin, and the gripper will open again, leaving the pot stationary in the sink while the arm retracts s... | The pot is not visible in either frame, and no movement toward the sink is evident; the scene remains unchanged. Since no progress is made toward picking or placing the pot, the task cannot advance. subtask: finish | 40 | 50 | 0 | 40 | 0 | pick pot and place in sink | ||
[
0.04707634449005127,
-1.1078388690948486,
-0.11635855585336685,
-2.6765451431274414,
0.30213162302970886,
1.763387680053711,
-0.0378691628575325,
0.08500000089406967
] | [
-0.0010422468185424805,
0.0024162866175174713,
-0.0007216930389404297,
-0.002003207802772522,
-0.003922685980796814,
1,
0
] | 8.2 | 10.2 | The robot arm is positioned above the red pot on the counter, gripper open and ready to grasp. It will close around the pot, lift it smoothly, and move leftward toward the sink area. The pot will be lowered into the sink basin, and the gripper will open to release it, leaving the pot resting inside the sink while the a... | The pot is not visible in either frame, and no movement toward the sink is evident; the scene remains unchanged. Since no progress is made toward picking or placing the pot, no action is required yet. subtask: finish | 41 | 51 | 0 | 41 | 0 | pick pot and place in sink | ||
[
0.04828532785177231,
-1.1084086894989014,
-0.1160494014620781,
-2.6792092323303223,
0.3107781708240509,
1.7608363628387451,
-0.04114890471100807,
0.08500000089406967
] | [
-0.0011718273162841797,
0.002659447491168976,
-0.0008561611175537109,
-0.002154335379600525,
-0.00429554283618927,
1,
0
] | 8.4 | 10.4 | The robot arm is positioned above the red pot on the counter, gripper open and ready to grasp. It will descend, close around the pot, lift it, and move left toward the sink. The pot will be released into the sink basin, and the gripper will open again, leaving the pot resting in the sink while the arm retracts slightly... | The pot is not visible in either frame, and no movement toward the sink is evident; the scene remains static with dishes in the rack and items on the counter. Since no progress is made toward picking or placing the pot, the task cannot advance. subtask: finish | 42 | 52 | 0 | 42 | 0 | pick pot and place in sink | ||
[
0.0494866743683815,
-1.109248161315918,
-0.11562179774045944,
-2.682375192642212,
0.319988876581192,
1.7583218812942505,
-0.044548891484737396,
0.08500000089406967
] | [
-0.0012387633323669434,
0.002606913447380066,
-0.0008664131164550781,
-0.0021114349365234375,
-0.004043832421302795,
1,
0
] | 8.6 | 10.6 | The robot arm is positioned above the red pot, gripper open and ready to grasp. It will descend, close around the pot, lift it clear of the counter, then move leftward toward the sink. The pot will be lowered and released into the sink basin, with the gripper opening again as the arm retracts slightly, leaving the pot ... | The pot remains in its original position near the sink, and no movement or interaction has occurred between frames. Since the goal is to pick the pot and place it in the sink, and no progress is visible, the next step is to initiate contact. subtask: approach | 43 | 53 | 0 | 43 | 0 | pick pot and place in sink | ||
[
0.05061979964375496,
-1.1103553771972656,
-0.11501830816268921,
-2.685570478439331,
0.3285367488861084,
1.7558345794677734,
-0.04760333150625229,
0.08500000089406967
] | [
-0.0011340975761413574,
0.0024926960468292236,
-0.0007933974266052246,
-0.0018863901495933533,
-0.0037692636251449585,
1,
0
] | 8.8 | 10.8 | The robot arm is poised above the countertop near a metallic pot, with the gripper open and ready to grasp. It will descend, close around the pot’s handle, lift it smoothly, and then arc toward the sink area. The pot will be released into the sink basin, and the gripper will retract and open, leaving the pot resting in... | The pot remains on the countertop near the sink, and no movement toward placing it in the sink is observed; the scene is unchanged. Since no progress is made toward the goal, no action is required at this moment. subtask: finish | 44 | 54 | 0 | 44 | 0 | pick pot and place in sink | ||
[
0.05148279294371605,
-1.1115418672561646,
-0.11403368413448334,
-2.6888630390167236,
0.3373720049858093,
1.7535797357559204,
-0.050422802567481995,
0.08500000089406967
] | [
-0.001132279634475708,
0.0021795332431793213,
-0.000890195369720459,
-0.0018066540360450745,
-0.002993166446685791,
1,
0
] | 9 | 11 | The robot arm is positioned above the countertop near a red pot; it will descend, grasp the pot with its gripper, lift it, and move leftward toward the sink. The gripper will remain closed during transit, and upon reaching the sink, it will release the pot into the basin, resulting in the pot resting inside the sink wh... | The pot is not visible in either frame, and no movement toward the sink is evident; the scene remains static with no manipulation occurring. Since the goal of picking and placing the pot in the sink is not progressing, no actionable subtask can be derived from this transition.
subtask: finish | 45 | 55 | 0 | 45 | 0 | pick pot and place in sink | ||
[
0.05195789039134979,
-1.1128097772598267,
-0.11277469992637634,
-2.691977024078369,
0.34436526894569397,
1.7515264749526978,
-0.052688807249069214,
0.08500000089406967
] | [
-0.0012743771076202393,
0.0024599507451057434,
-0.001118302345275879,
-0.0020835772156715393,
-0.0032646358013153076,
1,
0
] | 9.2 | 11.2 | The robot arm is positioned above the pot on the counter, gripper open and ready to grasp. It will descend, close around the pot, lift it, and move toward the sink. The pot will be released into the sink basin, and the arm will retract slightly, leaving the pot resting in the sink while the gripper opens again. | The pot remains on the countertop near the sink, and no movement toward placing it in the sink has occurred. Since the goal is to pick the pot and place it in the sink, and no progress is visible, the next step is to initiate interaction. subtask: approach | 46 | 56 | 0 | 46 | 0 | pick pot and place in sink | ||
[
0.052238259464502335,
-1.114277958869934,
-0.11098147183656693,
-2.6958744525909424,
0.35262107849121094,
1.7492836713790894,
-0.05516248568892479,
0.08500000089406967
] | [
-0.0010778307914733887,
0.0021664798259735107,
-0.0011219978332519531,
-0.0018184259533882141,
-0.0026952773332595825,
1,
0
] | 9.4 | 11.4 | The robot arm is positioned above the countertop near a metallic pot, with its gripper open and ready to grasp. It will close around the pot, lift it smoothly, and move toward the sink area. The pot will be released into the sink basin, and the gripper will open again, completing the transfer while the surrounding obje... | The pot is not visible in either frame, and no movement toward sink placement is evident; the scene remains static with kitchen items unchanged. Since no progress is made toward picking or placing the pot, no actionable subtask can be derived. subtask: finish | 47 | 57 | 0 | 47 | 0 | pick pot and place in sink | ||
[
0.05241987481713295,
-1.11555016040802,
-0.10904879868030548,
-2.6997175216674805,
0.360039085149765,
1.7476506233215332,
-0.05745239183306694,
0.08500000089406967
] | [
-0.0009294450283050537,
0.0022339001297950745,
-0.0010999441146850586,
-0.00151815265417099,
-0.00267830491065979,
1,
0
] | 9.6 | 11.6 | The robot arm is positioned near the pot on the counter, gripper open and ready to grasp. It will close around the pot, lift it vertically, then move laterally toward the sink. The pot will be released into the sink basin, and the gripper will open again, leaving the pot resting in the sink while the arm retracts sligh... | The pot remains on the counter near the sink, and no movement toward placing it in the sink has occurred. Since the goal is to pick the pot and place it in the sink, and no progress is visible, the next step is to approach the pot. subtask: approach | 48 | 58 | 0 | 48 | 0 | pick pot and place in sink | ||
[
0.05248888581991196,
-1.1167669296264648,
-0.10685320198535919,
-2.7035138607025146,
0.3673265278339386,
1.7468864917755127,
-0.059447016566991806,
0.08500000089406967
] | [
-0.0008672773838043213,
0.002181030809879303,
-0.0012316703796386719,
-0.001370936632156372,
-0.002276375889778137,
1,
0
] | 9.8 | 11.8 | The robot arm is positioned near the pot on the counter, gripper open and ready to grasp. It will close around the pot, lift it smoothly, and move toward the sink. The pot will be released into the sink basin, and the gripper will open again, leaving the pot resting in the sink while the arm retracts slightly. | The pot remains on the counter near the sink, unchanged in position or state between frames; no progress toward picking or placing it is evident. Since no manipulation occurred, the task remains uninitiated. subtask: finish | 49 | 59 | 0 | 49 | 0 | pick pot and place in sink | ||
[
0.05244436860084534,
-1.118180751800537,
-0.10403574258089066,
-2.7078680992126465,
0.37465882301330566,
1.7466628551483154,
-0.06140265241265297,
0.08500000089406967
] | [
-0.0008240938186645508,
0.0018918514251708984,
-0.0013214349746704102,
-0.0012355819344520569,
-0.0013177841901779175,
1,
0
] | 10 | 12 | The robot arm is positioned above the metallic pot on the counter, gripper open and ready to grasp. It will descend, close around the pot’s handle, lift it clear of the surface, then pivot and extend toward the sink. The pot will be lowered and released into the sink basin, gripper opening to disengage, leaving the pot... | The pot remains on the counter near the sink, unchanged between frames, indicating no progress toward the goal. Since no manipulation occurred, the system must initiate movement toward the pot. subtask: approach | 50 | 60 | 0 | 50 | 0 | pick pot and place in sink | ||
[
0.05243653804063797,
-1.119594931602478,
-0.10088290274143219,
-2.711958169937134,
0.3801325559616089,
1.7466542720794678,
-0.06299407035112381,
0.08500000089406967
] | [
-0.0009723305702209473,
0.001917131245136261,
-0.0015535056591033936,
-0.0011653974652290344,
-0.0003407001495361328,
1,
0
] | 10.2 | 12.2 | The robot arm is positioned above the pot, gripper open and ready to grasp. It will close around the pot, lift it vertically, then move laterally toward the sink. The pot will be released into the sink basin, gripper opening again. The arm will retract slightly, leaving the pot stationary in the sink while surrounding ... | The pot is not visible in either frame, and no movement toward sink placement is evident; the scene remains static with kitchen items unchanged. Since no progress is made toward picking or placing the pot, the task cannot proceed from this state. subtask: finish | 51 | 61 | 0 | 51 | 0 | pick pot and place in sink | ||
[
0.05232599377632141,
-1.1216731071472168,
-0.09640184044837952,
-2.7165098190307617,
0.38471150398254395,
1.7467162609100342,
-0.0643918514251709,
0.08500000089406967
] | [
-0.0010913312435150146,
0.0018458738923072815,
-0.0017033517360687256,
-0.0010307133197784424,
0.0004008859395980835,
1,
0
] | 10.4 | 12.4 | The robot arm is positioned above the red pot on the counter, gripper open and ready to grasp. It will descend, close around the pot, lift it, and move toward the sink. The pot will be placed inside the sink basin, and the gripper will open, releasing it. The arm may then retract slightly, leaving the pot stationary in... | The pot remains in the same position on the counter, and no movement toward the sink is observed; the scene is unchanged, indicating no action has been taken yet. subtask: approach | 52 | 62 | 0 | 52 | 0 | pick pot and place in sink | ||
[
0.052348069846630096,
-1.1243246793746948,
-0.09142579883337021,
-2.721266031265259,
0.38819634914398193,
1.7468751668930054,
-0.06557531654834747,
0.08500000089406967
] | [
-0.0011388063430786133,
0.0016672462224960327,
-0.0017903447151184082,
-0.0007817372679710388,
0.0010432451963424683,
1,
0
] | 10.6 | 12.6 | The robot arm is poised near the metallic pot on the counter, gripper open and ready to grasp. It will close around the pot’s handle, lift it smoothly, and move leftward toward the sink basin. As it lowers the pot into the sink, the gripper will open, releasing it. The pot will rest in the sink, and the arm will retrac... | The pot remains on the counter near the yellow bowl and red cup, unchanged from current to future frame; no movement toward the sink occurred. Since the goal is unmet and no action was executed, the system must initiate motion. subtask: approach | 53 | 63 | 0 | 53 | 0 | pick pot and place in sink | ||
[
0.05239023640751839,
-1.12763512134552,
-0.08596396446228027,
-2.7263944149017334,
0.39077895879745483,
1.747204065322876,
-0.0669243186712265,
0.08500000089406967
] | [
-0.001084357500076294,
0.0014743879437446594,
-0.001770615577697754,
-0.0005742311477661133,
0.0012529641389846802,
1,
0
] | 10.8 | 12.8 | The robot arm is positioned above a metallic pot on the countertop, gripper open and ready to grasp. It will close around the pot, lift it vertically, then move laterally toward the sink area. The pot will be lowered into the sink basin, and the gripper will open to release it, leaving the pot resting inside the sink w... | The pot remains on the counter near the sink, unchanged between frames, indicating no action has occurred yet toward moving it. To progress, the pot must be grasped first. subtask: grasp | 54 | 64 | 0 | 54 | 0 | pick pot and place in sink | ||
[
0.052560754120349884,
-1.1311731338500977,
-0.08061867207288742,
-2.7316315174102783,
0.39276257157325745,
1.7477798461914062,
-0.06853409111499786,
0.08500000089406967
] | [
-0.001205533742904663,
0.0014122873544692993,
-0.002004265785217285,
-0.000664345920085907,
0.0013327598571777344,
1,
0
] | 11 | 13 | The robot arm is positioned above the metallic pot on the countertop, gripper open and ready to grasp. It will close around the pot, lift it vertically, then move laterally toward the sink area. The pot will be lowered and released into the sink basin, with the gripper opening and retracting upward, leaving the pot sta... | The pot remains on the countertop near the yellow bowl and has not yet been moved toward the sink; no progress toward placement in the sink is visible. subtask: approach | 55 | 65 | 0 | 55 | 0 | pick pot and place in sink | ||
[
0.05285235866904259,
-1.1348005533218384,
-0.07574958354234695,
-2.737092971801758,
0.3943588435649872,
1.7482585906982422,
-0.0706474632024765,
0.08500000089406967
] | [
-0.001156836748123169,
0.00123702734708786,
-0.0018802285194396973,
-0.0006054788827896118,
0.0011469125747680664,
1,
0
] | 11.2 | 13.2 | The robot arm is positioned above the metallic pot on the countertop, gripper open and ready to grasp. It will descend, close around the pot, lift it, and move leftward toward the sink area. The pot will be released into the sink basin, and the gripper will open again, leaving the pot resting inside the sink while the ... | The pot remains on the counter near the yellow bowl, and no movement toward the sink is observed; since the goal is to place the pot in the sink and no progress is made, the next step is to initiate movement toward it. subtask: approach | 56 | 66 | 0 | 56 | 0 | pick pot and place in sink | ||
[
0.05352521315217018,
-1.1384830474853516,
-0.07152878493070602,
-2.7425591945648193,
0.39563390612602234,
1.7486982345581055,
-0.07318714261054993,
0.08500000089406967
] | [
-0.0010953843593597412,
0.0011255815625190735,
-0.0019074976444244385,
-0.0008714199066162109,
0.0008007586002349854,
1,
0
] | 11.4 | 13.4 | The robot arm is positioned above the metallic pot, gripper open and ready to grasp. It will close around the pot, lift it vertically, then move laterally toward the sink area. Upon reaching the sink, the gripper will open, releasing the pot into the basin. The arm will then retract slightly, leaving the pot stationary... | The pot remains on the counter near the sink, unchanged between frames, indicating no action has occurred yet. To progress, the pot must be grasped and moved toward the sink. subtask: grasp | 57 | 67 | 0 | 57 | 0 | pick pot and place in sink | ||
[
0.05443226173520088,
-1.1413501501083374,
-0.06832970678806305,
-2.7476260662078857,
0.3968304991722107,
1.748981237411499,
-0.07585477083921432,
0.08500000089406967
] | [
-0.0009240508079528809,
0.0009681954979896545,
-0.0017982721328735352,
-0.0010726526379585266,
0.0003156214952468872,
1,
0
] | 11.6 | 13.6 | The robot arm is positioned above the metallic pot on the counter, gripper open and ready to grasp. It will close around the pot, lift it vertically, then move laterally toward the sink area. The pot will be released into the sink basin, and the gripper will open again, leaving the pot resting inside the sink while the... | The pot remains in its original position near the center-left of the counter, with no visible movement toward the sink; no progress has been made toward the goal. subtask: finish | 58 | 68 | 0 | 58 | 0 | pick pot and place in sink | ||
[
0.055456213653087616,
-1.1432839632034302,
-0.06619835644960403,
-2.752159357070923,
0.3980914056301117,
1.749272346496582,
-0.07817824929952621,
0.08500000089406967
] | [
-0.0008716881275177002,
0.0012595579028129578,
-0.0018658339977264404,
-0.0012485310435295105,
-0.0003918111324310303,
1,
0
] | 11.8 | 13.8 | The robot arm is positioned above a metallic pot on the counter, gripper open and ready to grasp. It will close around the pot, lift it smoothly, and move it toward the sink area. The pot will be lowered into the sink basin, and the gripper will open to release it, leaving the pot resting inside the sink. | The pot remains in its original position near the top left, and no movement toward the sink is observed; since the goal is to pick the pot and place it in the sink but no progress is made, the system must first approach the pot. subtask: approach | 59 | 69 | 0 | 59 | 0 | pick pot and place in sink | ||
[
0.05658269673585892,
-1.1447229385375977,
-0.0641537457704544,
-2.7569382190704346,
0.4007863700389862,
1.7498749494552612,
-0.08082813024520874,
0.08500000089406967
] | [
-0.0007793903350830078,
0.0012504979968070984,
-0.001813441514968872,
-0.0013283118605613708,
-0.0008440464735031128,
1,
0
] | 12 | 14 | The robot arm is positioned above the metallic pot on the countertop, gripper open and ready to grasp. It will descend, close around the pot’s rim, lift it smoothly, and then move laterally toward the sink area. The gripper will release the pot into the sink basin, leaving the arm retracted and the pot resting inside t... | The pot remains in the same position on the counter, and no movement toward the sink is observed; since no progress is made toward placing the pot in the sink, the system must first approach the pot. subtask: approach | 60 | 70 | 0 | 60 | 0 | pick pot and place in sink | ||
[
0.05765293166041374,
-1.145700454711914,
-0.06268370151519775,
-2.761460542678833,
0.40383660793304443,
1.7505804300308228,
-0.08327007293701172,
0.08500000089406967
] | [
-0.0006503164768218994,
0.0011691227555274963,
-0.0015535354614257812,
-0.0012067705392837524,
-0.0009343475103378296,
1,
0
] | 12.2 | 14.2 | The robot arm is positioned above the metallic pot, gripper open and ready to grasp. It will close around the pot, lift it smoothly, and move toward the sink area. The pot will be released into the sink basin, and the gripper will open again, returning to a neutral position above the counter, leaving the pot resting in... | The pot remains in the same position on the counter; no movement toward the sink has occurred. Since the goal is to pick the pot and place it in the sink, and no progress is visible, the next step is to initiate contact with the pot. subtask: approach | 61 | 71 | 0 | 61 | 0 | pick pot and place in sink | ||
[
0.058566831052303314,
-1.1463665962219238,
-0.06130298972129822,
-2.7654569149017334,
0.4070362448692322,
1.7512600421905518,
-0.08540525287389755,
0.08500000089406967
] | [
-0.0005691051483154297,
0.0014543607831001282,
-0.0013673007488250732,
-0.0011353492736816406,
-0.001761898398399353,
1,
0
] | 12.4 | 14.4 | The robot arm is positioned above the pot on the counter, gripper open and ready to grasp. It will close around the pot, lift it smoothly, and move it toward the sink. The pot will be released into the sink basin, and the gripper will open again. The arm will then retract slightly, leaving the pot resting in the sink. | The pot remains on the counter near the sink, and no movement or placement into the sink has occurred; the scene is unchanged. Since the goal of placing the pot in the sink is not yet achieved and no action is visibly in progress, the system must initiate movement toward the pot. subtask: approach | 62 | 72 | 0 | 62 | 0 | pick pot and place in sink | ||
[
0.05957329273223877,
-1.146862268447876,
-0.060107193887233734,
-2.7695229053497314,
0.4119652509689331,
1.7522650957107544,
-0.08745353668928146,
0.08500000089406967
] | [
-0.0005599260330200195,
0.001660950481891632,
-0.0014043450355529785,
-0.0012532025575637817,
-0.0022178292274475098,
1,
0
] | 12.6 | 14.6 | The robot arm is positioned above the pot on the counter, gripper open and ready to grasp. It will descend, close around the pot, lift it, and move toward the sink. The pot will be released into the sink basin, and the gripper will open again, returning to a neutral position above the workspace, leaving the pot resting... | The pot remains on the countertop near the sink, and no movement toward placing it in the sink is observed; the scene is unchanged, indicating no action has occurred. subtask: finish | 63 | 73 | 0 | 63 | 0 | pick pot and place in sink | ||
[
0.06064729765057564,
-1.1471487283706665,
-0.05899316444993019,
-2.773566961288452,
0.4174623489379883,
1.7534292936325073,
-0.0892302617430687,
0.08500000089406967
] | [
-0.0004962384700775146,
0.0016086176037788391,
-0.0012105703353881836,
-0.0013969764113426208,
-0.002211242914199829,
1,
0
] | 12.8 | 14.8 | The robot arm is positioned above a metallic pot on the counter, gripper open and ready to grasp. It will close around the pot, lift it smoothly, and move it toward the sink area. The pot will be released into the sink basin, and the gripper will open again, leaving the pot resting in the sink while the arm retracts sl... | The pot remains on the counter near the sink, and no movement toward placing it in the sink has occurred. Since the goal is to pick the pot and place it in the sink, and no progress is visible, the next step is to initiate contact. subtask: approach | 64 | 74 | 0 | 64 | 0 | pick pot and place in sink | ||
[
0.06176228076219559,
-1.1468219757080078,
-0.05797449126839638,
-2.7769885063171387,
0.42304110527038574,
1.7542694807052612,
-0.09082376956939697,
0.08500000089406967
] | [
-0.00021702051162719727,
0.0017077252268791199,
-0.000507652759552002,
-0.0012423768639564514,
-0.0024328529834747314,
1,
0
] | 13 | 15 | The robot arm is positioned above a metallic pot on the countertop, gripper open and ready to grasp. It will close around the pot, lift it smoothly, and move toward the sink area. The pot will be lowered into the sink basin, and the gripper will open to release it, leaving the pot resting in the sink while the arm retr... | The pot remains on the counter near the yellow bowl and red cup, with no movement toward the sink observed; the scene is unchanged, indicating no progress toward the goal. subtask: finish | 65 | 75 | 0 | 65 | 0 | pick pot and place in sink | ||
[
0.06298427283763885,
-1.1452147960662842,
-0.05696161836385727,
-2.7784080505371094,
0.42905035614967346,
1.7547001838684082,
-0.09219008684158325,
0.08500000089406967
] | [
0.00000903010368347168,
0.0016305223107337952,
-0.00009745359420776367,
-0.0008641034364700317,
-0.002568647265434265,
1,
0
] | 13.2 | 15.2 | The robotic arm is positioned above a metallic pot on the countertop, gripper open and ready to grasp. It will close around the pot, lift it vertically, then move laterally toward the sink area. Upon reaching the sink, the gripper will open, releasing the pot into the basin. The arm will then retract slightly, leaving ... | The pot remains on the counter near the sink, unchanged in position or state between frames; no progress toward picking or placing is evident. Since the goal is unmet and no motion occurs, the system must initiate movement toward the pot. subtask: approach | 66 | 76 | 0 | 66 | 0 | pick pot and place in sink | ||
[
0.06416533887386322,
-1.1431775093078613,
-0.05618501082062721,
-2.778927803039551,
0.4353451132774353,
1.7553684711456299,
-0.09356781095266342,
0.08500000089406967
] | [
0.00008797645568847656,
0.002090342342853546,
0.0000903010368347168,
-0.0007489174604415894,
-0.0035107433795928955,
1,
0
] | 13.4 | 15.4 | The robot arm is positioned above a metallic pot on the countertop, gripper open and ready to grasp. It will close around the pot, lift it smoothly, and move toward the sink area. The pot will be released into the sink basin, and the gripper will open again, leaving the pot stationary in the sink while the arm retracts... | The pot remains on the countertop near the yellow bowl, and no movement toward the sink is observed; since the goal is to pick the pot and place it in the sink but no progress is made, the system must first approach the pot. subtask: approach | 67 | 77 | 0 | 67 | 0 | pick pot and place in sink | ||
[
0.06569025665521622,
-1.1409952640533447,
-0.055540814995765686,
-2.7794392108917236,
0.44313719868659973,
1.7564747333526611,
-0.09534472972154617,
0.08500000089406967
] | [
0.00011116266250610352,
0.001871153712272644,
0.00013679265975952148,
-0.0004920102655887604,
-0.003216952085494995,
1,
0
] | 13.6 | 15.6 | The robot arm hovers above the metallic pot on the countertop, gripper open and ready. It will descend, close around the pot’s rim, lift it smoothly, and pivot toward the sink area. The pot will be lowered into the sink basin, gripper releasing as the arm retracts slightly, leaving the pot resting inside the sink. | The pot remains on the counter near the yellow bowl, unchanged from current to future frame; no movement toward the sink has occurred. Since no progress is visible toward placing the pot in the sink, the next required action is to approach the pot. subtask: approach | 68 | 78 | 0 | 68 | 0 | pick pot and place in sink | ||
[
0.06741552799940109,
-1.139115571975708,
-0.05520987510681152,
-2.7799835205078125,
0.45020875334739685,
1.7577955722808838,
-0.09715288877487183,
0.08500000089406967
] | [
0.00012731552124023438,
0.001898355782032013,
0.00021409988403320312,
-0.00030026957392692566,
-0.0033511221408843994,
1,
0
] | 13.8 | 15.8 | The robot arm is positioned above a metallic pot on the countertop, gripper open and ready to grasp. It will close around the pot, lift it vertically, then move laterally toward the sink area. The gripper will release the pot into the sink basin, completing the transfer. The pot’s position will shift from countertop to... | The pot remains in its original position near the center-left of the frame, and no movement toward the sink is observed; since the goal is to pick the pot and place it in the sink but no progress is evident, no action has occurred. subtask: finish | 69 | 79 | 0 | 69 | 0 | pick pot and place in sink | ||
[
0.06929223984479904,
-1.1374907493591309,
-0.055010855197906494,
-2.78065824508667,
0.4577685296535492,
1.7594174146652222,
-0.0990433394908905,
0.08500000089406967
] | [
0.000026166439056396484,
0.001802794635295868,
0.0001589059829711914,
-0.00046364590525627136,
-0.0029854625463485718,
1,
0
] | 14 | 16 | The robot arm is positioned above a metallic pot on the counter, gripper open and ready to grasp. It will close around the pot, lift it vertically, then move laterally toward the sink. The pot will be lowered and released into the sink basin, with the gripper opening again. The arm will then retract slightly, leaving t... | The pot remains on the counter near the yellow bowl and red cup, showing no movement toward the sink; no action has occurred to initiate the task. subtask: approach | 70 | 80 | 0 | 70 | 0 | pick pot and place in sink | ||
[
0.07100868970155716,
-1.1360204219818115,
-0.05457595735788345,
-2.781236410140991,
0.46447548270225525,
1.7605483531951904,
-0.10052572935819626,
0.08500000089406967
] | [
-0.000011086463928222656,
0.001986205577850342,
0.00014415383338928223,
-0.0005934014916419983,
-0.002895176410675049,
1,
0
] | 14.2 | 16.200001 | The robotic arm is positioned above the metallic pot, gripper open and ready to grasp. It will close around the pot, lift it smoothly, and move it toward the sink area. The pot will be released into the sink basin, and the gripper will retract, leaving the pot resting in the sink while other objects remain undisturbed ... | The pot remains in its original position near the top left, and no movement toward the sink is observed; since the goal is to pick the pot and place it in the sink but no progress is evident, the next required action is to approach the pot. subtask: approach | 71 | 81 | 0 | 71 | 0 | pick pot and place in sink | ||
[
0.07283884286880493,
-1.1343648433685303,
-0.053540509194135666,
-2.7817230224609375,
0.4715196490287781,
1.7616240978240967,
-0.10184889286756516,
0.08500000089406967
] | [
-0.000055670738220214844,
0.00194510817527771,
0.000027865171432495117,
-0.0007529817521572113,
-0.0023238658905029297,
1,
0
] | 14.4 | 16.4 | The robot arm is positioned above the metallic pot on the counter, gripper open and ready to grasp. It will close around the pot, lift it vertically, then move laterally toward the sink area. The pot will be lowered and released into the sink basin, with the gripper opening and the arm retracting slightly, leaving the ... | The pot remains on the countertop near the yellow bowl, and no movement toward the sink is observed; the scene is unchanged, indicating no action has occurred. subtask: finish | 72 | 82 | 0 | 72 | 0 | pick pot and place in sink | ||
[
0.07453040033578873,
-1.1326004266738892,
-0.05189678445458412,
-2.782060146331787,
0.477757066488266,
1.7624720335006714,
-0.10287176072597504,
0.08500000089406967
] | [
-0.000049114227294921875,
0.0018677562475204468,
-0.0000362396240234375,
-0.0007800310850143433,
-0.001884758472442627,
1,
0
] | 14.6 | 16.6 | The robot arm is positioned above the metallic pot on the counter, gripper open and ready to grasp. It will descend, close around the pot, lift it steadily, then move laterally toward the sink. Upon arrival, the gripper will open, releasing the pot into the sink basin, completing the transfer with no spillage or collis... | The pot remains on the counter near the sink, unchanged in position or state between frames, indicating no manipulation occurred. Since the goal of placing the pot in the sink is not yet achieved and no motion is detected, the system must initiate movement toward the pot. subtask: approach | 73 | 83 | 0 | 73 | 0 | pick pot and place in sink | ||
[
0.0758989006280899,
-1.1307538747787476,
-0.04948955029249191,
-2.782362699508667,
0.4840300381183624,
1.7633414268493652,
-0.10342136770486832,
0.08500000089406967
] | [
-0.00004997849464416504,
0.001849442720413208,
-0.00005587935447692871,
-0.0007176846265792847,
-0.0016331076622009277,
1,
0
] | 14.8 | 16.799999 | The robot arm is positioned above the metallic pot, gripper open and ready to grasp. It will close around the pot, lift it smoothly, and move toward the sink area. The pot will be released into the sink basin, causing a slight shift in surrounding objects due to motion. The gripper will then retract, returning to a neu... | The pot remains in its original position near the top left, and no movement toward the sink is observed; since the goal is to pick the pot and place it in the sink but no progress is made, the system may be idle or awaiting input. subtask: finish | 74 | 84 | 0 | 74 | 0 | pick pot and place in sink | ||
[
0.07698218524456024,
-1.1291111707687378,
-0.04667888209223747,
-2.7826669216156006,
0.48999321460723877,
1.7642216682434082,
-0.10368845611810684,
0.08500000089406967
] | [
-0.00012883543968200684,
0.002000972628593445,
-0.00008553266525268555,
-0.0008239001035690308,
-0.0016903579235076904,
1,
0
] | 15 | 17 | The robotic arm is positioned above the red pot on the counter, gripper open and ready to grasp. It will close around the pot, lift it vertically, then move laterally toward the sink. Upon arrival, the gripper will open, releasing the pot into the sink basin, completing the placement while the arm retracts slightly to ... | The pot remains on the counter near the sink, with no visible movement or repositioning between frames. Since the goal is to pick the pot and place it in the sink, and no progress has been made, the next step is to initiate contact. subtask: approach | 75 | 85 | 0 | 75 | 0 | pick pot and place in sink | ||
[
0.07795602083206177,
-1.1275941133499146,
-0.04352032020688057,
-2.783064842224121,
0.4962754547595978,
1.7649279832839966,
-0.10385116934776306,
0.08500000089406967
] | [
-0.00017599761486053467,
0.001721397042274475,
-0.0001544654369354248,
-0.0007903054356575012,
-0.0011798739433288574,
1,
0
] | 15.2 | 17.200001 | The robot arm is positioned above the metallic pot, ready to grasp it. The gripper will close around the pot’s rim, lift it vertically, then move horizontally toward the sink. As the arm repositions, the pot will be held steadily above the sink basin, preparing for release, while surrounding objects remain undisturbed. | The pot remains on the countertop near the yellow bowl and red cup, with no visible movement toward the sink; the dish rack and sink area are unchanged. No progress toward placing the pot in the sink has occurred. subtask: approach | 76 | 86 | 0 | 76 | 0 | pick pot and place in sink | ||
[
0.07881955057382584,
-1.126274585723877,
-0.040277957916259766,
-2.7834644317626953,
0.5017452239990234,
1.7654420137405396,
-0.10390160232782364,
0.08500000089406967
] | [
-0.00021912157535552979,
0.0016837269067764282,
-0.00019755959510803223,
-0.0008219629526138306,
-0.0010269880294799805,
1,
0
] | 15.4 | 17.4 | The robot arm is positioned above the metallic pot, gripper open and ready to grasp. It will close around the pot, lift it vertically, then move laterally toward the sink area. Upon reaching the sink, the gripper will open, releasing the pot into the basin. The arm will then retract slightly, leaving the pot resting in... | The pot remains on the counter near the yellow bowl and red cup, with no movement toward the sink observed; the scene is unchanged, indicating no progress toward the goal. subtask: finish | 77 | 87 | 0 | 77 | 0 | pick pot and place in sink | ||
[
0.07955978810787201,
-1.125124216079712,
-0.03710693493485451,
-2.783867835998535,
0.5066636204719543,
1.7657901048660278,
-0.10395845770835876,
0.08500000089406967
] | [
-0.00024375319480895996,
0.0016729384660720825,
-0.00024196505546569824,
-0.0008162371814250946,
-0.0007841289043426514,
1,
0
] | 15.6 | 17.6 | The robotic arm hovers above the metallic pot on the countertop, gripper open and ready to grasp. It will descend, close its gripper around the pot’s rim, lift it steadily, and pivot toward the sink area. The pot will be lowered into the sink basin, gripper releasing as the pot rests inside, completing the transfer whi... | The pot remains on the counter near the sink, unchanged in position or state between frames, indicating no manipulation occurred. Since the goal is to pick the pot and place it in the sink, and no progress is visible, the next required action is to initiate contact. subtask: approach | 78 | 88 | 0 | 78 | 0 | pick pot and place in sink | ||
[
0.08024675399065018,
-1.1239696741104126,
-0.03337738290429115,
-2.7842957973480225,
0.511696457862854,
1.7661241292953491,
-0.10396340489387512,
0.08500000089406967
] | [
-0.0002381652593612671,
0.0016057789325714111,
-0.00034034252166748047,
-0.0006867460906505585,
-0.000253140926361084,
1,
0
] | 15.8 | 17.799999 | The robot arm is positioned above a metallic pot on the countertop, gripper open and ready to grasp. It will close around the pot, lift it vertically, then move laterally toward the sink area. The pot will be released into the sink basin, and the gripper will open again, leaving the pot resting inside the sink while th... | The pot remains on the countertop near the sink, with no visible movement or interaction occurring between the current and future frames. Since the pot has not been picked up or placed in the sink, no progress toward the goal is evident. subtask: finish | 79 | 89 | 0 | 79 | 0 | pick pot and place in sink | ||
[
0.08077237010002136,
-1.1230205297470093,
-0.029150355607271194,
-2.7847695350646973,
0.5160065293312073,
1.766632080078125,
-0.10396397858858109,
0.08500000089406967
] | [
-0.0002406984567642212,
0.0014771372079849243,
-0.00039717555046081543,
-0.0005802921950817108,
0.00011861324310302734,
1,
0
] | 16 | 18 | The robot arm is positioned above a metallic pot on the countertop, gripper open and ready to grasp. It will close around the pot, lift it smoothly, and move leftward toward the sink. The pot will be lowered into the sink basin, and the gripper will open to release it, leaving the pot resting inside the sink. | The pot remains on the countertop near the sink, and no movement toward placing it in the sink is observed; the scene is unchanged. Since the goal is not yet achieved and no action has occurred, the next step is to initiate movement toward the pot. subtask: approach | 80 | 90 | 0 | 80 | 0 | pick pot and place in sink | ||
[
0.08107912540435791,
-1.1222808361053467,
-0.024672124534845352,
-2.7852768898010254,
0.5197669863700867,
1.7671542167663574,
-0.10396505147218704,
0.08500000089406967
] | [
-0.0001201629638671875,
0.0012963414192199707,
-0.0006350278854370117,
-0.00006837770342826843,
0.0015264451503753662,
1,
0
] | 16.200001 | 18.200001 | The robot arm is positioned above a metallic pot on the countertop, gripper open and ready to grasp. It will close around the pot, lift it smoothly, and move toward the sink area. Upon arrival, the gripper will open, releasing the pot into the sink basin, completing the transfer while maintaining spatial awareness of s... | The pot remains on the counter near the sink, unchanged in position or state between frames, indicating no progress toward the goal of placing it in the sink; no manipulation has occurred. subtask: finish | 81 | 91 | 0 | 81 | 0 | pick pot and place in sink | ||
[
0.08127279579639435,
-1.1219013929367065,
-0.018930040299892426,
-2.7859127521514893,
0.5218974947929382,
1.7685716152191162,
-0.10395896434783936,
0.08500000089406967
] | [
-0.00013540685176849365,
0.00107651948928833,
-0.0007495582103729248,
0.00019511207938194275,
0.002363741397857666,
1,
0
] | 16.4 | 18.4 | The robot arm is positioned above a metallic pot on the countertop, gripper open and ready to grasp. It will descend, close around the pot, lift it, and move leftward toward the sink area. The pot will be released into the sink basin, and the gripper will open again, leaving the pot resting inside the sink while the ar... | The pot remains on the counter and no movement toward the sink is observed; since the goal is to pick the pot and place it in the sink, and no progress is made, the required action is to initiate grasping. subtask: grasp | 82 | 92 | 0 | 82 | 0 | pick pot and place in sink | ||
[
0.0813877135515213,
-1.122036337852478,
-0.012551983818411827,
-2.786696195602417,
0.5227478742599487,
1.770266056060791,
-0.10385684669017792,
0.08500000089406967
] | [
-0.00020641088485717773,
0.001337200403213501,
-0.001038193702697754,
0.00034821033477783203,
0.003702491521835327,
1,
0
] | 16.6 | 18.6 | The robot arm is positioned above the metallic pot on the counter, gripper open and ready to grasp. It will descend, close around the pot, lift it steadily, and move leftward toward the sink. The pot will be lowered into the sink basin, and the gripper will open, releasing it. The arm will then retract slightly, leavin... | The pot remains on the counter near the yellow bowl and red cup, with no visible movement toward the sink; the dish rack and surrounding items are unchanged. subtask: approach | 83 | 93 | 0 | 83 | 0 | pick pot and place in sink | ||
[
0.08140771090984344,
-1.1225336790084839,
-0.0034300675615668297,
-2.787668466567993,
0.5231521725654602,
1.772497296333313,
-0.10307738184928894,
0.08500000089406967
] | [
-0.000196114182472229,
0.0012274682521820068,
-0.0010718107223510742,
0.00013615190982818604,
0.0037253499031066895,
1,
0
] | 16.799999 | 18.799999 | The robotic arm is positioned above a metallic pot on the countertop, gripper open and ready to grasp. It will close around the pot, lift it vertically, then pivot and extend toward the sink area. The pot will be lowered into the sink basin while the gripper releases, leaving the pot resting inside as the arm retracts ... | The pot remains on the counter near the sink, and no movement toward grasping or relocating it is observed; the scene is unchanged, indicating no action has been taken yet. subtask: approach | 84 | 94 | 0 | 84 | 0 | pick pot and place in sink | ||
[
0.08137420564889908,
-1.1227344274520874,
0.005407152231782675,
-2.788482427597046,
0.5232599973678589,
1.774502158164978,
-0.10183872282505035,
0.08500000089406967
] | [
-0.00022989511489868164,
0.0012655556201934814,
-0.0011606216430664062,
-0.00008245930075645447,
0.0038070082664489746,
1,
0
] | 17 | 19 | The robot arm is positioned above a metallic pot on the counter, gripper open and ready to grasp. It will close around the pot, lift it vertically, then move laterally toward the sink. The pot will be lowered into the sink basin, gripper releasing it. The arm will then retract slightly, leaving the pot resting in the s... | The pot remains on the counter near the yellow bowl, and no movement toward the sink is observed; since the goal is to pick and place the pot in the sink but no progress is made, the system may be waiting for input or the scene is static. subtask: finish | 85 | 95 | 0 | 85 | 0 | pick pot and place in sink | ||
[
0.08152683079242706,
-1.1226027011871338,
0.01437262911349535,
-2.789212465286255,
0.5232602953910828,
1.776424527168274,
-0.10037684440612793,
0.08500000089406967
] | [
-0.00019696354866027832,
0.0012860894203186035,
-0.0013003349304199219,
-0.00024988874793052673,
0.003967106342315674,
1,
0
] | 17.200001 | 19.200001 | The robot arm is positioned above a metallic pot on the counter, gripper open and ready to grasp. It will close around the pot, lift it smoothly, and move toward the sink area. The pot will be lowered and placed inside the sink basin, while the gripper opens again, completing the transfer with no spillage or collision. | The pot remains on the counter near the yellow bowl and red cup, with no visible movement toward the sink; the dish rack and sink area are unchanged. No progress toward placing the pot in the sink is evident. subtask: finish | 86 | 96 | 0 | 86 | 0 | pick pot and place in sink | ||
[
0.0816163420677185,
-1.1219768524169922,
0.0237008947879076,
-2.7899038791656494,
0.5232633352279663,
1.7784096002578735,
-0.09897291660308838,
0.08500000089406967
] | [
-0.00012367963790893555,
0.0011362135410308838,
-0.0012845396995544434,
-0.00041538476943969727,
0.003477245569229126,
1,
0
] | 17.4 | 19.4 | The robot arm is positioned above a metallic pot on the counter, gripper open and ready to grasp. It will close around the pot, lift it smoothly, and move toward the sink area. The pot will be lowered and placed inside the sink basin, with the gripper releasing it. The arm will then retract slightly, leaving the pot st... | The pot remains in its original position near the center-left of the counter; no movement toward the sink has occurred. Since the goal is to pick the pot and place it in the sink, and no progress is visible, the next action must initiate the grasp. subtask: grasp | 87 | 97 | 0 | 87 | 0 | pick pot and place in sink | ||
[
0.08179701864719391,
-1.120866298675537,
0.03187534213066101,
-2.790527582168579,
0.5232638716697693,
1.780348777770996,
-0.09779401123523712,
0.08500000089406967
] | [
0.000003337860107421875,
0.0009357035160064697,
-0.0012470483779907227,
-0.0006926208734512329,
0.0028251558542251587,
1,
0
] | 17.6 | 19.6 | The robotic arm is positioned above a metallic pot on the countertop, gripper open and ready to grasp. It will descend, close around the pot, lift it smoothly, and move toward the sink area. Upon arrival, the gripper will open, releasing the pot into the sink basin, completing the placement with the arm retracting slig... | The pot remains on the countertop near the yellow bowl and red cup, with no movement toward the sink observed; since the goal is to pick the pot and place it in the sink, and no progress is evident, the next step is to initiate contact. subtask: approach | 88 | 98 | 0 | 88 | 0 | pick pot and place in sink | ||
[
0.08205199241638184,
-1.1188749074935913,
0.0384732186794281,
-2.790926933288574,
0.5232654213905334,
1.782152533531189,
-0.09697368741035461,
0.08500000089406967
] | [
0.00022463500499725342,
0.000855565071105957,
-0.0014885663986206055,
-0.0010252296924591064,
0.002710774540901184,
1,
0
] | 17.799999 | 19.799999 | The robotic arm is positioned above a small metallic pot on the countertop, gripper open and ready to grasp. It will descend, close around the pot, lift it, and move toward the sink area. The pot will be released into the sink basin, and the gripper will open again, leaving the pot stationary in the sink while the arm ... | The pot remains on the countertop near the sink, and no movement toward placing it in the sink has occurred; the scene is unchanged. Since the goal of placing the pot in the sink is not yet achieved and no action has been taken, the next step is to initiate movement toward the pot. subtask: approach | 89 | 99 | 0 | 89 | 0 | pick pot and place in sink | ||
[
0.08227457106113434,
-1.1154667139053345,
0.04472310096025467,
-2.791228771209717,
0.523259699344635,
1.7844657897949219,
-0.09649484604597092,
0.08500000089406967
] | [
0.00039039552211761475,
0.0005468428134918213,
-0.0013123154640197754,
-0.0009973645210266113,
0.0018005669116973877,
1,
0
] | 18 | 20 | The robot arm is positioned above the pot, gripper open and ready to grasp. It will close around the pot, lift it smoothly from the counter, and move it toward the sink. The pot will be lowered into the sink basin, and the gripper will open to release it, leaving the pot resting in the sink while the arm retracts sligh... | The pot remains on the countertop near the yellow bowl, and no movement toward the sink is observed; the scene is unchanged, indicating no action has occurred. subtask: finish | 90 | 100 | 0 | 90 | 0 | pick pot and place in sink | ||
[
0.08252539485692978,
-1.1115822792053223,
0.048921048641204834,
-2.7915101051330566,
0.5232609510421753,
1.786956548690796,
-0.09637364000082016,
0.08500000089406967
] | [
0.000668749213218689,
0.0005369782447814941,
-0.0017124414443969727,
-0.0014192275702953339,
0.001895323395729065,
1,
0
] | 18.200001 | 20.200001 | The robotic arm is positioned above the metallic pot, gripper open and ready to grasp. It will close around the pot’s rim, lift it vertically, then pivot toward the sink area. The pot will be lowered into the sink basin, gripper releasing upon placement. The arm will then retract slightly, leaving the pot resting in th... | The pot remains on the countertop near the yellow bowl and red cup, with no visible movement toward the sink; the dish rack and surrounding items are unchanged. subtask: approach | 91 | 101 | 0 | 91 | 0 | pick pot and place in sink | ||
[
0.0827820673584938,
-1.1060059070587158,
0.05309998244047165,
-2.791790008544922,
0.5232622623443604,
1.7903132438659668,
-0.09633895009756088,
0.08500000089406967
] | [
0.0006740838289260864,
0.00034546852111816406,
-0.0015265941619873047,
-0.0014194697141647339,
0.0013432949781417847,
1,
0
] | 18.4 | 20.4 | The robot arm is positioned above the metallic pot on the countertop, gripper open and ready to grasp. It will descend, close around the pot, lift it smoothly, and move leftward toward the sink area. The pot will be released into the sink basin, and the gripper will retract, leaving the pot stationary in the sink while... | The pot remains on the counter near the sink, unchanged in position or state between frames, indicating no manipulation occurred. Since the goal is to pick the pot and place it in the sink, and no progress is visible, the next required action is to approach the pot. subtask: approach | 92 | 102 | 0 | 92 | 0 | pick pot and place in sink | ||
[
0.0829392522573471,
-1.1005744934082031,
0.05599049851298332,
-2.791966199874878,
0.5232590436935425,
1.793279767036438,
-0.09634481370449066,
0.08500000089406967
] | [
0.0009444057941436768,
0.0002664327621459961,
-0.0017300844192504883,
-0.0015524402260780334,
0.0012376457452774048,
1,
0
] | 18.6 | 20.6 | The robot arm is positioned above the metallic pot on the countertop, gripper open and ready to grasp. It will descend, close around the pot’s rim, lift it smoothly, and move leftward toward the sink. The pot will be released into the sink basin, and the gripper will open again, leaving the pot stationary in the sink w... | The pot remains on the countertop near the sink, and no movement toward placing it in the sink has occurred; the scene is unchanged. Since the goal of placing the pot in the sink is not yet achieved and no action has been taken, the next step is to initiate movement toward the pot. subtask: approach | 93 | 103 | 0 | 93 | 0 | pick pot and place in sink | ||
[
0.08309488743543625,
-1.093959093093872,
0.05856066942214966,
-2.792166233062744,
0.5232604742050171,
1.7971558570861816,
-0.09634339064359665,
0.08500000089406967
] | [
0.0008634626865386963,
0.00013843178749084473,
-0.001529693603515625,
-0.001499611884355545,
0.000793755054473877,
1,
0
] | 18.799999 | 20.799999 | The robot arm is positioned above the metallic pot, preparing to grasp it; the gripper will close around the pot’s rim, lift it vertically, then pivot toward the sink area, where it will lower and release the pot into the basin, leaving the arm retracted and the pot stationary in the sink. | The pot remains on the counter near the sink, with no visible movement or repositioning toward the sink basin. Since the goal is to pick the pot and place it in the sink, and no progress is evident, the next step is to initiate contact. subtask: approach | 94 | 104 | 0 | 94 | 0 | pick pot and place in sink | ||
[
0.08324846625328064,
-1.0878558158874512,
0.06011032685637474,
-2.7923381328582764,
0.5232598781585693,
1.800513744354248,
-0.09634178131818771,
0.08500000089406967
] | [
0.0012648701667785645,
0.00005257129669189453,
-0.001991093158721924,
-0.0019743256270885468,
0.0006879419088363647,
1,
0
] | 19 | 21 | The robotic arm is positioned above a metallic pot on the countertop, gripper open and ready to grasp. It will descend, close around the pot’s rim, lift it steadily, then arc toward the sink area. The pot will be lowered into the sink basin, gripper releasing it, leaving the pot resting inside while the arm retracts sl... | The pot remains on the countertop near the yellow bowl and red cup, with no visible movement toward the sink; the dish rack and surrounding items are unchanged. subtask: approach | 95 | 105 | 0 | 95 | 0 | pick pot and place in sink | ||
[
0.08347773551940918,
-1.079666018486023,
0.061241790652275085,
-2.792541265487671,
0.523259699344635,
1.8050976991653442,
-0.09633925557136536,
0.08500000089406967
] | [
0.0010776221752166748,
-0.000028908252716064453,
-0.0016384422779083252,
-0.0016765892505645752,
0.00034183263778686523,
1,
0
] | 19.200001 | 21.200001 | The robotic arm is positioned above a metallic pot on the countertop, gripper open and ready to grasp. It will descend, close around the pot’s handle, lift it smoothly, and move rightward toward the sink area. Upon arrival, the gripper will open, releasing the pot into the sink basin, completing the transfer while main... | The pot is already positioned near the sink, and no visible movement or placement occurs between frames, indicating the task is complete. subtask: finish | 96 | 106 | 0 | 96 | 0 | pick pot and place in sink | ||
[
0.08372172713279724,
-1.0723310708999634,
0.061664365231990814,
-2.7927181720733643,
0.5232619047164917,
1.809152364730835,
-0.09633666276931763,
0.08500000089406967
] | [
0.0012286603450775146,
-0.00007995963096618652,
-0.0018083155155181885,
-0.0018783323466777802,
0.00021491944789886475,
1,
0
] | 19.4 | 21.4 | The robot arm is positioned above a metallic pot on the counter, gripper open and ready to grasp. It will close around the pot, lift it smoothly, and move it leftward toward the sink area. Upon arrival, the gripper will open, releasing the pot into the sink basin, completing the placement while the surrounding objects ... | The pot is already in the sink, indicating the task is complete; no further manipulation is required as the goal state matches the future observation. subtask: finish | 97 | 107 | 0 | 97 | 0 | pick pot and place in sink | ||
[
0.08404501527547836,
-1.0645209550857544,
0.06167975440621376,
-2.7928805351257324,
0.5232611894607544,
1.8134434223175049,
-0.09634195268154144,
0.08500000089406967
] | [
0.0010815560817718506,
-0.0000706017017364502,
-0.0016320645809173584,
-0.0015870630741119385,
0.0001809149980545044,
1,
0
] | 19.6 | 21.6 | The robot arm is positioned above the pot on the counter, gripper open and ready to grasp. It will descend, close around the pot, lift it, and move toward the sink. The pot will be released into the sink basin, and the gripper will open again, leaving the pot resting inside the sink while the arm retracts slightly. | The pot is already placed in the sink as seen in both frames, indicating no further manipulation is required to complete the task. The scene remains unchanged, confirming the goal has been achieved. subtask: finish | 98 | 108 | 0 | 98 | 0 | pick pot and place in sink | ||
[
0.08445100486278534,
-1.0572896003723145,
0.061644088476896286,
-2.793189525604248,
0.5232604742050171,
1.8176953792572021,
-0.09637148678302765,
0.08500000089406967
] | [
0.001273512840270996,
-0.000011563301086425781,
-0.001973658800125122,
-0.0019499249756336212,
0.0002353191375732422,
1,
0
] | 19.799999 | 21.799999 | The robot arm is positioned above the metallic pot on the counter, gripper open and ready to grasp. It will descend, close around the pot’s handle, lift it smoothly, and move leftward toward the sink. The pot will be released into the sink basin, and the gripper will open again, returning to a neutral position above th... | The pot remains on the countertop near the sink, and no movement toward placement in the sink is observed; the scene is unchanged. Since the goal of placing the pot in the sink is not yet achieved and no action has been initiated, the next step is to approach the pot. subtask: approach | 99 | 109 | 0 | 99 | 0 | pick pot and place in sink |
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