vlm-reasoning-cot/3D_Visual_Reasoning · Datasets at Hugging Face

Turn around to go forward toward the table, then turn right and go around the counter, go toward the coffee maker, then turn right to face the counter. Open the leftmost cabinet beneath the counter, take out the plate, then close it. Turn around and go forward, then turn right at the stove and look up to the microwave. Put the plate in the microwave, heat it up, then take it out. Go to the counter to your left. Put the plate on the counter.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Turn around to go forward toward the table, then turn right and go around the counter, go toward the coffee maker, then turn right to face the counter. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Open the leftmost cabinet beneath the counter, take out the plate, then close it. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Turn around and go forward, then turn right at the stove and look up to the microwave. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Put the plate in the microwave, heat it up, then take it out. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Go to the counter to your left. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Put the plate on the counter. <image_start>[reasoning_image_6]<image_end>

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pick_heat_then_place_in_recep-Plate-None-CounterTop-7-traj2_2

Walk forward and take a right at the fridge and walk across the room to face the sink. Pick up the knife in the sink. Turn around and walk all the way across the room to face the kitchen table. Cut the lettuce on the kitchen table. Turn around and walk all the way across to the counter to the left of the kitchen. Place the knife on the counter. Turn around and walk all the way across the room to face the kitchen table. Pick up a slice of lettuce on the table. Turn around, walk to the counter and take a left and turn left to face the fridge. Cool the lettuce in the fridge and remove it. Turn around and walk across the room to face the counter to the left. Place the lettuce on the counter to the left of the knife.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Walk forward and take a right at the fridge and walk across the room to face the sink. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up the knife in the sink. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Turn around and walk all the way across the room to face the kitchen table. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Cut the lettuce on the kitchen table. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Turn around and walk all the way across to the counter to the left of the kitchen. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Place the knife on the counter. <image_start>[reasoning_image_6]<image_end> THOUGHT 7: Turn around and walk all the way across the room to face the kitchen table. <image_start>[reasoning_image_7]<image_end> THOUGHT 8: Pick up a slice of lettuce on the table. <image_start>[reasoning_image_8]<image_end> THOUGHT 9: Turn around, walk to the counter and take a left and turn left to face the fridge. <image_start>[reasoning_image_9]<image_end> THOUGHT 10: Cool the lettuce in the fridge and remove it. <image_start>[reasoning_image_10]<image_end> THOUGHT 11: Turn around and walk across the room to face the counter to the left. <image_start>[reasoning_image_11]<image_end> THOUGHT 12: Place the lettuce on the counter to the left of the knife. <image_start>[reasoning_image_12]<image_end>

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pick_cool_then_place_in_recep-LettuceSliced-None-CounterTop-7-traj1_1

Turn around to face the table on the left. Pick up a butter knife on the left side the table. Turn around and go to the counter with a toaster and a cabbage on the top. Slice up the cabbage with the knife. Turn around and go back to the table. Put the knife on the table. Go back back to the counter with the sliced cabbage. Pick up a slice of cabbage. Go to the sink. Put the slice of the cabbage in the right-side sink, run the water, and pick up the cabbage slice. Turn around and go back to the table. Place the cabbage slice on the table.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Turn around to face the table on the left. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up a butter knife on the left side the table. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Turn around and go to the counter with a toaster and a cabbage on the top. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Slice up the cabbage with the knife. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Turn around and go back to the table. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Put the knife on the table. <image_start>[reasoning_image_6]<image_end> THOUGHT 7: Go back back to the counter with the sliced cabbage. <image_start>[reasoning_image_7]<image_end> THOUGHT 8: Pick up a slice of cabbage. <image_start>[reasoning_image_8]<image_end> THOUGHT 9: Go to the sink. <image_start>[reasoning_image_9]<image_end> THOUGHT 10: Put the slice of the cabbage in the right-side sink, run the water, and pick up the cabbage slice. <image_start>[reasoning_image_10]<image_end> THOUGHT 11: Turn around and go back to the table. <image_start>[reasoning_image_11]<image_end> THOUGHT 12: Place the cabbage slice on the table. <image_start>[reasoning_image_12]<image_end>

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pick_clean_then_place_in_recep-LettuceSliced-None-DiningTable-27-traj3_0

Turn left and go forward to the wall, then turn left and go to the round table. Pick up the tomato from the table. Go to the microwave on the counter behind you. Open the microwave, put the tomato inside and heat it, then take it out. Turn right, move forward to the stove, then turn right and go straight ahead to the fridge. Open the fridge, put the tomato inside, then close the fridge.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Turn left and go forward to the wall, then turn left and go to the round table. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up the tomato from the table. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Go to the microwave on the counter behind you. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Open the microwave, put the tomato inside and heat it, then take it out. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Turn right, move forward to the stove, then turn right and go straight ahead to the fridge. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Open the fridge, put the tomato inside, then close the fridge. <image_start>[reasoning_image_6]<image_end>

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pick_heat_then_place_in_recep-Tomato-None-Fridge-19-traj3_2

turn left to the sink. pick up the spoon. turn to the right of the sink. drop the spoon there. turn around and head for the table. pick up a spoon from the table. turn around to the right side of the sink. drop a spoon on it.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: turn left to the sink. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: pick up the spoon. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: turn to the right of the sink. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: drop the spoon there. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: turn around and head for the table. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: pick up a spoon from the table. <image_start>[reasoning_image_6]<image_end> THOUGHT 7: turn around to the right side of the sink. <image_start>[reasoning_image_7]<image_end> THOUGHT 8: drop a spoon on it. <image_start>[reasoning_image_8]<image_end>

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pick_two_obj_and_place-Spoon-None-CounterTop-23-traj5_2

Turn right and walk to the counter on the left to the left of the stove. Pick up the egg in between the salt shakers near the back of the counter. Turn around and walk to the sink. Put the egg inside the microwave above the sink, heat it, remove it and close the door. Turn around and walk to the counter on the right with the coffee maker. Place the heated egg on the counter in front of the coffee maker.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Turn right and walk to the counter on the left to the left of the stove. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up the egg in between the salt shakers near the back of the counter. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Turn around and walk to the sink. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Put the egg inside the microwave above the sink, heat it, remove it and close the door. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Turn around and walk to the counter on the right with the coffee maker. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Place the heated egg on the counter in front of the coffee maker. <image_start>[reasoning_image_6]<image_end>

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pick_heat_then_place_in_recep-Egg-None-CounterTop-12-traj2_1

head over to the kitchen counters on the right side of the kitchen. grab a bowl off of the kitchen counter. turn around and bring the bowl over to the fridge. place the bowl inside the fridge to cool off, then take it out. bring the cooled bowl over to the brown shelves in the corner of the kitchen. place the bowl on the middle brown shelf.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: head over to the kitchen counters on the right side of the kitchen. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: grab a bowl off of the kitchen counter. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: turn around and bring the bowl over to the fridge. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: place the bowl inside the fridge to cool off, then take it out. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: bring the cooled bowl over to the brown shelves in the corner of the kitchen. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: place the bowl on the middle brown shelf. <image_start>[reasoning_image_6]<image_end>

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pick_cool_then_place_in_recep-Bowl-None-Shelf-7-traj2_1

Walk straight and turn right and face the round table. Pick up the mug on the left. Turn around and walk over to the microwave with the mug. Open the microwave and set the mug, shut the door and heat up the water and take it back out. Turn around and walk back to the table, turn left and face the coffee machine. Set the mug on the rack of the coffee machine.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Walk straight and turn right and face the round table. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up the mug on the left. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Turn around and walk over to the microwave with the mug. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Open the microwave and set the mug, shut the door and heat up the water and take it back out. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Turn around and walk back to the table, turn left and face the coffee machine. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Set the mug on the rack of the coffee machine. <image_start>[reasoning_image_6]<image_end>

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pick_heat_then_place_in_recep-Mug-None-CoffeeMachine-28-traj3_2

Turn around and go to the corner. Pick up the tennis racket on the floor. Turn around and go to the desk. Turn on the lamp.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Turn around and go to the corner. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up the tennis racket on the floor. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Turn around and go to the desk. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Turn on the lamp. <image_start>[reasoning_image_4]<image_end>

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look_at_obj_in_light-TennisRacket-None-DeskLamp-328-traj2_5

Turn right and walk slightly forward to the basketball on the floor. Pick up the basketball from the floor. Turn left and walk to the front of the lamp on the desk by the wall. Turn on the lamp.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Turn right and walk slightly forward to the basketball on the floor. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up the basketball from the floor. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Turn left and walk to the front of the lamp on the desk by the wall. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Turn on the lamp. <image_start>[reasoning_image_4]<image_end>

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look_at_obj_in_light-BasketBall-None-DeskLamp-320-traj2_3

Turn to the left and walk forward then turn right to face the sink. Pick up the soap from the sink counter. Turn around and walk forward then turn to the right and walk to the toilet. Place the soap on the back end of the toilet. Turn around completely and then go forward. Turn left and head back to the sink. Take the soap out of the sink. Turn around and walk forward then turn to the right and walk to the toilet. Place the soap on the back end of the toilet.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Turn to the left and walk forward then turn right to face the sink. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up the soap from the sink counter. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Turn around and walk forward then turn to the right and walk to the toilet. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Place the soap on the back end of the toilet. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Turn around completely and then go forward. Turn left and head back to the sink. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Take the soap out of the sink. <image_start>[reasoning_image_6]<image_end> THOUGHT 7: Turn around and walk forward then turn to the right and walk to the toilet. <image_start>[reasoning_image_7]<image_end> THOUGHT 8: Place the soap on the back end of the toilet. <image_start>[reasoning_image_8]<image_end>

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pick_two_obj_and_place-SoapBar-None-Toilet-417-traj5_0

Turn around, walk around the counter, go to the counter to the left of the fridge. Pick up the butter knife. Turn around, walk to the counter, turn to the left, walk to the end of the counter on the left. Slice the potato at the end of the counter. Walk around the end of the counter, go to the wastebasket. Put the butter knife in the wastebasket. Turn around, walk back around to the other side of the counter. Pick up the end slice of the potato. Turn to the left, walk to the microwave. Place the potato in the microwave for a few seconds, take the potato out of the microwave. Walk back to the wastebasket. Put the potato in the wastebasket.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Turn around, walk around the counter, go to the counter to the left of the fridge. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up the butter knife. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Turn around, walk to the counter, turn to the left, walk to the end of the counter on the left. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Slice the potato at the end of the counter. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Walk around the end of the counter, go to the wastebasket. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Put the butter knife in the wastebasket. <image_start>[reasoning_image_6]<image_end> THOUGHT 7: Turn around, walk back around to the other side of the counter. <image_start>[reasoning_image_7]<image_end> THOUGHT 8: Pick up the end slice of the potato. <image_start>[reasoning_image_8]<image_end> THOUGHT 9: Turn to the left, walk to the microwave. <image_start>[reasoning_image_9]<image_end> THOUGHT 10: Place the potato in the microwave for a few seconds, take the potato out of the microwave. <image_start>[reasoning_image_10]<image_end> THOUGHT 11: Walk back to the wastebasket. <image_start>[reasoning_image_11]<image_end> THOUGHT 12: Put the potato in the wastebasket. <image_start>[reasoning_image_12]<image_end>

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pick_heat_then_place_in_recep-PotatoSliced-None-GarbageCan-2-traj2_1

Turn to the right, walk forward, then turn right again and walk forward and face the counter on the right with 2 knives on it. Pick up a knife on the counter. Walk around the counter to face the opposite side from the starting point. Cut the potato on the counter into slices. Turn left and walk forward, then turn right past the counter, walk forward and turn to face the microwave on the left. Place the knife in the microwave. Turn left and walk across the room, then turn left and walk forward, then turn left and face the counter. Pick up a slice of the cut potato on the counter. Turn left and walk forward, then turn right past the counter, walk forward and turn to face the microwave on the left. Heat the potato slice in the microwave and remove it. Step to the left to face the trash can on the ground. Place the potato slice in the trash can.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Turn to the right, walk forward, then turn right again and walk forward and face the counter on the right with 2 knives on it. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up a knife on the counter. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Walk around the counter to face the opposite side from the starting point. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Cut the potato on the counter into slices. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Turn left and walk forward, then turn right past the counter, walk forward and turn to face the microwave on the left. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Place the knife in the microwave. <image_start>[reasoning_image_6]<image_end> THOUGHT 7: Turn left and walk across the room, then turn left and walk forward, then turn left and face the counter. <image_start>[reasoning_image_7]<image_end> THOUGHT 8: Pick up a slice of the cut potato on the counter. <image_start>[reasoning_image_8]<image_end> THOUGHT 9: Turn left and walk forward, then turn right past the counter, walk forward and turn to face the microwave on the left. <image_start>[reasoning_image_9]<image_end> THOUGHT 10: Heat the potato slice in the microwave and remove it. <image_start>[reasoning_image_10]<image_end> THOUGHT 11: Step to the left to face the trash can on the ground. <image_start>[reasoning_image_11]<image_end> THOUGHT 12: Place the potato slice in the trash can. <image_start>[reasoning_image_12]<image_end>

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pick_heat_then_place_in_recep-PotatoSliced-None-GarbageCan-5-traj2_3

Turn left and walk towards the fridge, then turn left to go to the counter straight ahead, to the right of the stove. Pick up the knife next to the plate. Turn left and go to the area on the counter with the pan, right next to the shelves. Slice the lettuce with the knife. Turn right and go towards the sink and then turn right again to go to the fridge. Open the fridge, place the knife on the top shelf, and then close the fridge. Turn left and go towards the counter to the right of the stove, and then turn left again to go back to the counter with the pan and lettuce. Pick up some of the cut up lettuce. Turn right towards the sink and then turn right to go to the fridge. Open the fridge and place the lettuce on the top shelf. Pick up the knife on the top shelf and shut the fridge door. Turn around and walk towards the door across the room, turn right and then walk to the bar towards the other head of lettuce. Cut up the lettuce with the knife. Walk to the right and then left towards the fridge. Open the fridge and place the knife on the top shelf, then close the fridge door. Walk to the right, towards the door across the way, and then turn right to face the bar and head of lettuce. Pick up some of the chopped up lettuce. Turn to the right and then left to go to the fridge. Open the fridge, place the lettuce on the top shelf, and then close the fridge.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Turn left and walk towards the fridge, then turn left to go to the counter straight ahead, to the right of the stove. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up the knife next to the plate. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Turn left and go to the area on the counter with the pan, right next to the shelves. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Slice the lettuce with the knife. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Turn right and go towards the sink and then turn right again to go to the fridge. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Open the fridge, place the knife on the top shelf, and then close the fridge. <image_start>[reasoning_image_6]<image_end> THOUGHT 7: Turn left and go towards the counter to the right of the stove, and then turn left again to go back to the counter with the pan and lettuce. <image_start>[reasoning_image_7]<image_end> THOUGHT 8: Pick up some of the cut up lettuce. <image_start>[reasoning_image_8]<image_end> THOUGHT 9: Turn right towards the sink and then turn right to go to the fridge. <image_start>[reasoning_image_9]<image_end> THOUGHT 10: Open the fridge and place the lettuce on the top shelf. <image_start>[reasoning_image_10]<image_end> THOUGHT 11: Pick up the knife on the top shelf and shut the fridge door. <image_start>[reasoning_image_11]<image_end> THOUGHT 12: Turn around and walk towards the door across the room, turn right and then walk to the bar towards the other head of lettuce. <image_start>[reasoning_image_12]<image_end> THOUGHT 13: Cut up the lettuce with the knife. <image_start>[reasoning_image_13]<image_end> THOUGHT 14: Walk to the right and then left towards the fridge. <image_start>[reasoning_image_14]<image_end> THOUGHT 15: Open the fridge and place the knife on the top shelf, then close the fridge door. <image_start>[reasoning_image_15]<image_end> THOUGHT 16: Walk to the right, towards the door across the way, and then turn right to face the bar and head of lettuce. <image_start>[reasoning_image_16]<image_end> THOUGHT 17: Pick up some of the chopped up lettuce. <image_start>[reasoning_image_17]<image_end> THOUGHT 18: Turn to the right and then left to go to the fridge. <image_start>[reasoning_image_18]<image_end> THOUGHT 19: Open the fridge, place the lettuce on the top shelf, and then close the fridge. <image_start>[reasoning_image_19]<image_end>

pick_two_obj_and_place-LettuceSliced-None-Fridge-1-traj8_5

Go to the counter next to the sink. Pick up a knife on the counter. Turn and go to the counter by the stove. Cut the tomato on the counter. Put the knife on the counter. Pick up a slice of tomato. Turn and go to the stove. Put the slice of tomato in a pot on the stove. Pick up the pot on the stove. Turn left and go to the table by the door. Put the pot on the table by the door.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Go to the counter next to the sink. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up a knife on the counter. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Turn and go to the counter by the stove. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Cut the tomato on the counter. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Put the knife on the counter. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Pick up a slice of tomato. <image_start>[reasoning_image_6]<image_end> THOUGHT 7: Turn and go to the stove. <image_start>[reasoning_image_7]<image_end> THOUGHT 8: Put the slice of tomato in a pot on the stove. <image_start>[reasoning_image_8]<image_end> THOUGHT 9: Pick up the pot on the stove. <image_start>[reasoning_image_9]<image_end> THOUGHT 10: Turn left and go to the table by the door. <image_start>[reasoning_image_10]<image_end> THOUGHT 11: Put the pot on the table by the door. <image_start>[reasoning_image_11]<image_end>

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pick_and_place_with_movable_recep-TomatoSliced-Pot-DiningTable-11-traj1_5

Turn around and walk towards the rug on the floor, and walk to the dress on your right with the TV on it. Take the keys from the dresser. Turn around and walk to the couch. Put the keys on the couch next to the remote control. Turn left and walk towards the fireplace, turn left again and walk to the end table with the keys on it. Pick up one set of keys from the end table. Turn around and walk to the couch behind you. Put the keys on the couch near the green cushion.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Turn around and walk towards the rug on the floor, and walk to the dress on your right with the TV on it. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Take the keys from the dresser. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Turn around and walk to the couch. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Put the keys on the couch next to the remote control. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Turn left and walk towards the fireplace, turn left again and walk to the end table with the keys on it. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Pick up one set of keys from the end table. <image_start>[reasoning_image_6]<image_end> THOUGHT 7: Turn around and walk to the couch behind you. <image_start>[reasoning_image_7]<image_end> THOUGHT 8: Put the keys on the couch near the green cushion. <image_start>[reasoning_image_8]<image_end>

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pick_two_obj_and_place-KeyChain-None-Sofa-224-traj3_1

GO right and stand in front of the toilet paper holder next to the toilet. Take the toilet paper from the holder on the wall. Turn around and walk to the green waste basket in the corner. Put the toilet paper in the waste basket in the corner.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: GO right and stand in front of the toilet paper holder next to the toilet. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Take the toilet paper from the holder on the wall. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Turn around and walk to the green waste basket in the corner. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Put the toilet paper in the waste basket in the corner. <image_start>[reasoning_image_4]<image_end>

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pick_and_place_simple-ToiletPaper-None-GarbageCan-403-traj1_0

Go to the sink. Pick up the empty toilet roll. Go to the left sink drawers. Put an empty toilet roll in the drawer. Go to the toilet. Pick up the empty toilet roll. Go to the left sink drawers. Put an empty toilet roll in the drawer.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Go to the sink. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up the empty toilet roll. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Go to the left sink drawers. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Put an empty toilet roll in the drawer. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Go to the toilet. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Pick up the empty toilet roll. <image_start>[reasoning_image_6]<image_end> THOUGHT 7: Go to the left sink drawers. <image_start>[reasoning_image_7]<image_end> THOUGHT 8: Put an empty toilet roll in the drawer. <image_start>[reasoning_image_8]<image_end>

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pick_two_obj_and_place-ToiletPaper-None-Drawer-421-traj1_0

Turn left and go to the black round table in the corner. Pick up the yellow knife on the table. Turn right and go to the front of the sink. Place the yellow knife in the sink.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Turn left and go to the black round table in the corner. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up the yellow knife on the table. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Turn right and go to the front of the sink. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Place the yellow knife in the sink. <image_start>[reasoning_image_4]<image_end>

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pick_and_place_simple-Knife-None-SinkBasin-28-traj3_1

Turn left, head to the trash can under the sink. Pick up the soap in the trash can. Bring the soap to the sink. Wet the soap with water in the sink. Bring the wet soap back to the trash can under the sink. Put the wet soap in the trash can.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Turn left, head to the trash can under the sink. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up the soap in the trash can. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Bring the soap to the sink. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Wet the soap with water in the sink. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Bring the wet soap back to the trash can under the sink. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Put the wet soap in the trash can. <image_start>[reasoning_image_6]<image_end>

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pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-426-traj2_2

Go left and stand in front of the soap on the counter. Pick the soap up from the counter. Go right and stand in front of the double sinks. Put the soap in the sink to the right, turn the water on and then off and pick the soap up out of the sink. Turn around and walk to the trash can in the corner. Put the soap in the trash can.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Go left and stand in front of the soap on the counter. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick the soap up from the counter. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Go right and stand in front of the double sinks. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Put the soap in the sink to the right, turn the water on and then off and pick the soap up out of the sink. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Turn around and walk to the trash can in the corner. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Put the soap in the trash can. <image_start>[reasoning_image_6]<image_end>

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pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-421-traj2_0

turn around and walk straight towards the table then turn right towards the bed. pick up the book on the bed between the pillows. turn right and walk straight then turn left and walk straight in front of the bed to the dresser and look up. put the book down on top of the dresser. turn around and walk straight then turn right towards the night stand and then turn right towards the bed. pick up the other book on the bed. turn right and walk straight then turn left and walk straight in front of the bed to the dresser and look up. put the book down on top of the dresser.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: turn around and walk straight towards the table then turn right towards the bed. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: pick up the book on the bed between the pillows. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: turn right and walk straight then turn left and walk straight in front of the bed to the dresser and look up. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: put the book down on top of the dresser. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: turn around and walk straight then turn right towards the night stand and then turn right towards the bed. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: pick up the other book on the bed. <image_start>[reasoning_image_6]<image_end> THOUGHT 7: turn right and walk straight then turn left and walk straight in front of the bed to the dresser and look up. <image_start>[reasoning_image_7]<image_end> THOUGHT 8: put the book down on top of the dresser. <image_start>[reasoning_image_8]<image_end>

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pick_two_obj_and_place-Book-None-Desk-309-traj1_0

Turn left, walk, turn left again and go to the sink. Take the knife on the sink. Turn around and walk toward the fridge. Then turn left, the right and walk to the kitchen table. Cut the lettuce on the table. Turn around, turn left, walk past the fridge, then turn right and go to the stove. Put the knife in the pan on the back left burner. Turn around and walk back to the kitchen table. Take a slice of lettuce. Turn around and walk back to the stove. Put the lettuce in the pan with the knife. Take the pan from the stove. Turn around and walk to the fridge. Open the fridge door, put the pan inside, and close the door.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Turn left, walk, turn left again and go to the sink. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Take the knife on the sink. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Turn around and walk toward the fridge. Then turn left, the right and walk to the kitchen table. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Cut the lettuce on the table. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Turn around, turn left, walk past the fridge, then turn right and go to the stove. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Put the knife in the pan on the back left burner. <image_start>[reasoning_image_6]<image_end> THOUGHT 7: Turn around and walk back to the kitchen table. <image_start>[reasoning_image_7]<image_end> THOUGHT 8: Take a slice of lettuce. <image_start>[reasoning_image_8]<image_end> THOUGHT 9: Turn around and walk back to the stove. <image_start>[reasoning_image_9]<image_end> THOUGHT 10: Put the lettuce in the pan with the knife. <image_start>[reasoning_image_10]<image_end> THOUGHT 11: Take the pan from the stove. <image_start>[reasoning_image_11]<image_end> THOUGHT 12: Turn around and walk to the fridge. <image_start>[reasoning_image_12]<image_end> THOUGHT 13: Open the fridge door, put the pan inside, and close the door. <image_start>[reasoning_image_13]<image_end>

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pick_and_place_with_movable_recep-LettuceSliced-Pan-Fridge-7-traj2_2

Turn around, move to the far side of the coffee table, turn left, move to the middle of the coffee table, turn left to face the keys on the coffee table. Pick up the keys on the coffee table. Bring the keys to the box on the coffee table. Put the keys in the box on the coffee table. Pick up the box with keys on the table. Turn around, bring the box to the red couch. Put the box on the red couch.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Turn around, move to the far side of the coffee table, turn left, move to the middle of the coffee table, turn left to face the keys on the coffee table. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up the keys on the coffee table. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Bring the keys to the box on the coffee table. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Put the keys in the box on the coffee table. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Pick up the box with keys on the table. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Turn around, bring the box to the red couch. <image_start>[reasoning_image_6]<image_end> THOUGHT 7: Put the box on the red couch. <image_start>[reasoning_image_7]<image_end>

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pick_and_place_with_movable_recep-KeyChain-Box-Sofa-228-traj1_1

Move to the tub on your right. Pick up the green sponge in the tub. Turn around, bring the sponge to the left sink. Wash the sponge in the sink with water. Bring the washed sponge to counter in the middle, right of the left sink. Put the sponge on the counter.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Move to the tub on your right. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up the green sponge in the tub. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Turn around, bring the sponge to the left sink. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Wash the sponge in the sink with water. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Bring the washed sponge to counter in the middle, right of the left sink. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Put the sponge on the counter. <image_start>[reasoning_image_6]<image_end>

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pick_clean_then_place_in_recep-DishSponge-None-CounterTop-403-traj4_0

Walk to the direction of the door, hang a right to stand in front of the left cushion of the sofa. Pick up the red credit card from the left cushion. Walk to the floor lamp at the left side of the sofa. Turn the lamp on.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Walk to the direction of the door, hang a right to stand in front of the left cushion of the sofa. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up the red credit card from the left cushion. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Walk to the floor lamp at the left side of the sofa. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Turn the lamp on. <image_start>[reasoning_image_4]<image_end>

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look_at_obj_in_light-CreditCard-None-FloorLamp-211-traj2_2

turn around and cross the room turning right into the kitchen. turn to the counter and pick up the egg. turn right and cross the kitchen turn right to the counter. open the cabinet and place egg in bowl. remove bowl in the cabinet. While holding the egg in the bowl close the cabinet doors. place the bowl on the counter.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: turn around and cross the room turning right into the kitchen. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: turn to the counter and pick up the egg. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: turn right and cross the kitchen turn right to the counter. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: open the cabinet and place egg in bowl. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: remove bowl in the cabinet. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: While holding the egg in the bowl close the cabinet doors. <image_start>[reasoning_image_6]<image_end> THOUGHT 7: place the bowl on the counter. <image_start>[reasoning_image_7]<image_end>

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pick_and_place_with_movable_recep-Egg-Bowl-CounterTop-10-traj3_1

Turn right and go to the front of the white table. Pick up the yellow knife in front of the liquid soap. Turn around and go to the small round black table in the corner. Slice the red tomato on the table. Turn around and go back to the white table. Place the yellow knife on the table in front of the bread and salt shaker. Turn around and go back to the black round table with the sliced tomato. Pick up one slice of tomato from the table. Turn left and go to the stove. Place the tomato slice in the brown pan on the right back burner. Pick up the pan with the tomato slice in it. Turn around and go back to the black round table. Place the pan with tomato in it on the table on the right side in front of the bread..

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Turn right and go to the front of the white table. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up the yellow knife in front of the liquid soap. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Turn around and go to the small round black table in the corner. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Slice the red tomato on the table. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Turn around and go back to the white table. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Place the yellow knife on the table in front of the bread and salt shaker. <image_start>[reasoning_image_6]<image_end> THOUGHT 7: Turn around and go back to the black round table with the sliced tomato. <image_start>[reasoning_image_7]<image_end> THOUGHT 8: Pick up one slice of tomato from the table. <image_start>[reasoning_image_8]<image_end> THOUGHT 9: Turn left and go to the stove. <image_start>[reasoning_image_9]<image_end> THOUGHT 10: Place the tomato slice in the brown pan on the right back burner. <image_start>[reasoning_image_10]<image_end> THOUGHT 11: Pick up the pan with the tomato slice in it. <image_start>[reasoning_image_11]<image_end> THOUGHT 12: Turn around and go back to the black round table. <image_start>[reasoning_image_12]<image_end> THOUGHT 13: Place the pan with tomato in it on the table on the right side in front of the bread.. <image_start>[reasoning_image_13]<image_end>

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pick_and_place_with_movable_recep-TomatoSliced-Pan-DiningTable-28-traj1_1

Turn around and begin walking across the room, then turn right and walk up to the counter to the left of the oven. Pick up the metal spoon that is on the counter to the left of the oven. Turn left and walk over to the fridge. Open the fridge door and place the spoon handle down inside the white mug that is on the top shelf inside the fridge. Pick up the white mug with the spoon inside of it and close the fridge door. Turn right and walk over to the dishwasher, turn left to face the counter. Put the white mug with the spoon inside of it on the counter.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Turn around and begin walking across the room, then turn right and walk up to the counter to the left of the oven. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up the metal spoon that is on the counter to the left of the oven. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Turn left and walk over to the fridge. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Open the fridge door and place the spoon handle down inside the white mug that is on the top shelf inside the fridge. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Pick up the white mug with the spoon inside of it and close the fridge door. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Turn right and walk over to the dishwasher, turn left to face the counter. <image_start>[reasoning_image_6]<image_end> THOUGHT 7: Put the white mug with the spoon inside of it on the counter. <image_start>[reasoning_image_7]<image_end>

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pick_and_place_with_movable_recep-Spoon-Mug-CounterTop-10-traj3_1

Go left and then left again and then turn to face the counter with the bread on it and look up to the cabinets above. Open the cabinet and take the mug out of the cabinet. Go to the right and turn to the left to face the microwave. Put the cup in the microwave and shut the door, then open the door and take the mug out and shut the door. Look up to the cabinet on the right, above the microwave. Open the cabinet on the right, above the microwave and put the mug in and shut the door.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Go left and then left again and then turn to face the counter with the bread on it and look up to the cabinets above. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Open the cabinet and take the mug out of the cabinet. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Go to the right and turn to the left to face the microwave. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Put the cup in the microwave and shut the door, then open the door and take the mug out and shut the door. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Look up to the cabinet on the right, above the microwave. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Open the cabinet on the right, above the microwave and put the mug in and shut the door. <image_start>[reasoning_image_6]<image_end>

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pick_heat_then_place_in_recep-Mug-None-Cabinet-6-traj2_0

Move to the wooden brown side table against the wall. Pick up the blue credit card to the right of the tissue box on top of the table. Carry the blue credit card over to the floor lamp in the corner of the room. Turn on the lamp.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Move to the wooden brown side table against the wall. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up the blue credit card to the right of the tissue box on top of the table. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Carry the blue credit card over to the floor lamp in the corner of the room. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Turn on the lamp. <image_start>[reasoning_image_4]<image_end>

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look_at_obj_in_light-CreditCard-None-FloorLamp-216-traj2_0

Turn right and walk to the wall then turn left and walk to the small circular table. Pick up the credit card to the left of another credit card. Turn around and take a step then turn right and walk until you're even with the tv on your right and then turn right to face it and take a step. Put the credit card to the left of the pencil vertically. Go back to where you got the first credit card. Pick up the other credit card. Go back over to the tv. Put this credit card to the left of the other credit card with about one credit card width between them.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Turn right and walk to the wall then turn left and walk to the small circular table. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up the credit card to the left of another credit card. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Turn around and take a step then turn right and walk until you're even with the tv on your right and then turn right to face it and take a step. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Put the credit card to the left of the pencil vertically. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Go back to where you got the first credit card. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Pick up the other credit card. <image_start>[reasoning_image_6]<image_end> THOUGHT 7: Go back over to the tv. <image_start>[reasoning_image_7]<image_end> THOUGHT 8: Put this credit card to the left of the other credit card with about one credit card width between them. <image_start>[reasoning_image_8]<image_end>

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pick_two_obj_and_place-CreditCard-None-Dresser-311-traj1_1

Walk a few feet forward then turn left and approach the wooden desk. Pick up the figurine from the desk. Turn left and walk to the lamp on the left side of the desk. Turn on the lamp on the desk.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Walk a few feet forward then turn left and approach the wooden desk. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up the figurine from the desk. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Turn left and walk to the lamp on the left side of the desk. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Turn on the lamp on the desk. <image_start>[reasoning_image_4]<image_end>

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look_at_obj_in_light-Statue-None-DeskLamp-304-traj1_1

Move to the sink. Pick up the soap from the sink. Bring the soap to the toilet. Put the soap on the toilet tank lid.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Move to the sink. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up the soap from the sink. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Bring the soap to the toilet. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Put the soap on the toilet tank lid. <image_start>[reasoning_image_4]<image_end>

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pick_and_place_simple-SoapBottle-None-Toilet-424-traj2_2

Turn left and walk to the sink. Pick up the knife on the counter. Turn left and veer right to the stove. Put the knife in the pan on the front right burner. Pick up the pan. Turn around and walk back to the sink. Place the items on the counter to the right of the sink.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Turn left and walk to the sink. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up the knife on the counter. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Turn left and veer right to the stove. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Put the knife in the pan on the front right burner. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Pick up the pan. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Turn around and walk back to the sink. <image_start>[reasoning_image_6]<image_end> THOUGHT 7: Place the items on the counter to the right of the sink. <image_start>[reasoning_image_7]<image_end>

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pick_and_place_with_movable_recep-Knife-Pot-CounterTop-25-traj3_1

Walk forwards and then turn right towards the counter next to the stove. Take the lettuce from the counter. Walk back with the lettuce. Put the lettuce on the counter again. Take the knife from the counter. Slice the lettuce on the counter. Put the knife on the counter again. Take a slice of the lettuce. Walk with the slice of lettuce and towards the fridge and open it. Put the slice of lettuce inside the fridge, close it and open it again. Take the slice of lettuce from the fridge and walk towards the sink. Put the slice of lettuce inside the sink.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Walk forwards and then turn right towards the counter next to the stove. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Take the lettuce from the counter. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Walk back with the lettuce. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Put the lettuce on the counter again. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Take the knife from the counter. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Slice the lettuce on the counter. <image_start>[reasoning_image_6]<image_end> THOUGHT 7: Put the knife on the counter again. <image_start>[reasoning_image_7]<image_end> THOUGHT 8: Take a slice of the lettuce. <image_start>[reasoning_image_8]<image_end> THOUGHT 9: Walk with the slice of lettuce and towards the fridge and open it. <image_start>[reasoning_image_9]<image_end> THOUGHT 10: Put the slice of lettuce inside the fridge, close it and open it again. <image_start>[reasoning_image_10]<image_end> THOUGHT 11: Take the slice of lettuce from the fridge and walk towards the sink. <image_start>[reasoning_image_11]<image_end> THOUGHT 12: Put the slice of lettuce inside the sink. <image_start>[reasoning_image_12]<image_end>

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pick_cool_then_place_in_recep-LettuceSliced-None-SinkBasin-12-traj2_2

Go right and then left and left again to face the table with the box on it. Pick the keys up from the table. Turn around and go right and the right again and pass behind the couch to face the lamp in the corner of the room. Turn the lamp on.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Go right and then left and left again to face the table with the box on it. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick the keys up from the table. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Turn around and go right and the right again and pass behind the couch to face the lamp in the corner of the room. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Turn the lamp on. <image_start>[reasoning_image_4]<image_end>

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look_at_obj_in_light-KeyChain-None-FloorLamp-227-traj2_1

Turn around, go to the coffee machine on the right. Pick up the mug on the coffee machine. Bring the mug to the fridge on the right. Chill the mug in the fridge. Bring the chilled mug back to the coffee machine on the left. Put the mug on the coffee machine.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Turn around, go to the coffee machine on the right. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up the mug on the coffee machine. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Bring the mug to the fridge on the right. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Chill the mug in the fridge. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Bring the chilled mug back to the coffee machine on the left. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Put the mug on the coffee machine. <image_start>[reasoning_image_6]<image_end>

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pick_cool_then_place_in_recep-Mug-None-CoffeeMachine-14-traj1_4

Walk towards the towel holder. Grab a towel from the holder. Walk with the towel towards the sink. Put the towel in the sink. Walk to the left towards the wall. Grab a towel from the holder. Walk towards the sink. Put the towel in the sink.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Walk towards the towel holder. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Grab a towel from the holder. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Walk with the towel towards the sink. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Put the towel in the sink. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Walk to the left towards the wall. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Grab a towel from the holder. <image_start>[reasoning_image_6]<image_end> THOUGHT 7: Walk towards the sink. <image_start>[reasoning_image_7]<image_end> THOUGHT 8: Put the towel in the sink. <image_start>[reasoning_image_8]<image_end>

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pick_two_obj_and_place-HandTowel-None-SinkBasin-412-traj2_1

walk into living room to face the coffee table. pick up the grey sausage like sculpture from the table. walk to face the floor lamp. turn on the floor lamp.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: walk into living room to face the coffee table. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: pick up the grey sausage like sculpture from the table. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: walk to face the floor lamp. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: turn on the floor lamp. <image_start>[reasoning_image_4]<image_end>

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look_at_obj_in_light-Statue-None-FloorLamp-223-traj3_0

Move forward, turn left, go into the other room, turn right and go to the side of the black table. Pick up the statue on the table. Bring the statue back into the first room, head to the tall lamp in the corner. Turn on the tall lamp in the corner.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Move forward, turn left, go into the other room, turn right and go to the side of the black table. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up the statue on the table. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Bring the statue back into the first room, head to the tall lamp in the corner. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Turn on the tall lamp in the corner. <image_start>[reasoning_image_4]<image_end>

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look_at_obj_in_light-Statue-None-FloorLamp-224-traj3_2

Turn around, walk across he room, turn left, then walk forward to the stove. Pick up the pan on the front right burner of the stove. Turn left and face towards the counter. Place the pan on top of the counter to the right of the bread load. Turn around, walk forward, turn left to face the stove. Pick up the pan on the back right burner of the stove. Turn left and walk to the counter. Place the pan on the far left side of the counter in front of the green cup.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Turn around, walk across he room, turn left, then walk forward to the stove. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up the pan on the front right burner of the stove. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Turn left and face towards the counter. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Place the pan on top of the counter to the right of the bread load. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Turn around, walk forward, turn left to face the stove. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Pick up the pan on the back right burner of the stove. <image_start>[reasoning_image_6]<image_end> THOUGHT 7: Turn left and walk to the counter. <image_start>[reasoning_image_7]<image_end> THOUGHT 8: Place the pan on the far left side of the counter in front of the green cup. <image_start>[reasoning_image_8]<image_end>

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pick_two_obj_and_place-Pan-None-CounterTop-14-traj5_0

Turn right, move to the counter left of the soap container. Pick up the knife from the counter. Turn right, move to the table near the tomato. Slice the tomato on the table. Turn left, move to in front of the refrigerator. Put the knife in the refrigerator. Turn right, move to the table near the tomato. Pick up a slice of tomato. Turn left, move to the counter in front of the microwave. Put the tomato slice into the microwave, cook it, pick it back up. Turn right, move to in front of the refrigerator. Put the tomato slice in the refrigerator.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Turn right, move to the counter left of the soap container. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up the knife from the counter. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Turn right, move to the table near the tomato. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Slice the tomato on the table. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Turn left, move to in front of the refrigerator. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Put the knife in the refrigerator. <image_start>[reasoning_image_6]<image_end> THOUGHT 7: Turn right, move to the table near the tomato. <image_start>[reasoning_image_7]<image_end> THOUGHT 8: Pick up a slice of tomato. <image_start>[reasoning_image_8]<image_end> THOUGHT 9: Turn left, move to the counter in front of the microwave. <image_start>[reasoning_image_9]<image_end> THOUGHT 10: Put the tomato slice into the microwave, cook it, pick it back up. <image_start>[reasoning_image_10]<image_end> THOUGHT 11: Turn right, move to in front of the refrigerator. <image_start>[reasoning_image_11]<image_end> THOUGHT 12: Put the tomato slice in the refrigerator. <image_start>[reasoning_image_12]<image_end>

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pick_heat_then_place_in_recep-TomatoSliced-None-Fridge-19-traj2_2

Turn right and walk to the white counter. Pick up the spray bottle on the left on the counter. Walk over to the toilet on the other side of the room. Put the spray bottle down on the back of the toilet. Turn right and walk back over to the counter. Pick up the remaining spray bottle on the counter. Walk back over to face the back of the toilet. Put the second spray bottle down on the back of the toilet behind the candle.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Turn right and walk to the white counter. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up the spray bottle on the left on the counter. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Walk over to the toilet on the other side of the room. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Put the spray bottle down on the back of the toilet. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Turn right and walk back over to the counter. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Pick up the remaining spray bottle on the counter. <image_start>[reasoning_image_6]<image_end> THOUGHT 7: Walk back over to face the back of the toilet. <image_start>[reasoning_image_7]<image_end> THOUGHT 8: Put the second spray bottle down on the back of the toilet behind the candle. <image_start>[reasoning_image_8]<image_end>

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pick_two_obj_and_place-SprayBottle-None-Toilet-430-traj1_0

Turn left, go to sink closest to garbage can. Pick up pink soap from counter to the left of the sink and right of garbage can. Turn right, go to wall. Turn right, go to tub. Put soap in tub to left, in front of dirty cloth. Turn right, go to shower stall, turn right, go to wall. Get soap out of garbage can left of counter and right of shower stall. Turn right, go to tub. Turn right. Put soap in tub, to right of other soap and dirty cloth.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Turn left, go to sink closest to garbage can. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up pink soap from counter to the left of the sink and right of garbage can. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Turn right, go to wall. Turn right, go to tub. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Put soap in tub to left, in front of dirty cloth. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Turn right, go to shower stall, turn right, go to wall. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Get soap out of garbage can left of counter and right of shower stall. <image_start>[reasoning_image_6]<image_end> THOUGHT 7: Turn right, go to tub. Turn right. <image_start>[reasoning_image_7]<image_end> THOUGHT 8: Put soap in tub, to right of other soap and dirty cloth. <image_start>[reasoning_image_8]<image_end>

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pick_two_obj_and_place-SoapBar-None-BathtubBasin-423-traj1_2

Take a few steps left and look at the coffee machine. Pick up the cup from the counter. Carry the cup and take a few steps right, and look up the microwave. Open the microwave and place the cup inside. Shut the door then open it again. Take out the cup and shut the door. Hold the cup and look above the microwave. Open the top left cabinet and place the cup inside. Shut the door.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Take a few steps left and look at the coffee machine. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Pick up the cup from the counter. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Carry the cup and take a few steps right, and look up the microwave. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Open the microwave and place the cup inside. Shut the door then open it again. Take out the cup and shut the door. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Hold the cup and look above the microwave. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Open the top left cabinet and place the cup inside. Shut the door. <image_start>[reasoning_image_6]<image_end>

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pick_heat_then_place_in_recep-Mug-None-Cabinet-12-traj2_2

Turn around and go to the sink. Take the brown glass from the sink. Turn left, go to the microwave, and turn right. Open the microwave, put the brown glass in the microwave, and close the microwave. Turn around and go to the curved counter. Take the brown glass from the curved counter. Turn around, turn left, turn right, and go to the microwave. Open the microwave, put the brown glass in the microwave, and close the microwave.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: Turn around and go to the sink. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: Take the brown glass from the sink. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: Turn left, go to the microwave, and turn right. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: Open the microwave, put the brown glass in the microwave, and close the microwave. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: Turn around and go to the curved counter. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: Take the brown glass from the curved counter. <image_start>[reasoning_image_6]<image_end> THOUGHT 7: Turn around, turn left, turn right, and go to the microwave. <image_start>[reasoning_image_7]<image_end> THOUGHT 8: Open the microwave, put the brown glass in the microwave, and close the microwave. <image_start>[reasoning_image_8]<image_end>

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pick_two_obj_and_place-Cup-None-Microwave-22-traj1_2

turn left, take a step, turn right, walk to the sink. pick up the candle that is on the counter by the sink. turn around, walk to the shower, turn left, walk to wall, turn left to face the toilet. put the candle on the back of the toilet.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: turn left, take a step, turn right, walk to the sink. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: pick up the candle that is on the counter by the sink. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: turn around, walk to the shower, turn left, walk to wall, turn left to face the toilet. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: put the candle on the back of the toilet. <image_start>[reasoning_image_4]<image_end>

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pick_and_place_simple-Candle-None-Toilet-402-traj1_0

walk to face microwave. remove egg from microwave. walk to face sink. wash and remove egg from sink. walk to face microwave. put egg inside microwave.

Please describe the sequence of robot actions from the initial state (the first image) to the goal state (the second image). <image_start>[problem_image_1]<image_end> <image_start>[problem_image_2]<image_end>

THOUGHT 1: walk to face microwave. <image_start>[reasoning_image_1]<image_end> THOUGHT 2: remove egg from microwave. <image_start>[reasoning_image_2]<image_end> THOUGHT 3: walk to face sink. <image_start>[reasoning_image_3]<image_end> THOUGHT 4: wash and remove egg from sink. <image_start>[reasoning_image_4]<image_end> THOUGHT 5: walk to face microwave. <image_start>[reasoning_image_5]<image_end> THOUGHT 6: put egg inside microwave. <image_start>[reasoning_image_6]<image_end>

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pick_clean_then_place_in_recep-Egg-None-Microwave-30-traj1_0

Datasets:

vlm-reasoning-cot
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3D_Visual_Reasoning

Collection including vlm-reasoning-cot/3D_Visual_Reasoning

Zebra-CoT