ID
stringlengths 18
18
| text
stringlengths 32
218
| output
dict |
|---|---|---|
dart_llm-L1-T1-001 | Move Excavator 1 and Dump Truck 1 to the puddle area, then command all robots to avoid the puddle. | {
"tasks": [
{
"task": "move_excavator_and_dump_to_puddle",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01",
"robot_dump_truck_01"
],
"dependencies": [],
"object_keywords": [
"puddle1"
],
"robot_type": null
}
},
{
"task": "avoid_puddle_all_robots",
"instruction_function": {
"name": "avoid_areas_for_all_robots",
"robot_ids": null,
"dependencies": [
"move_excavator_and_dump_to_puddle"
],
"object_keywords": [
"puddle1"
],
"robot_type": [
"dump_truck",
"excavator"
]
}
}
]
} |
dart_llm-L1-T2-001 | Direct Excavator 1 to the obstacle, perform excavation, then proceed to unload. | {
"tasks": [
{
"task": "excavator_to_obstacle",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [],
"object_keywords": [
"obstacle1"
],
"robot_type": null
}
},
{
"task": "excavation_task",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavator_to_obstacle"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "unload_task",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavation_task"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T1-002 | Send Excavator 2 to the rock area and then command it to avoid the obstacle. | {
"tasks": [
{
"task": "move_excavator_to_rock_area",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [],
"object_keywords": [
"rock1"
],
"robot_type": null
}
},
{
"task": "avoid_obstacle_excavator_2",
"instruction_function": {
"name": "avoid_areas_for_specific_robots",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"move_excavator_to_rock_area"
],
"object_keywords": [
"obstacle1"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T1-003 | Direct Dump Truck 2 to the dumping site near soil area 2. | {
"tasks": [
{
"task": "move_dump_truck_to_dumping_site_soil2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [],
"object_keywords": [
"soil2",
"dumping_site"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T2-002 | Send Excavator 1 to obstacle 2, perform excavation. | {
"tasks": [
{
"task": "excavator_to_obstacle2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [],
"object_keywords": [
"obstacle2"
],
"robot_type": null
}
},
{
"task": "excavation_task",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavator_to_obstacle2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T2-003 | Guide Dump Truck 1 to the starting position and unload. | {
"tasks": [
{
"task": "dump_truck_to_starting_position",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [],
"object_keywords": [
"starting_position"
],
"robot_type": null
}
},
{
"task": "dump_truck_unload",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"dump_truck_to_starting_position"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T3-001 | Move Excavator 1 to soil area 1, perform excavation, then move to soil area 2 and excavate again. | {
"tasks": [
{
"task": "move_excavator_to_soil1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [],
"object_keywords": [
"soil1"
],
"robot_type": null
}
},
{
"task": "excavation_task_soil1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_excavator_to_soil1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "move_excavator_to_soil2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavation_task_soil1"
],
"object_keywords": [
"soil2"
],
"robot_type": null
}
},
{
"task": "excavation_task_soil2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_excavator_to_soil2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T3-002 | Guide Dump Truck 2 to collect at starting position, then proceed to dumping site near puddle 1. | {
"tasks": [
{
"task": "dump_truck_to_starting_position",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [],
"object_keywords": [
"starting_position"
],
"robot_type": null
}
},
{
"task": "dump_load",
"instruction_function": {
"name": "DumpLoading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"dump_truck_to_starting_position"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_truck_to_dumping_site_puddle1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"dump_load"
],
"object_keywords": [
"puddle1",
"dumping_site"
],
"robot_type": null
}
},
{
"task": "dump_unload_puddle1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"dump_truck_to_dumping_site_puddle1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T1-001 | Send Excavator 1 and Dump Truck 1 to the soil area; Excavator 1 will excavate and unload, followed by Dump Truck 1 proceeding to the puddle for unloading. | {
"tasks": [
{
"task": "move_to_soil_area",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01",
"robot_dump_truck_01"
],
"dependencies": [],
"object_keywords": [
"soil1"
],
"robot_type": null
}
},
{
"task": "excavation_task",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_to_soil_area"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "unload_task",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavation_task"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_unload_puddle",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"unload_task"
],
"object_keywords": [
"puddle1"
],
"robot_type": null
}
}
]
} |
dart_llm-L2-T2-001 | Move Excavator 1 and Dump Truck 1 to soil area 2; Excavator 1 will excavate and unload, then Dump Truck 1 returns to the starting position to unload. | {
"tasks": [
{
"task": "move_to_soil2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01",
"robot_dump_truck_01"
],
"dependencies": [],
"object_keywords": [
"soil2"
],
"robot_type": null
}
},
{
"task": "excavation_task",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_to_soil2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavation_task"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_return_unload",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"excavator_unload_task"
],
"object_keywords": [
"starting_position"
],
"robot_type": null
}
}
]
} |
dart_llm-L2-T1-002 | Send Excavator 1 and Dump Truck 2 to soil area 3; Excavator 1 will excavate and unload, then Dump Truck 2 will move to obstacle 1 for unloading. | {
"tasks": [
{
"task": "move_to_soil_area3",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01",
"robot_dump_truck_02"
],
"dependencies": [],
"object_keywords": [
"soil3"
],
"robot_type": null
}
},
{
"task": "excavation_task",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_to_soil_area3"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavation_task"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_to_obstacle1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"excavator_unload_task"
],
"object_keywords": [
"obstacle1"
],
"robot_type": null
}
},
{
"task": "dump_unload_obstacle1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"dump_to_obstacle1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T2-002 | Move Excavator 2 and Dump Truck 1 to rock area; Excavator 2 will excavate and unload, then Dump Truck 1 will proceed to puddle 2 for unloading. | {
"tasks": [
{
"task": "move_to_rock_area",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02",
"robot_dump_truck_01"
],
"dependencies": [],
"object_keywords": [
"rock1"
],
"robot_type": null
}
},
{
"task": "excavation_task",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"move_to_rock_area"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavation_task"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_to_puddle2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"excavator_unload_task"
],
"object_keywords": [
"puddle2"
],
"robot_type": null
}
},
{
"task": "dump_unload_puddle2",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"dump_to_puddle2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T1-003 | Send Excavator 2 and Dump Truck 2 to obstacle 2; Excavator 2 will excavate while Dump Truck 2 avoids puddle 2. | {
"tasks": [
{
"task": "move_to_obstacle2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02",
"robot_dump_truck_02"
],
"dependencies": [],
"object_keywords": [
"obstacle2"
],
"robot_type": null
}
},
{
"task": "avoid_puddle_dump_truck_2",
"instruction_function": {
"name": "avoid_areas_for_specific_robots",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"move_to_obstacle2"
],
"object_keywords": [
"puddle2"
],
"robot_type": null
}
},
{
"task": "excavation_task",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"move_to_obstacle2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavation_task"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T2-003 | Direct Excavator 1 and Dump Truck 1 to the rock area; after excavation, both robots proceed independently to their respective starting positions. | {
"tasks": [
{
"task": "move_to_rock_area",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01",
"robot_dump_truck_01"
],
"dependencies": [],
"object_keywords": [
"rock1"
],
"robot_type": null
}
},
{
"task": "excavation_task_rock",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_to_rock_area"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_return_to_start",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavation_task_rock"
],
"object_keywords": [
"starting_position"
],
"robot_type": null
}
},
{
"task": "dump_truck_return_to_start",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"excavation_task_rock"
],
"object_keywords": [
"starting_position"
],
"robot_type": null
}
}
]
} |
dart_llm-L2-T3-001 | Excavator 1 and Dump Truck 1 proceed to soil area 1, after completing excavation and unloading, move both to soil area 2 for another excavation and unloading. | {
"tasks": [
{
"task": "move_to_soil_area1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01",
"robot_dump_truck_01"
],
"dependencies": [],
"object_keywords": [
"soil1"
],
"robot_type": null
}
},
{
"task": "excavation_task_soil1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_to_soil_area1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task_soil1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavation_task_soil1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_unload_soil1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"excavator_unload_task_soil1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "move_to_soil_area2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01",
"robot_dump_truck_01"
],
"dependencies": [
"dump_unload_soil1"
],
"object_keywords": [
"soil2"
],
"robot_type": null
}
},
{
"task": "excavation_task_soil2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_to_soil_area2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task_soil2",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavation_task_soil2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_unload_soil2",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"excavator_unload_task_soil2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T3-002 | Excavator 2 and Dump Truck 2 proceed to soil area 3; Excavator 2 will excavate and unload, all robots must avoid puddle 2 during the task. | {
"tasks": [
{
"task": "move_to_soil_area3",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02",
"robot_dump_truck_02"
],
"dependencies": [],
"object_keywords": [
"soil3"
],
"robot_type": null
}
},
{
"task": "avoid_puddle_all_robots",
"instruction_function": {
"name": "avoid_areas_for_specific_robots",
"robot_ids": [
"robot_excavator_02",
"robot_dump_truck_02"
],
"dependencies": [
"move_to_soil_area3"
],
"object_keywords": [
"puddle2"
],
"robot_type": null
}
},
{
"task": "excavation_task",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"avoid_puddle_all_robots"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavation_task"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T1-001 | Guide Excavator 1 to the obstacle for excavation and unloading, then move both Excavator 1 and Dump Truck 1 to the soil area for another excavation and unloading. Finally, send Dump Truck 1 to the puddle for unloading. | {
"tasks": [
{
"task": "excavator_to_obstacle",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [],
"object_keywords": [
"obstacle1"
],
"robot_type": null
}
},
{
"task": "excavation_task_obstacle",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavator_to_obstacle"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "unload_task_obstacle",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavation_task_obstacle"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "move_to_soil",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01",
"robot_dump_truck_01"
],
"dependencies": [
"unload_task_obstacle"
],
"object_keywords": [
"soil1"
],
"robot_type": null
}
},
{
"task": "excavation_task_soil",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_to_soil"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "unload_task_soil",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavation_task_soil"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_unload_puddle",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"unload_task_soil"
],
"object_keywords": [
"puddle1"
],
"robot_type": null
}
}
]
} |
dart_llm-L3-T2-001 | Direct Excavator 1 to the obstacle for excavation and unloading, then command all robots to proceed to the puddle area. | {
"tasks": [
{
"task": "excavator_to_obstacle",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [],
"object_keywords": [
"obstacle1"
],
"robot_type": null
}
},
{
"task": "excavation_task",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavator_to_obstacle"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "all_to_puddle",
"instruction_function": {
"name": "target_area_for_all_robots",
"robot_ids": null,
"dependencies": [
"excavation_task"
],
"object_keywords": [
"puddle1"
],
"robot_type": [
"excavator",
"dump_truck"
]
}
}
]
} |
dart_llm-L3-T1-002 | Guide Excavator 1 and Dump Truck 1 to soil area 1 and Excavator 2 and Dump Truck 2 to soil area 2; both teams should excavate and unload simultaneously, then send all dump trucks to the puddle area for unloading. | {
"tasks": [
{
"task": "move_team1_to_soil1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01",
"robot_dump_truck_01"
],
"dependencies": [],
"object_keywords": [
"soil1"
],
"robot_type": null
}
},
{
"task": "move_team2_to_soil2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02",
"robot_dump_truck_02"
],
"dependencies": [],
"object_keywords": [
"soil2"
],
"robot_type": null
}
},
{
"task": "excavation_task_team1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_team1_to_soil1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavation_task_team2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"move_team2_to_soil2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "unload_task_team1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavation_task_team1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "unload_task_team2",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavation_task_team2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "move_dump_trucks_to_puddle",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_01",
"robot_dump_truck_02"
],
"dependencies": [
"unload_task_team1",
"unload_task_team2"
],
"object_keywords": [
"puddle1"
],
"robot_type": null
}
},
{
"task": "dump_unload_puddle",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01",
"robot_dump_truck_02"
],
"dependencies": [
"move_dump_trucks_to_puddle"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T2-002 | After Excavator 1 completes excavation at obstacle 1 and unloads, command all robots to proceed to starting position, and then proceed to soil area 2 for another excavation. | {
"tasks": [
{
"task": "excavator_to_obstacle1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [],
"object_keywords": [
"obstacle1"
],
"robot_type": null
}
},
{
"task": "excavation_task_obstacle1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavator_to_obstacle1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "unload_task_obstacle1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavation_task_obstacle1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "move_all_to_starting_position",
"instruction_function": {
"name": "target_area_for_all_robots",
"robot_ids": null,
"dependencies": [
"unload_task_obstacle1"
],
"object_keywords": [
"starting_position"
],
"robot_type": [
"excavator",
"dump_truck"
]
}
},
{
"task": "move_to_soil_area2",
"instruction_function": {
"name": "target_area_for_all_robots",
"robot_ids": null,
"dependencies": [
"move_all_to_starting_position"
],
"object_keywords": [
"soil2"
],
"robot_type": [
"excavator"
]
}
},
{
"task": "excavation_task_soil2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_to_soil_area2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T3-001 | Excavator 1 and Excavator 2 proceed to obstacle 1 and soil area 2 respectively. After completing excavation and unloading, both excavators and dump trucks should avoid puddle 1 and regroup at starting position. | {
"tasks": [
{
"task": "excavator1_to_obstacle1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [],
"object_keywords": [
"obstacle1"
],
"robot_type": null
}
},
{
"task": "excavator2_to_soil2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [],
"object_keywords": [
"soil2"
],
"robot_type": null
}
},
{
"task": "excavation_task_excavator1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavator1_to_obstacle1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavation_task_excavator2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavator2_to_soil2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator1_unloading",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavation_task_excavator1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator2_unloading",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavation_task_excavator2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "avoid_puddle1",
"instruction_function": {
"name": "avoid_areas_for_specific_robots",
"robot_ids": [
"robot_excavator_01",
"robot_excavator_02",
"robot_dump_truck_01",
"robot_dump_truck_02"
],
"dependencies": [
"excavator1_unloading",
"excavator2_unloading"
],
"object_keywords": [
"puddle1"
],
"robot_type": null
}
},
{
"task": "regroup_at_starting_position",
"instruction_function": {
"name": "target_area_for_all_robots",
"robot_ids": null,
"dependencies": [
"avoid_puddle1"
],
"object_keywords": [
"starting_position"
],
"robot_type": [
"excavator",
"dump_truck"
]
}
}
]
} |
dart_llm-L3-T2-003 | After completing excavation at rock area, guide all robots to avoid obstacle 2 and proceed to soil area 3 for another excavation. | {
"tasks": [
{
"task": "excavator_to_rock_area",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [],
"object_keywords": [
"rock1"
],
"robot_type": null
}
},
{
"task": "excavation_task_rock",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavator_to_rock_area"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "unload_task_rock",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavation_task_rock"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "avoid_obstacle2_all_robots",
"instruction_function": {
"name": "avoid_areas_for_all_robots",
"robot_ids": null,
"dependencies": [
"unload_task_rock"
],
"object_keywords": [
"obstacle2"
],
"robot_type": [
"excavator",
"dump_truck"
]
}
},
{
"task": "move_all_to_soil_area3",
"instruction_function": {
"name": "target_area_for_all_robots",
"robot_ids": null,
"dependencies": [
"avoid_obstacle2_all_robots"
],
"object_keywords": [
"soil3"
],
"robot_type": [
"excavator",
"dump_truck"
]
}
},
{
"task": "excavation_task_soil3",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_all_to_soil_area3"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T3-002 | Coordinate Excavator 2 and Dump Truck 2 to perform parallel excavation at obstacle 2 and soil area 3 respectively, then meet at dumping area near puddle 2. | {
"tasks": [
{
"task": "excavator_to_obstacle2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [],
"object_keywords": [
"obstacle2"
],
"robot_type": null
}
},
{
"task": "dump_truck_to_soil3",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [],
"object_keywords": [
"soil3"
],
"robot_type": null
}
},
{
"task": "excavation_task_obstacle2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavator_to_obstacle2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavation_task_soil3",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"dump_truck_to_soil3"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "meet_at_dumping_area_puddle2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02",
"robot_dump_truck_02"
],
"dependencies": [
"excavation_task_obstacle2",
"excavation_task_soil3"
],
"object_keywords": [
"puddle2",
"dumping_area"
],
"robot_type": null
}
}
]
} |
dart_llm-L3-T3-003 | Excavator 1, Excavator 2, and Dump Truck 1 coordinate to clear rocks from rock area and soil from soil area 1, avoiding all puddles. After tasks, regroup at starting position. | {
"tasks": [
{
"task": "excavator1_to_rock_area",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [],
"object_keywords": [
"rock1"
],
"robot_type": null
}
},
{
"task": "excavator2_to_soil1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [],
"object_keywords": [
"soil1"
],
"robot_type": null
}
},
{
"task": "dump_truck1_to_soil1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [],
"object_keywords": [
"soil1"
],
"robot_type": null
}
},
{
"task": "excavation_task_rock",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavator1_to_rock_area"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavation_task_soil1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavator2_to_soil1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "avoid_puddles_all_robots",
"instruction_function": {
"name": "avoid_areas_for_all_robots",
"robot_ids": null,
"dependencies": [
"excavation_task_rock",
"excavation_task_soil1"
],
"object_keywords": [
"puddle1",
"puddle2"
],
"robot_type": [
"excavator",
"dump_truck"
]
}
},
{
"task": "regroup_at_starting_position",
"instruction_function": {
"name": "target_area_for_all_robots",
"robot_ids": null,
"dependencies": [
"avoid_puddles_all_robots"
],
"object_keywords": [
"starting_position"
],
"robot_type": [
"excavator",
"dump_truck"
]
}
}
]
} |
dart_llm-L1-T1-004 | Move Excavator 2 to the puddle area, then command it to avoid the obstacle. | {
"tasks": [
{
"task": "move_excavator2_to_puddle",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [],
"object_keywords": [
"puddle1"
],
"robot_type": null
}
},
{
"task": "excavator2_avoid_obstacle",
"instruction_function": {
"name": "avoid_areas_for_specific_robots",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"move_excavator2_to_puddle"
],
"object_keywords": [
"obstacle1"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T1-005 | Guide Dump Truck 2 to the starting position. | {
"tasks": [
{
"task": "move_dump_truck2_to_start",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [],
"object_keywords": [
"starting_position"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T1-006 | Send Excavator 3 to soil area 3. | {
"tasks": [
{
"task": "move_excavator3_to_soil3",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [],
"object_keywords": [
"soil3"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T2-004 | Direct Excavator 2 to the rock area, perform excavation. | {
"tasks": [
{
"task": "move_excavator2_to_rock",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [],
"object_keywords": [
"rock1"
],
"robot_type": null
}
},
{
"task": "excavation_task_rock",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"move_excavator2_to_rock"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T2-005 | Send Dump Truck 3 to the puddle area, proceed to unload. | {
"tasks": [
{
"task": "move_dump_truck3_to_puddle",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [],
"object_keywords": [
"puddle1"
],
"robot_type": null
}
},
{
"task": "dump_truck3_unload",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [
"move_dump_truck3_to_puddle"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T3-003 | Move Excavator 1 to soil area 1, perform excavation, then move to soil area 2 while avoiding puddle 1. | {
"tasks": [
{
"task": "move_excavator1_to_soil1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [],
"object_keywords": [
"soil1"
],
"robot_type": null
}
},
{
"task": "excavation_task_soil1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_excavator1_to_soil1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator1_avoid_puddle1",
"instruction_function": {
"name": "avoid_areas_for_specific_robots",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavation_task_soil1"
],
"object_keywords": [
"puddle1"
],
"robot_type": null
}
},
{
"task": "move_excavator1_to_soil2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavator1_avoid_puddle1"
],
"object_keywords": [
"soil2"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T3-004 | Guide Dump Truck 1 to obstacle 2, unload materials, then proceed to the starting position. | {
"tasks": [
{
"task": "move_dump_truck1_to_obstacle2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [],
"object_keywords": [
"obstacle2"
],
"robot_type": null
}
},
{
"task": "dump_truck1_unload_obstacle2",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"move_dump_truck1_to_obstacle2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "move_dump_truck1_to_start",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"dump_truck1_unload_obstacle2"
],
"object_keywords": [
"starting_position"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T3-005 | Send Excavator 2 to the rock area, perform excavation, avoid obstacle 1, and return to the starting position. | {
"tasks": [
{
"task": "move_excavator2_to_rock",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [],
"object_keywords": [
"rock1"
],
"robot_type": null
}
},
{
"task": "excavation_task_rock",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"move_excavator2_to_rock"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator2_avoid_obstacle1",
"instruction_function": {
"name": "avoid_areas_for_specific_robots",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavation_task_rock"
],
"object_keywords": [
"obstacle1"
],
"robot_type": null
}
},
{
"task": "move_excavator2_to_start",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavator2_avoid_obstacle1"
],
"object_keywords": [
"starting_position"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T3-006 | Direct Dump Truck 1 to collect materials at the starting position, then move to the dumping site near soil area 3. | {
"tasks": [
{
"task": "dump_truck1_to_start",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [],
"object_keywords": [
"starting_position"
],
"robot_type": null
}
},
{
"task": "dump_truck1_load_materials",
"instruction_function": {
"name": "DumpLoading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"dump_truck1_to_start"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_truck1_to_dumping_site_soil3",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"dump_truck1_load_materials"
],
"object_keywords": [
"soil3",
"dumping_site"
],
"robot_type": null
}
},
{
"task": "dump_truck1_unload_soil3",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"dump_truck1_to_dumping_site_soil3"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T1-004 | Send Excavator 1 and Dump Truck 1 to the puddle area; Excavator 1 will excavate and unload, while Dump Truck 1 avoids obstacles. | {
"tasks": [
{
"task": "move_to_puddle_area",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01",
"robot_dump_truck_01"
],
"dependencies": [],
"object_keywords": [
"puddle1"
],
"robot_type": null
}
},
{
"task": "dump_truck1_avoid_obstacles",
"instruction_function": {
"name": "avoid_areas_for_specific_robots",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"move_to_puddle_area"
],
"object_keywords": [
"obstacle1",
"obstacle2"
],
"robot_type": null
}
},
{
"task": "excavation_task_puddle",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_to_puddle_area"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task_puddle",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavation_task_puddle"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T1-005 | Guide Excavator 3 and Dump Truck 2 to soil area 3; Excavator 3 will excavate, then Dump Truck 2 unloads at two locations sequentially. | {
"tasks": [
{
"task": "move_to_soil_area3",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_03",
"robot_dump_truck_02"
],
"dependencies": [],
"object_keywords": [
"soil3"
],
"robot_type": null
}
},
{
"task": "excavation_task_soil3",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"move_to_soil_area3"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task_soil3",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"excavation_task_soil3"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_truck2_unload_location1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"excavator_unload_task_soil3"
],
"object_keywords": [
"location1"
],
"robot_type": null
}
},
{
"task": "dump_truck2_unload_location2",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"dump_truck2_unload_location1"
],
"object_keywords": [
"location2"
],
"robot_type": null
}
}
]
} |
dart_llm-L2-T2-004 | Move Excavator 2 and Dump Truck 3 to obstacle 1; Excavator 2 will excavate, then Dump Truck 3 returns to the starting position. | {
"tasks": [
{
"task": "move_to_obstacle1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02",
"robot_dump_truck_03"
],
"dependencies": [],
"object_keywords": [
"obstacle1"
],
"robot_type": null
}
},
{
"task": "excavation_task_obstacle1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"move_to_obstacle1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task_obstacle1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavation_task_obstacle1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_truck3_to_start",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [
"excavation_task_obstacle1"
],
"object_keywords": [
"starting_position"
],
"robot_type": null
}
}
]
} |
dart_llm-L2-T2-005 | Direct Excavator 1 and Dump Truck 1 to soil area 2; Excavator 1 will excavate, then Dump Truck 1 proceeds to puddle 1 and then to obstacle 2 for unloading. | {
"tasks": [
{
"task": "move_to_soil_area2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01",
"robot_dump_truck_01"
],
"dependencies": [],
"object_keywords": [
"soil2"
],
"robot_type": null
}
},
{
"task": "excavation_task_soil2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_to_soil_area2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task_soil2",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavation_task_soil2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_truck1_to_puddle1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"excavator_unload_task_soil2"
],
"object_keywords": [
"puddle1"
],
"robot_type": null
}
},
{
"task": "dump_unload_puddle1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"dump_truck1_to_puddle1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_truck1_to_obstacle2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"dump_unload_puddle1"
],
"object_keywords": [
"obstacle2"
],
"robot_type": null
}
},
{
"task": "dump_unload_obstacle2",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"dump_truck1_to_obstacle2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T3-003 | Excavator 2 and Dump Truck 2 proceed to the rock area; after excavation, both avoid puddle 2 and return to the starting position. | {
"tasks": [
{
"task": "move_to_rock_area",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02",
"robot_dump_truck_02"
],
"dependencies": [],
"object_keywords": [
"rock1"
],
"robot_type": null
}
},
{
"task": "excavation_task_rock",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"move_to_rock_area"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task_rock",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavation_task_rock"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "avoid_puddle2_both_robots",
"instruction_function": {
"name": "avoid_areas_for_specific_robots",
"robot_ids": [
"robot_excavator_02",
"robot_dump_truck_02"
],
"dependencies": [
"excavator_unload_task_rock"
],
"object_keywords": [
"puddle2"
],
"robot_type": null
}
},
{
"task": "return_to_starting_position",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02",
"robot_dump_truck_02"
],
"dependencies": [
"avoid_puddle2_both_robots"
],
"object_keywords": [
"starting_position"
],
"robot_type": null
}
}
]
} |
dart_llm-L2-T3-004 | Send Excavator 1 and Dump Truck 3 to soil area 1; after excavation, Dump Truck 3 unloads at three locations in sequence. | {
"tasks": [
{
"task": "move_to_soil_area1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01",
"robot_dump_truck_03"
],
"dependencies": [],
"object_keywords": [
"soil1"
],
"robot_type": null
}
},
{
"task": "excavation_task_soil1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_to_soil_area1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task_soil1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavation_task_soil1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_truck3_unload_location1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [
"excavator_unload_task_soil1"
],
"object_keywords": [
"location1"
],
"robot_type": null
}
},
{
"task": "dump_truck3_unload_location2",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [
"dump_truck3_unload_location1"
],
"object_keywords": [
"location2"
],
"robot_type": null
}
},
{
"task": "dump_truck3_unload_location3",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [
"dump_truck3_unload_location2"
],
"object_keywords": [
"location3"
],
"robot_type": null
}
}
]
} |
dart_llm-L2-T3-005 | Coordinate Excavator 2 and Dump Truck 1 to perform excavation at obstacle 2, then avoid puddle 1 and proceed to soil area 2. | {
"tasks": [
{
"task": "move_to_obstacle2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02",
"robot_dump_truck_01"
],
"dependencies": [],
"object_keywords": [
"obstacle2"
],
"robot_type": null
}
},
{
"task": "excavation_task_obstacle2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"move_to_obstacle2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task_obstacle2",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavation_task_obstacle2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "avoid_puddle1_both_robots",
"instruction_function": {
"name": "avoid_areas_for_specific_robots",
"robot_ids": [
"robot_excavator_02",
"robot_dump_truck_01"
],
"dependencies": [
"excavator_unload_task_obstacle2"
],
"object_keywords": [
"puddle1"
],
"robot_type": null
}
},
{
"task": "move_to_soil_area2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02",
"robot_dump_truck_01"
],
"dependencies": [
"avoid_puddle1_both_robots"
],
"object_keywords": [
"soil2"
],
"robot_type": null
}
}
]
} |
dart_llm-L2-T3-006 | Guide Excavator 3 and Dump Truck 2 to the puddle area; Excavator 3 will excavate and unload, then Dump Truck 2 unloads at obstacle 1. | {
"tasks": [
{
"task": "move_to_puddle_area",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_03",
"robot_dump_truck_02"
],
"dependencies": [],
"object_keywords": [
"puddle1"
],
"robot_type": null
}
},
{
"task": "excavation_task_puddle",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"move_to_puddle_area"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task_puddle",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"excavation_task_puddle"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_truck2_to_obstacle1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"excavator_unload_task_puddle"
],
"object_keywords": [
"obstacle1"
],
"robot_type": null
}
},
{
"task": "dump_truck2_unload_obstacle1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"dump_truck2_to_obstacle1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T1-003 | Coordinate Excavator 1, Excavator 2, and Dump Truck 1 to clear soil area 3 and obstacle 1, then dump materials at puddle 2. | {
"tasks": [
{
"task": "excavator1_to_soil3",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [],
"object_keywords": [
"soil3"
],
"robot_type": null
}
},
{
"task": "excavator2_to_obstacle1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [],
"object_keywords": [
"obstacle1"
],
"robot_type": null
}
},
{
"task": "dump_truck1_to_soil3",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [],
"object_keywords": [
"soil3"
],
"robot_type": null
}
},
{
"task": "excavation_task_soil3",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavator1_to_soil3"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavation_task_obstacle1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavator2_to_obstacle1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator1_unload_soil3",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavation_task_soil3"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator2_unload_obstacle1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavation_task_obstacle1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "move_all_to_puddle2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01",
"robot_excavator_02",
"robot_dump_truck_01"
],
"dependencies": [
"excavator1_unload_soil3",
"excavator2_unload_obstacle1"
],
"object_keywords": [
"puddle2"
],
"robot_type": null
}
},
{
"task": "dump_unload_puddle2",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"move_all_to_puddle2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T1-004 | Guide Excavator 1, Excavator 3, and Dump Truck 2 to the rock area; perform simultaneous excavation, then Dump Truck 2 unloads at the starting position. | {
"tasks": [
{
"task": "move_to_rock_area",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01",
"robot_excavator_03",
"robot_dump_truck_02"
],
"dependencies": [],
"object_keywords": [
"rock1"
],
"robot_type": null
}
},
{
"task": "excavation_task_excavator1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_to_rock_area"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavation_task_excavator3",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"move_to_rock_area"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavators_unload_rock",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01",
"robot_excavator_03"
],
"dependencies": [
"excavation_task_excavator1",
"excavation_task_excavator3"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_truck2_to_start",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"excavators_unload_rock"
],
"object_keywords": [
"starting_position"
],
"robot_type": null
}
},
{
"task": "dump_truck2_unload_start",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"dump_truck2_to_start"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T2-004 | After Excavator 2 completes excavation at soil area 3, command all robots to proceed to obstacle 1, avoiding puddle 1. | {
"tasks": [
{
"task": "excavator2_to_soil3",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [],
"object_keywords": [
"soil3"
],
"robot_type": null
}
},
{
"task": "excavation_task_soil3",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavator2_to_soil3"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator2_unload_soil3",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavation_task_soil3"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "avoid_puddle1_all_robots",
"instruction_function": {
"name": "avoid_areas_for_all_robots",
"robot_ids": null,
"dependencies": [
"excavator2_unload_soil3"
],
"object_keywords": [
"puddle1"
],
"robot_type": [
"excavator",
"dump_truck"
]
}
},
{
"task": "move_all_to_obstacle1",
"instruction_function": {
"name": "target_area_for_all_robots",
"robot_ids": null,
"dependencies": [
"avoid_puddle1_all_robots"
],
"object_keywords": [
"obstacle1"
],
"robot_type": [
"excavator",
"dump_truck"
]
}
}
]
} |
dart_llm-L3-T2-005 | Direct Excavator 1 and Dump Truck 1 to soil area 2; after excavation, send all robots to puddle 2 for unloading, avoiding obstacles. | {
"tasks": [
{
"task": "move_to_soil_area2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01",
"robot_dump_truck_01"
],
"dependencies": [],
"object_keywords": [
"soil2"
],
"robot_type": null
}
},
{
"task": "excavation_task_soil2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_to_soil_area2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task_soil2",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavation_task_soil2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "avoid_obstacles_all_robots",
"instruction_function": {
"name": "avoid_areas_for_all_robots",
"robot_ids": null,
"dependencies": [
"excavator_unload_task_soil2"
],
"object_keywords": [
"obstacle1",
"obstacle2"
],
"robot_type": [
"excavator",
"dump_truck"
]
}
},
{
"task": "move_all_to_puddle2",
"instruction_function": {
"name": "target_area_for_all_robots",
"robot_ids": null,
"dependencies": [
"avoid_obstacles_all_robots"
],
"object_keywords": [
"puddle2"
],
"robot_type": [
"excavator",
"dump_truck"
]
}
},
{
"task": "dump_unload_puddle2",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"move_all_to_puddle2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T3-004 | Excavator 1 and Dump Truck 1 proceed to obstacle 1; after excavation, Dump Truck 1 unloads at multiple locations, then all return to the starting position. | {
"tasks": [
{
"task": "move_to_obstacle1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01",
"robot_dump_truck_01"
],
"dependencies": [],
"object_keywords": [
"obstacle1"
],
"robot_type": null
}
},
{
"task": "excavation_task_obstacle1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_to_obstacle1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task_obstacle1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavation_task_obstacle1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_truck1_unload_location1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"excavator_unload_task_obstacle1"
],
"object_keywords": [
"location1"
],
"robot_type": null
}
},
{
"task": "dump_truck1_unload_location2",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"dump_truck1_unload_location1"
],
"object_keywords": [
"location2"
],
"robot_type": null
}
},
{
"task": "move_all_to_start",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01",
"robot_dump_truck_01"
],
"dependencies": [
"dump_truck1_unload_location2"
],
"object_keywords": [
"starting_position"
],
"robot_type": null
}
}
]
} |
dart_llm-L3-T3-005 | Coordinate Excavator 2, Dump Truck 2, and Excavator 3 to perform tasks at different locations, then regroup at the starting position, avoiding puddle 2. | {
"tasks": [
{
"task": "excavator2_to_soil2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [],
"object_keywords": [
"soil2"
],
"robot_type": null
}
},
{
"task": "dump_truck2_to_obstacle2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [],
"object_keywords": [
"obstacle2"
],
"robot_type": null
}
},
{
"task": "excavator3_to_rock",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [],
"object_keywords": [
"rock1"
],
"robot_type": null
}
},
{
"task": "excavation_task_excavator2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavator2_to_soil2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavation_task_excavator3",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"excavator3_to_rock"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "avoid_puddle2_all",
"instruction_function": {
"name": "avoid_areas_for_specific_robots",
"robot_ids": [
"robot_excavator_02",
"robot_dump_truck_02",
"robot_excavator_03"
],
"dependencies": [
"excavation_task_excavator2",
"excavation_task_excavator3"
],
"object_keywords": [
"puddle2"
],
"robot_type": null
}
},
{
"task": "regroup_at_start",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02",
"robot_dump_truck_02",
"robot_excavator_03"
],
"dependencies": [
"avoid_puddle2_all"
],
"object_keywords": [
"starting_position"
],
"robot_type": null
}
}
]
} |
dart_llm-L3-T3-006 | After excavation at the rock area, guide all robots to avoid obstacle 2 and proceed to soil area 3 for another excavation task. | {
"tasks": [
{
"task": "excavator_to_rock_area",
"instruction_function": {
"name": "target_area_for_all_robots",
"robot_ids": null,
"dependencies": [],
"object_keywords": [
"rock1"
],
"robot_type": [
"excavator",
"dump_truck"
]
}
},
{
"task": "excavation_task_rock",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01",
"robot_excavator_02"
],
"dependencies": [
"excavator_to_rock_area"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "avoid_obstacle2_all_robots",
"instruction_function": {
"name": "avoid_areas_for_all_robots",
"robot_ids": null,
"dependencies": [
"excavation_task_rock"
],
"object_keywords": [
"obstacle2"
],
"robot_type": [
"excavator",
"dump_truck"
]
}
},
{
"task": "move_all_to_soil_area3",
"instruction_function": {
"name": "target_area_for_all_robots",
"robot_ids": null,
"dependencies": [
"avoid_obstacle2_all_robots"
],
"object_keywords": [
"soil3"
],
"robot_type": [
"excavator",
"dump_truck"
]
}
},
{
"task": "excavation_task_soil3",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01",
"robot_excavator_02"
],
"dependencies": [
"move_all_to_soil_area3"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T3-007 | Excavator 1, Excavator 2, and Dump Truck 1 coordinate to clear multiple areas, avoiding puddles and obstacles, then unload at the starting position. | {
"tasks": [
{
"task": "excavator1_to_soil1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [],
"object_keywords": [
"soil1"
],
"robot_type": null
}
},
{
"task": "excavator2_to_obstacle2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [],
"object_keywords": [
"obstacle2"
],
"robot_type": null
}
},
{
"task": "dump_truck1_to_soil1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [],
"object_keywords": [
"soil1"
],
"robot_type": null
}
},
{
"task": "excavation_task_excavator1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavator1_to_soil1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavation_task_excavator2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavator2_to_obstacle2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "avoid_puddles_and_obstacles",
"instruction_function": {
"name": "avoid_areas_for_specific_robots",
"robot_ids": [
"robot_excavator_01",
"robot_excavator_02",
"robot_dump_truck_01"
],
"dependencies": [
"excavation_task_excavator1",
"excavation_task_excavator2"
],
"object_keywords": [
"puddle1",
"puddle2",
"obstacle1"
],
"robot_type": null
}
},
{
"task": "regroup_at_start",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01",
"robot_excavator_02",
"robot_dump_truck_01"
],
"dependencies": [
"avoid_puddles_and_obstacles"
],
"object_keywords": [
"starting_position"
],
"robot_type": null
}
},
{
"task": "unload_at_start",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"regroup_at_start"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T1-007 | Move Excavator 2 to the dumping area near obstacle 1. | {
"tasks": [
{
"task": "move_excavator2_to_dumping_area_obstacle1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [],
"object_keywords": [
"obstacle1",
"dumping_area"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T1-008 | Guide Dump Truck 3 to the rock area. | {
"tasks": [
{
"task": "move_dump_truck3_to_rock_area",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [],
"object_keywords": [
"rock1"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T1-009 | Send Excavator 1 to soil area 2, then command it to avoid puddle 2. | {
"tasks": [
{
"task": "move_excavator1_to_soil2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [],
"object_keywords": [
"soil2"
],
"robot_type": null
}
},
{
"task": "excavator1_avoid_puddle2",
"instruction_function": {
"name": "avoid_areas_for_specific_robots",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_excavator1_to_soil2"
],
"object_keywords": [
"puddle2"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T1-010 | Direct Dump Truck 2 to the starting position, avoiding obstacle 2. | {
"tasks": [
{
"task": "move_dump_truck2_to_start",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [],
"object_keywords": [
"starting_position"
],
"robot_type": null
}
},
{
"task": "dump_truck2_avoid_obstacle2",
"instruction_function": {
"name": "avoid_areas_for_specific_robots",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"move_dump_truck2_to_start"
],
"object_keywords": [
"obstacle2"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T2-006 | Send Excavator 3 to the puddle area, perform excavation. | {
"tasks": [
{
"task": "move_excavator3_to_puddle",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [],
"object_keywords": [
"puddle1"
],
"robot_type": null
}
},
{
"task": "excavation_task_puddle",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"move_excavator3_to_puddle"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T2-007 | Guide Dump Truck 1 to soil area 1, proceed to unload. | {
"tasks": [
{
"task": "move_dump_truck1_to_soil1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [],
"object_keywords": [
"soil1"
],
"robot_type": null
}
},
{
"task": "dump_truck1_unload_soil1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"move_dump_truck1_to_soil1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T2-008 | Direct Excavator 2 to obstacle 2, perform excavation, then unload. | {
"tasks": [
{
"task": "move_excavator2_to_obstacle2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [],
"object_keywords": [
"obstacle2"
],
"robot_type": null
}
},
{
"task": "excavation_task_obstacle2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"move_excavator2_to_obstacle2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator2_unload_task",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavation_task_obstacle2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T3-007 | Move Excavator 1 to soil area 1, perform excavation, then move to rock area and excavate again. | {
"tasks": [
{
"task": "move_excavator1_to_soil1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [],
"object_keywords": [
"soil1"
],
"robot_type": null
}
},
{
"task": "excavation_task_soil1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_excavator1_to_soil1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "move_excavator1_to_rock_area",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavation_task_soil1"
],
"object_keywords": [
"rock1"
],
"robot_type": null
}
},
{
"task": "excavation_task_rock",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_excavator1_to_rock_area"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T3-008 | Guide Dump Truck 2 to collect materials at obstacle 1, then proceed to dumping site near soil area 2. | {
"tasks": [
{
"task": "dump_truck2_to_obstacle1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [],
"object_keywords": [
"obstacle1"
],
"robot_type": null
}
},
{
"task": "dump_truck2_load_materials",
"instruction_function": {
"name": "DumpLoading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"dump_truck2_to_obstacle1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_truck2_to_dumping_site_soil2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"dump_truck2_load_materials"
],
"object_keywords": [
"soil2",
"dumping_site"
],
"robot_type": null
}
},
{
"task": "dump_truck2_unload_soil2",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"dump_truck2_to_dumping_site_soil2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T1-006 | Send Excavator 2 and Dump Truck 1 to the rock area; Excavator 2 will excavate and unload, then Dump Truck 1 proceeds to obstacle 1 for unloading. | {
"tasks": [
{
"task": "move_to_rock_area",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02",
"robot_dump_truck_01"
],
"dependencies": [],
"object_keywords": [
"rock1"
],
"robot_type": null
}
},
{
"task": "excavation_task_rock",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"move_to_rock_area"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task_rock",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavation_task_rock"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_truck1_to_obstacle1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"excavator_unload_task_rock"
],
"object_keywords": [
"obstacle1"
],
"robot_type": null
}
},
{
"task": "dump_truck1_unload_obstacle1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"dump_truck1_to_obstacle1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T1-007 | Guide Excavator 3 and Dump Truck 3 to soil area 1; Excavator 3 will excavate, then both robots avoid puddle 1. | {
"tasks": [
{
"task": "move_to_soil_area1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_03",
"robot_dump_truck_03"
],
"dependencies": [],
"object_keywords": [
"soil1"
],
"robot_type": null
}
},
{
"task": "excavation_task_soil1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"move_to_soil_area1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task_soil1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"excavation_task_soil1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "avoid_puddle1_both_robots",
"instruction_function": {
"name": "avoid_areas_for_specific_robots",
"robot_ids": [
"robot_excavator_03",
"robot_dump_truck_03"
],
"dependencies": [
"excavator_unload_task_soil1"
],
"object_keywords": [
"puddle1"
],
"robot_type": null
}
}
]
} |
dart_llm-L2-T2-006 | Send Excavator 1 and Dump Truck 2 to soil area 2; Excavator 1 will excavate, then Dump Truck 2 returns to starting position and unloads. | {
"tasks": [
{
"task": "move_to_soil_area2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01",
"robot_dump_truck_02"
],
"dependencies": [],
"object_keywords": [
"soil2"
],
"robot_type": null
}
},
{
"task": "excavation_task_soil2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_to_soil_area2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task_soil2",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavation_task_soil2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_truck2_return_unload",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"excavator_unload_task_soil2"
],
"object_keywords": [
"starting_position"
],
"robot_type": null
}
}
]
} |
dart_llm-L2-T2-007 | Direct Excavator 2 and Dump Truck 3 to obstacle 1; after excavation, Dump Truck 3 moves to puddle 2 for unloading. | {
"tasks": [
{
"task": "move_to_obstacle1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02",
"robot_dump_truck_03"
],
"dependencies": [],
"object_keywords": [
"obstacle1"
],
"robot_type": null
}
},
{
"task": "excavation_task_obstacle1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"move_to_obstacle1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task_obstacle1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavation_task_obstacle1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_truck3_to_puddle2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [
"excavator_unload_task_obstacle1"
],
"object_keywords": [
"puddle2"
],
"robot_type": null
}
},
{
"task": "dump_unload_puddle2",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [
"dump_truck3_to_puddle2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T3-007 | Excavator 3 and Dump Truck 1 proceed to soil area 3; Excavator 3 excavates, then both return to starting position avoiding obstacle 1. | {
"tasks": [
{
"task": "move_to_soil_area3",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_03",
"robot_dump_truck_01"
],
"dependencies": [],
"object_keywords": [
"soil3"
],
"robot_type": null
}
},
{
"task": "excavation_task_soil3",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"move_to_soil_area3"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task_soil3",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"excavation_task_soil3"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "avoid_obstacle1_both_robots",
"instruction_function": {
"name": "avoid_areas_for_specific_robots",
"robot_ids": [
"robot_excavator_03",
"robot_dump_truck_01"
],
"dependencies": [
"excavator_unload_task_soil3"
],
"object_keywords": [
"obstacle1"
],
"robot_type": null
}
},
{
"task": "return_to_starting_position",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_03",
"robot_dump_truck_01"
],
"dependencies": [
"avoid_obstacle1_both_robots"
],
"object_keywords": [
"starting_position"
],
"robot_type": null
}
}
]
} |
dart_llm-L2-T3-008 | Guide Excavator 2 and Dump Truck 2 to obstacle 2; Excavator 2 excavates and unloads, then Dump Truck 2 unloads at multiple locations. | {
"tasks": [
{
"task": "move_to_obstacle2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02",
"robot_dump_truck_02"
],
"dependencies": [],
"object_keywords": [
"obstacle2"
],
"robot_type": null
}
},
{
"task": "excavation_task_obstacle2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"move_to_obstacle2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task_obstacle2",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavation_task_obstacle2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_truck2_unload_location1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"excavator_unload_task_obstacle2"
],
"object_keywords": [
"location1"
],
"robot_type": null
}
},
{
"task": "dump_truck2_unload_location2",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"dump_truck2_unload_location1"
],
"object_keywords": [
"location2"
],
"robot_type": null
}
}
]
} |
dart_llm-L3-T1-005 | Coordinate Excavator 1, Dump Truck 3, and Excavator 2 to clear soil area 1 and rock area simultaneously; then Dump Truck 3 unloads at starting position. | {
"tasks": [
{
"task": "excavator1_to_soil1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [],
"object_keywords": [
"soil1"
],
"robot_type": null
}
},
{
"task": "excavator2_to_rock_area",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [],
"object_keywords": [
"rock1"
],
"robot_type": null
}
},
{
"task": "dump_truck3_to_soil1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [],
"object_keywords": [
"soil1"
],
"robot_type": null
}
},
{
"task": "excavation_task_excavator1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavator1_to_soil1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavation_task_excavator2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavator2_to_rock_area"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator1_unload_soil1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavation_task_excavator1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator2_unload_rock",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavation_task_excavator2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_truck3_to_start",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [
"excavator1_unload_soil1"
],
"object_keywords": [
"starting_position"
],
"robot_type": null
}
},
{
"task": "dump_truck3_unload_start",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [
"dump_truck3_to_start"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T1-006 | Guide Excavator 3 and Dump Truck 1 to puddle area; after excavation, both avoid obstacle 1 and proceed to soil area 2 for another excavation. | {
"tasks": [
{
"task": "move_to_puddle_area",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_03",
"robot_dump_truck_01"
],
"dependencies": [],
"object_keywords": [
"puddle1"
],
"robot_type": null
}
},
{
"task": "excavation_task_puddle",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"move_to_puddle_area"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task_puddle",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"excavation_task_puddle"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "avoid_obstacle1_both_robots",
"instruction_function": {
"name": "avoid_areas_for_specific_robots",
"robot_ids": [
"robot_excavator_03",
"robot_dump_truck_01"
],
"dependencies": [
"excavator_unload_task_puddle"
],
"object_keywords": [
"obstacle1"
],
"robot_type": null
}
},
{
"task": "move_to_soil_area2",
"instruction_function": {
"name": "target_area_for_all_robots",
"robot_ids": null,
"dependencies": [
"avoid_obstacle1_both_robots"
],
"object_keywords": [
"soil2"
],
"robot_type": [
"excavator",
"dump_truck"
]
}
},
{
"task": "excavation_task_soil2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"move_to_soil_area2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T2-006 | After Excavator 1 completes excavation at rock area, command all robots to proceed to starting position, then proceed to obstacle 2 for another excavation, avoiding puddle 2. | {
"tasks": [
{
"task": "excavator1_to_rock_area",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [],
"object_keywords": [
"rock1"
],
"robot_type": null
}
},
{
"task": "excavation_task_rock",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavator1_to_rock_area"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator1_unload_rock",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavation_task_rock"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "move_all_to_starting_position",
"instruction_function": {
"name": "target_area_for_all_robots",
"robot_ids": null,
"dependencies": [
"excavator1_unload_rock"
],
"object_keywords": [
"starting_position"
],
"robot_type": [
"excavator",
"dump_truck"
]
}
},
{
"task": "avoid_puddle2_all_robots",
"instruction_function": {
"name": "avoid_areas_for_all_robots",
"robot_ids": null,
"dependencies": [
"move_all_to_starting_position"
],
"object_keywords": [
"puddle2"
],
"robot_type": [
"excavator",
"dump_truck"
]
}
},
{
"task": "move_all_to_obstacle2",
"instruction_function": {
"name": "target_area_for_all_robots",
"robot_ids": null,
"dependencies": [
"avoid_puddle2_all_robots"
],
"object_keywords": [
"obstacle2"
],
"robot_type": [
"excavator"
]
}
},
{
"task": "excavation_task_obstacle2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_all_to_obstacle2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T3-008 | Coordinate Excavator 1, Excavator 2, and Dump Truck 3 to perform tasks at different locations, then regroup at the starting position, avoiding all obstacles. | {
"tasks": [
{
"task": "excavator1_to_soil3",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [],
"object_keywords": [
"soil3"
],
"robot_type": null
}
},
{
"task": "excavator2_to_obstacle2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [],
"object_keywords": [
"obstacle2"
],
"robot_type": null
}
},
{
"task": "dump_truck3_to_puddle1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [],
"object_keywords": [
"puddle1"
],
"robot_type": null
}
},
{
"task": "excavation_task_excavator1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavator1_to_soil3"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavation_task_excavator2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavator2_to_obstacle2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "avoid_all_obstacles",
"instruction_function": {
"name": "avoid_areas_for_specific_robots",
"robot_ids": [
"robot_excavator_01",
"robot_excavator_02",
"robot_dump_truck_03"
],
"dependencies": [
"excavation_task_excavator1",
"excavation_task_excavator2"
],
"object_keywords": [
"obstacle1",
"obstacle2"
],
"robot_type": null
}
},
{
"task": "regroup_at_starting_position",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01",
"robot_excavator_02",
"robot_dump_truck_03"
],
"dependencies": [
"avoid_all_obstacles"
],
"object_keywords": [
"starting_position"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T1-011 | Move Excavator 3 to the obstacle area. | {
"tasks": [
{
"task": "move_excavator3_to_obstacle_area",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [],
"object_keywords": [
"obstacle1"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T1-012 | Guide Dump Truck 1 to the puddle area, then command it to avoid soil area 1. | {
"tasks": [
{
"task": "move_dump_truck1_to_puddle",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [],
"object_keywords": [
"puddle1"
],
"robot_type": null
}
},
{
"task": "dump_truck1_avoid_soil1",
"instruction_function": {
"name": "avoid_areas_for_specific_robots",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"move_dump_truck1_to_puddle"
],
"object_keywords": [
"soil1"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T1-013 | Send Excavator 2 to rock area 2. | {
"tasks": [
{
"task": "move_excavator2_to_rock_area2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [],
"object_keywords": [
"rock2"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T1-014 | Direct Dump Truck 3 to avoid obstacle 2 and move to soil area 3. | {
"tasks": [
{
"task": "dump_truck3_avoid_obstacle2",
"instruction_function": {
"name": "avoid_areas_for_specific_robots",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [],
"object_keywords": [
"obstacle2"
],
"robot_type": null
}
},
{
"task": "move_dump_truck3_to_soil3",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [
"dump_truck3_avoid_obstacle2"
],
"object_keywords": [
"soil3"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T2-009 | Send Excavator 1 to puddle 2, perform excavation. | {
"tasks": [
{
"task": "move_excavator1_to_puddle2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [],
"object_keywords": [
"puddle2"
],
"robot_type": null
}
},
{
"task": "excavation_task_puddle2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_excavator1_to_puddle2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T2-010 | Guide Dump Truck 2 to obstacle 1, proceed to unload. | {
"tasks": [
{
"task": "move_dump_truck2_to_obstacle1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [],
"object_keywords": [
"obstacle1"
],
"robot_type": null
}
},
{
"task": "dump_truck2_unload_obstacle1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"move_dump_truck2_to_obstacle1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T2-011 | Direct Excavator 3 to soil area 2, perform excavation, then unload. | {
"tasks": [
{
"task": "move_excavator3_to_soil2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [],
"object_keywords": [
"soil2"
],
"robot_type": null
}
},
{
"task": "excavation_task_soil2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"move_excavator3_to_soil2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator3_unload_task",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
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],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T3-009 | Move Excavator 2 to soil area 2, perform excavation, then move to puddle 1 while avoiding obstacle 2. | {
"tasks": [
{
"task": "move_excavator2_to_soil2",
"instruction_function": {
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"robot_ids": [
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],
"dependencies": [],
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],
"robot_type": null
}
},
{
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"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
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],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator2_avoid_obstacle2",
"instruction_function": {
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"robot_ids": [
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],
"dependencies": [
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}
},
{
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],
"dependencies": [
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],
"object_keywords": [
"puddle1"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T3-010 | Guide Dump Truck 2 to collect at rock area, then proceed to dumping site near obstacle 2. | {
"tasks": [
{
"task": "dump_truck2_to_rock_area",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [],
"object_keywords": [
"rock1"
],
"robot_type": null
}
},
{
"task": "dump_truck2_load_materials",
"instruction_function": {
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"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"dump_truck2_to_rock_area"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_truck2_to_dumping_site_obstacle2",
"instruction_function": {
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"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
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],
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],
"robot_type": null
}
},
{
"task": "dump_truck2_unload_obstacle2",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"dump_truck2_to_dumping_site_obstacle2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T3-011 | Send Excavator 1 to obstacle 1, perform excavation, avoid puddle 1, and return to starting position. | {
"tasks": [
{
"task": "move_excavator1_to_obstacle1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [],
"object_keywords": [
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],
"robot_type": null
}
},
{
"task": "excavation_task_obstacle1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_excavator1_to_obstacle1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator1_avoid_puddle1",
"instruction_function": {
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"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
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],
"object_keywords": [
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],
"robot_type": null
}
},
{
"task": "move_excavator1_to_start",
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"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavator1_avoid_puddle1"
],
"object_keywords": [
"starting_position"
],
"robot_type": null
}
}
]
} |
dart_llm-L2-T1-008 | Send Excavator 2 and Dump Truck 3 to soil area 2; Excavator 2 will excavate and unload, then Dump Truck 3 avoids puddle 2. | {
"tasks": [
{
"task": "move_to_soil_area2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02",
"robot_dump_truck_03"
],
"dependencies": [],
"object_keywords": [
"soil2"
],
"robot_type": null
}
},
{
"task": "excavation_task_soil2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"move_to_soil_area2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task_soil2",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavation_task_soil2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_truck3_avoid_puddle2",
"instruction_function": {
"name": "avoid_areas_for_specific_robots",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [
"excavator_unload_task_soil2"
],
"object_keywords": [
"puddle2"
],
"robot_type": null
}
}
]
} |
dart_llm-L2-T1-009 | Guide Excavator 1 and Dump Truck 2 to the rock area; Excavator 1 will excavate, then Dump Truck 2 unloads at the starting position. | {
"tasks": [
{
"task": "move_to_rock_area",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01",
"robot_dump_truck_02"
],
"dependencies": [],
"object_keywords": [
"rock1"
],
"robot_type": null
}
},
{
"task": "excavation_task_rock",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_to_rock_area"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task_rock",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavation_task_rock"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_truck2_to_start",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
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],
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],
"robot_type": null
}
},
{
"task": "dump_truck2_unload_start",
"instruction_function": {
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"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"dump_truck2_to_start"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T2-008 | Move Excavator 3 and Dump Truck 1 to puddle 2; Excavator 3 will excavate, then Dump Truck 1 returns to starting position. | {
"tasks": [
{
"task": "move_to_puddle2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_03",
"robot_dump_truck_01"
],
"dependencies": [],
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],
"robot_type": null
}
},
{
"task": "excavation_task_puddle2",
"instruction_function": {
"name": "Excavation",
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"robot_excavator_03"
],
"dependencies": [
"move_to_puddle2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task_puddle2",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"excavation_task_puddle2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_truck1_return_to_start",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"excavator_unload_task_puddle2"
],
"object_keywords": [
"starting_position"
],
"robot_type": null
}
}
]
} |
dart_llm-L2-T2-009 | Direct Excavator 2 and Dump Truck 2 to obstacle 1; after excavation, Dump Truck 2 proceeds to soil area 3 for unloading. | {
"tasks": [
{
"task": "move_to_obstacle1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
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"robot_dump_truck_02"
],
"dependencies": [],
"object_keywords": [
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],
"robot_type": null
}
},
{
"task": "excavation_task_obstacle1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
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],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task_obstacle1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
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],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_truck2_to_soil3",
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"robot_ids": [
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],
"dependencies": [
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],
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],
"robot_type": null
}
},
{
"task": "dump_truck2_unload_soil3",
"instruction_function": {
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"robot_ids": [
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],
"dependencies": [
"dump_truck2_to_soil3"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T3-009 | Excavator 3 and Dump Truck 3 proceed to soil area 1; after excavation, both avoid obstacle 1 and puddle 1, then return to starting position. | {
"tasks": [
{
"task": "move_to_soil_area1",
"instruction_function": {
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"robot_dump_truck_03"
],
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],
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}
},
{
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],
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],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task_soil1",
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],
"dependencies": [
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],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "avoid_obstacle1_and_puddle1",
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],
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],
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],
"robot_type": null
}
},
{
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"robot_dump_truck_03"
],
"dependencies": [
"avoid_obstacle1_and_puddle1"
],
"object_keywords": [
"starting_position"
],
"robot_type": null
}
}
]
} |
dart_llm-L2-T3-010 | Guide Excavator 1 and Dump Truck 1 to obstacle 2; Excavator 1 excavates and unloads, then Dump Truck 1 unloads at multiple locations. | {
"tasks": [
{
"task": "move_to_obstacle2",
"instruction_function": {
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"robot_ids": [
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"robot_dump_truck_01"
],
"dependencies": [],
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],
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}
},
{
"task": "excavation_task_obstacle2",
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],
"dependencies": [
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],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task_obstacle2",
"instruction_function": {
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"robot_ids": [
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],
"dependencies": [
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],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_truck1_unload_location1",
"instruction_function": {
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],
"dependencies": [
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],
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],
"robot_type": null
}
},
{
"task": "dump_truck1_unload_location2",
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],
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],
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],
"robot_type": null
}
},
{
"task": "dump_truck1_unload_location3",
"instruction_function": {
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"robot_ids": [
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],
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"dump_truck1_unload_location2"
],
"object_keywords": [
"location3"
],
"robot_type": null
}
}
]
} |
dart_llm-L3-T1-007 | Coordinate Excavator 2, Excavator 3, and Dump Truck 2 to clear soil area 2 and obstacle 2 simultaneously; then Dump Truck 2 unloads at puddle 1. | {
"tasks": [
{
"task": "excavator2_to_soil2",
"instruction_function": {
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"robot_ids": [
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],
"dependencies": [],
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],
"robot_type": null
}
},
{
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"robot_ids": [
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],
"dependencies": [],
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],
"robot_type": null
}
},
{
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"robot_ids": [
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],
"dependencies": [],
"object_keywords": [
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],
"robot_type": null
}
},
{
"task": "excavation_task_excavator2",
"instruction_function": {
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],
"dependencies": [
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],
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}
},
{
"task": "excavation_task_excavator3",
"instruction_function": {
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],
"dependencies": [
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],
"object_keywords": [],
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}
},
{
"task": "excavator2_unload_soil2",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
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],
"dependencies": [
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],
"object_keywords": [],
"robot_type": null
}
},
{
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"instruction_function": {
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"robot_ids": [
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],
"dependencies": [
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],
"object_keywords": [],
"robot_type": null
}
},
{
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],
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],
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],
"robot_type": null
}
},
{
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"instruction_function": {
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"robot_ids": [
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],
"dependencies": [
"dump_truck2_to_puddle1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T1-008 | Guide Excavator 1, Excavator 2, and Dump Truck 3 to soil area 3; perform simultaneous excavation, then Dump Truck 3 unloads at multiple locations. | {
"tasks": [
{
"task": "move_to_soil_area3",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
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"robot_excavator_02",
"robot_dump_truck_03"
],
"dependencies": [],
"object_keywords": [
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],
"robot_type": null
}
},
{
"task": "excavation_task_excavator1",
"instruction_function": {
"name": "Excavation",
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],
"dependencies": [
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],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavation_task_excavator2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
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],
"dependencies": [
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],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavators_unload_soil3",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01",
"robot_excavator_02"
],
"dependencies": [
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"excavation_task_excavator2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_truck3_unload_location1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [
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],
"object_keywords": [
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],
"robot_type": null
}
},
{
"task": "dump_truck3_unload_location2",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
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],
"dependencies": [
"dump_truck3_unload_location1"
],
"object_keywords": [
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],
"robot_type": null
}
},
{
"task": "dump_truck3_unload_location3",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
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],
"dependencies": [
"dump_truck3_unload_location2"
],
"object_keywords": [
"location3"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T1-015 | Send Excavator 3 to soil area 1 and then command it to avoid rock area 1. | {
"tasks": [
{
"task": "move_excavator3_to_soil1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
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],
"dependencies": [],
"object_keywords": [
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],
"robot_type": null
}
},
{
"task": "excavator3_avoid_rock_area1",
"instruction_function": {
"name": "avoid_areas_for_specific_robots",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"move_excavator3_to_soil1"
],
"object_keywords": [
"rock1"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T1-016 | Guide Dump Truck 1 to the starting position, then command it to proceed to obstacle 2. | {
"tasks": [
{
"task": "move_dump_truck1_to_start",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
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],
"dependencies": [],
"object_keywords": [
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],
"robot_type": null
}
},
{
"task": "move_dump_truck1_to_obstacle2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
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],
"dependencies": [
"move_dump_truck1_to_start"
],
"object_keywords": [
"obstacle2"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T1-017 | Send Excavator 1 to the puddle area and avoid soil area 2. | {
"tasks": [
{
"task": "move_excavator1_to_puddle_area",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [],
"object_keywords": [
"puddle1"
],
"robot_type": null
}
},
{
"task": "excavator1_avoid_soil2",
"instruction_function": {
"name": "avoid_areas_for_specific_robots",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_excavator1_to_puddle_area"
],
"object_keywords": [
"soil2"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T1-018 | Direct Dump Truck 2 to rock area 1, then avoid puddle 2. | {
"tasks": [
{
"task": "move_dump_truck2_to_rock1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [],
"object_keywords": [
"rock1"
],
"robot_type": null
}
},
{
"task": "dump_truck2_avoid_puddle2",
"instruction_function": {
"name": "avoid_areas_for_specific_robots",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"move_dump_truck2_to_rock1"
],
"object_keywords": [
"puddle2"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T2-012 | Send Excavator 3 to obstacle 2, perform excavation. | {
"tasks": [
{
"task": "move_excavator3_to_obstacle2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [],
"object_keywords": [
"obstacle2"
],
"robot_type": null
}
},
{
"task": "excavation_task_obstacle2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"move_excavator3_to_obstacle2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T2-013 | Guide Dump Truck 3 to soil area 2, proceed to unload. | {
"tasks": [
{
"task": "move_dump_truck3_to_soil2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [],
"object_keywords": [
"soil2"
],
"robot_type": null
}
},
{
"task": "dump_truck3_unload_soil2",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [
"move_dump_truck3_to_soil2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T2-014 | Direct Excavator 2 to soil area 1, perform excavation, then unload. | {
"tasks": [
{
"task": "move_excavator2_to_soil1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [],
"object_keywords": [
"soil1"
],
"robot_type": null
}
},
{
"task": "excavation_task_soil1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"move_excavator2_to_soil1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator2_unload_task",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavation_task_soil1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T3-012 | Move Excavator 3 to puddle 2, perform excavation, then move to soil area 1 while avoiding obstacle 1. | {
"tasks": [
{
"task": "move_excavator3_to_puddle2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [],
"object_keywords": [
"puddle2"
],
"robot_type": null
}
},
{
"task": "excavation_task_puddle2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"move_excavator3_to_puddle2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator3_avoid_obstacle1",
"instruction_function": {
"name": "avoid_areas_for_specific_robots",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"excavation_task_puddle2"
],
"object_keywords": [
"obstacle1"
],
"robot_type": null
}
},
{
"task": "move_excavator3_to_soil1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"excavator3_avoid_obstacle1"
],
"object_keywords": [
"soil1"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T3-013 | Guide Dump Truck 1 to collect materials at soil area 2, then proceed to dumping site near puddle 2. | {
"tasks": [
{
"task": "dump_truck1_to_soil2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [],
"object_keywords": [
"soil2"
],
"robot_type": null
}
},
{
"task": "dump_truck1_load_materials",
"instruction_function": {
"name": "DumpLoading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"dump_truck1_to_soil2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_truck1_to_dumping_site_puddle2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"dump_truck1_load_materials"
],
"object_keywords": [
"puddle2",
"dumping_site"
],
"robot_type": null
}
},
{
"task": "dump_truck1_unload_puddle2",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"dump_truck1_to_dumping_site_puddle2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T3-014 | Send Excavator 2 to rock area 1, perform excavation, avoid puddle 2, and return to starting position. | {
"tasks": [
{
"task": "move_excavator2_to_rock1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [],
"object_keywords": [
"rock1"
],
"robot_type": null
}
},
{
"task": "excavation_task_rock1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"move_excavator2_to_rock1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator2_avoid_puddle2",
"instruction_function": {
"name": "avoid_areas_for_specific_robots",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavation_task_rock1"
],
"object_keywords": [
"puddle2"
],
"robot_type": null
}
},
{
"task": "move_excavator2_to_start",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavator2_avoid_puddle2"
],
"object_keywords": [
"starting_position"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T3-015 | Direct Dump Truck 3 to collect at the starting position, then move to the dumping site near obstacle 1. | {
"tasks": [
{
"task": "dump_truck3_to_start",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [],
"object_keywords": [
"starting_position"
],
"robot_type": null
}
},
{
"task": "dump_truck3_load_materials",
"instruction_function": {
"name": "DumpLoading",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [
"dump_truck3_to_start"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_truck3_to_dumping_site_obstacle1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [
"dump_truck3_load_materials"
],
"object_keywords": [
"obstacle1",
"dumping_site"
],
"robot_type": null
}
},
{
"task": "dump_truck3_unload_obstacle1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [
"dump_truck3_to_dumping_site_obstacle1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T1-010 | Send Excavator 1 and Dump Truck 3 to puddle 1; Excavator 1 will excavate and unload, then Dump Truck 3 avoids rock area 1. | {
"tasks": [
{
"task": "move_to_puddle1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_01",
"robot_dump_truck_03"
],
"dependencies": [],
"object_keywords": [
"puddle1"
],
"robot_type": null
}
},
{
"task": "excavation_task_puddle1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"move_to_puddle1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task_puddle1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"excavation_task_puddle1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_truck3_avoid_rock1",
"instruction_function": {
"name": "avoid_areas_for_specific_robots",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [
"excavator_unload_task_puddle1"
],
"object_keywords": [
"rock1"
],
"robot_type": null
}
}
]
} |
dart_llm-L2-T1-011 | Guide Excavator 2 and Dump Truck 1 to obstacle 2; Excavator 2 will excavate, then both robots avoid puddle 2. | {
"tasks": [
{
"task": "move_to_obstacle2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02",
"robot_dump_truck_01"
],
"dependencies": [],
"object_keywords": [
"obstacle2"
],
"robot_type": null
}
},
{
"task": "excavation_task_obstacle2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"move_to_obstacle2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task_obstacle2",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"excavation_task_obstacle2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "avoid_puddle2_both_robots",
"instruction_function": {
"name": "avoid_areas_for_specific_robots",
"robot_ids": [
"robot_excavator_02",
"robot_dump_truck_01"
],
"dependencies": [
"excavator_unload_task_obstacle2"
],
"object_keywords": [
"puddle2"
],
"robot_type": null
}
}
]
} |
dart_llm-L2-T1-012 | Send Excavator 3 and Dump Truck 2 to soil area 1; Excavator 3 will excavate and unload, then Dump Truck 2 proceeds to puddle 1 for unloading. | {
"tasks": [
{
"task": "move_to_soil_area1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_03",
"robot_dump_truck_02"
],
"dependencies": [],
"object_keywords": [
"soil1"
],
"robot_type": null
}
},
{
"task": "excavation_task_soil1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"move_to_soil_area1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "excavator_unload_task_soil1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"excavation_task_soil1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "dump_truck2_to_puddle1",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"excavator_unload_task_soil1"
],
"object_keywords": [
"puddle1"
],
"robot_type": null
}
},
{
"task": "dump_unload_puddle1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"dump_truck2_to_puddle1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
End of preview. Expand
in Dataset Viewer.
DART-LLM Tasks Dataset
Description
DART-LLM Tasks is a dataset designed for evaluating language models in robotic task planning and coordination through few-shot learning. It contains 102 natural language instructions paired with their corresponding structured task decompositions and execution plans.
Dataset Structure
- Total examples: 102
- Complexity levels:
- L1 (Basic): 47 examples
- L2 (Medium): 33 examples
- L3 (Complex): 22 examples
Features
- task_id: Unique identifier for each instruction
- text: Natural language instruction
- output: Structured task decomposition and execution plan
- tasks: List of sub-tasks
- task: Task name/identifier
- instruction_function: Function specification
- name: Function name
- robot_ids: Involved robots
- dependencies: Task dependencies
- object_keywords: Relevant objects/locations
- tasks: List of sub-tasks
Task Categories
- Movement Tasks: Navigation to specific areas
- Excavation Tasks: Digging operations
- Loading/Unloading: Material transfer
- Avoidance Tasks: Obstacle and hazard avoidance
- Coordination Tasks: Multi-robot operations
Usage
# Using the dataset for few-shot evaluation
from datasets import load_dataset
# Load the dataset
dataset = load_dataset("path/to/dart_llm_tasks")
# Access examples
print(dataset[0]) # First example
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