building_name
stringclasses 1
value | searched_sg
dict | task
stringlengths 17
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| task_category
stringclasses 4
values | problem
stringlengths 2.16k
11.1k
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stringlengths 28
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|---|---|---|---|---|---|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"dimitys_office↔desk3",
"dimitys_office↔cabinet3",
"mobile_robotics_lab↔agent",
"desk3↔K31X",
"desk3↔buzzer",
"cabinet3↔apple2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"sit_at",
"work_at",
"access"
],
"attributes": "clean",
"id": "desk3",
"room": "dimitys_office"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cabinet3",
"room": "dimitys_office"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "electronic, portable, color: silver, size: compact, condition: new",
"id": "K31X",
"parent": "desk3",
"room": "dimitys_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "electronic, alert, color: black, size: standard, condition: new",
"id": "buzzer",
"parent": "desk3",
"room": "dimitys_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: red, freshness: fresh, size: medium",
"id": "apple2",
"parent": "cabinet3",
"room": "dimitys_office"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Find me object K31X.
|
task_Office_simple_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Find me object K31X. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'dimitys_office', 'attributes': 'clean', 'affordances': ['sit_at', 'work_at', 'access'], 'id': 'desk3'}, {'room': 'dimitys_office', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cabinet3'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'electronic, portable, color: silver, size: compact, condition: new', 'id': 'K31X', 'parent': 'desk3', 'room': 'dimitys_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'electronic, alert, color: black, size: standard, condition: new', 'id': 'buzzer', 'parent': 'desk3', 'room': 'dimitys_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: red, freshness: fresh, size: medium', 'id': 'apple2', 'parent': 'cabinet3', 'room': 'dimitys_office'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'dimitys_office↔desk3', 'dimitys_office↔cabinet3', 'mobile_robotics_lab↔agent', 'desk3↔K31X', 'desk3↔buzzer', 'cabinet3↔apple2']}
|
[goto(dimitys_office), access(desk3), pickup(K31X), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"kitchen↔fridge",
"kitchen↔cabinet",
"kitchen↔kitchen_bench",
"kitchen↔dishwasher",
"kitchen↔drawer",
"kitchen↔microwave",
"kitchen↔rubbish_bin",
"kitchen↔recycling_bin",
"mobile_robotics_lab↔agent",
"fridge↔tomato",
"fridge↔cheese",
"fridge↔banana2",
"fridge↔J64M",
"fridge↔chicken_kebab",
"fridge↔noodles",
"fridge↔salmon_bagel",
"fridge↔greek_salad",
"fridge↔carrot",
"kitchen_bench↔butter",
"kitchen_bench↔bread",
"kitchen_bench↔orange1",
"kitchen_bench↔kale_leaves2",
"dishwasher↔bowl",
"dishwasher↔plate2",
"dishwasher↔spoon",
"dishwasher↔chips",
"rubbish_bin↔banana_peel",
"rubbish_bin↔plastic_bottle",
"recycling_bin↔milk_carton",
"recycling_bin↔orange_peel",
"recycling_bin↔apple_core"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"open",
"close",
"access"
],
"attributes": "closed",
"id": "fridge",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "cabinet",
"room": "kitchen"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"access",
"turn_on",
"turn_off",
"open",
"close"
],
"attributes": "closed",
"id": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "drawer",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "microwave",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "recycling_bin",
"room": "kitchen"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: red, freshness: fresh, size: medium",
"id": "tomato",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, dairy, color: yellow, freshness: fresh, size: medium",
"id": "cheese",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: yellow, freshness: fresh, size: medium",
"id": "banana2",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: green, freshness: fresh, size: medium",
"id": "J64M",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, meat, color: brown, freshness: fresh, size: medium",
"id": "chicken_kebab",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, grain, color: yellow, freshness: fresh, size: medium",
"id": "noodles",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, sandwich, color: pink, freshness: fresh, size: medium",
"id": "salmon_bagel",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, salad, color: green, freshness: fresh, size: medium",
"id": "greek_salad",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: orange, freshness: fresh, size: medium",
"id": "carrot",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, spread, color: yellow, freshness: fresh, size: small",
"id": "butter",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, bread, color: brown, freshness: fresh, size: medium",
"id": "bread",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: orange, freshness: fresh, size: medium",
"id": "orange1",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: green, freshness: fresh, size: small",
"id": "kale_leaves2",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "bowl",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "plate2",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "spoon",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "snack, food, color: yellow, freshness: fresh, size: small",
"id": "chips",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: yellow, size: small, condition: used",
"id": "banana_peel",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, plastic, color: clear, size: standard, condition: used",
"id": "plastic_bottle",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, carton, color: white, size: standard, condition: new",
"id": "milk_carton",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: orange, size: small, condition: used",
"id": "orange_peel",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: brown, size: small, condition: used",
"id": "apple_core",
"parent": "recycling_bin",
"room": "kitchen"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Find me a carrot.
|
task_Office_simple_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Find me a carrot. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'kitchen', 'attributes': 'closed', 'affordances': ['open', 'close', 'access'], 'id': 'fridge'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'cabinet'}, {'room': 'kitchen', 'attributes': 'clean', 'affordances': ['access'], 'id': 'kitchen_bench'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'turn_on', 'turn_off', 'open', 'close'], 'id': 'dishwasher'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'drawer'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'microwave'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'rubbish_bin'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'recycling_bin'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: red, freshness: fresh, size: medium', 'id': 'tomato', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, dairy, color: yellow, freshness: fresh, size: medium', 'id': 'cheese', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: yellow, freshness: fresh, size: medium', 'id': 'banana2', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: green, freshness: fresh, size: medium', 'id': 'J64M', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, meat, color: brown, freshness: fresh, size: medium', 'id': 'chicken_kebab', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, grain, color: yellow, freshness: fresh, size: medium', 'id': 'noodles', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, sandwich, color: pink, freshness: fresh, size: medium', 'id': 'salmon_bagel', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, salad, color: green, freshness: fresh, size: medium', 'id': 'greek_salad', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: orange, freshness: fresh, size: medium', 'id': 'carrot', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, spread, color: yellow, freshness: fresh, size: small', 'id': 'butter', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, bread, color: brown, freshness: fresh, size: medium', 'id': 'bread', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: orange, freshness: fresh, size: medium', 'id': 'orange1', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: green, freshness: fresh, size: small', 'id': 'kale_leaves2', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'bowl', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'plate2', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'spoon', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'snack, food, color: yellow, freshness: fresh, size: small', 'id': 'chips', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: yellow, size: small, condition: used', 'id': 'banana_peel', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, plastic, color: clear, size: standard, condition: used', 'id': 'plastic_bottle', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, carton, color: white, size: standard, condition: new', 'id': 'milk_carton', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: orange, size: small, condition: used', 'id': 'orange_peel', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: brown, size: small, condition: used', 'id': 'apple_core', 'parent': 'recycling_bin', 'room': 'kitchen'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'kitchen↔fridge', 'kitchen↔cabinet', 'kitchen↔kitchen_bench', 'kitchen↔dishwasher', 'kitchen↔drawer', 'kitchen↔microwave', 'kitchen↔rubbish_bin', 'kitchen↔recycling_bin', 'mobile_robotics_lab↔agent', 'fridge↔tomato', 'fridge↔cheese', 'fridge↔banana2', 'fridge↔J64M', 'fridge↔chicken_kebab', 'fridge↔noodles', 'fridge↔salmon_bagel', 'fridge↔greek_salad', 'fridge↔carrot', 'kitchen_bench↔butter', 'kitchen_bench↔bread', 'kitchen_bench↔orange1', 'kitchen_bench↔kale_leaves2', 'dishwasher↔bowl', 'dishwasher↔plate2', 'dishwasher↔spoon', 'dishwasher↔chips', 'rubbish_bin↔banana_peel', 'rubbish_bin↔plastic_bottle', 'recycling_bin↔milk_carton', 'recycling_bin↔orange_peel', 'recycling_bin↔apple_core']}
|
[goto(kitchen), open(fridge), access(fridge), pickup(carrot), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"postdoc_bay1↔desk31",
"postdoc_bay1↔desk32",
"postdoc_bay2↔desk33",
"postdoc_bay2↔desk34",
"postdoc_bay3↔desk35",
"postdoc_bay3↔desk36",
"mobile_robotics_lab↔agent",
"desk35↔dorittos1",
"desk35↔marker",
"desk31↔fire_extinguisher1",
"desk32↔frame1",
"desk32↔frame2",
"desk32↔complimentary_tshirt7",
"desk32↔complimentary_tshirt8",
"desk33↔frame3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"sit_at",
"work_at",
"access"
],
"attributes": "clean",
"id": "desk35",
"room": "postdoc_bay3"
},
{
"affordances": [
"sit_at",
"work_at",
"access"
],
"attributes": "clean",
"id": "desk36",
"room": "postdoc_bay3"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk31",
"room": "postdoc_bay1"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk32",
"room": "postdoc_bay1"
},
{
"affordances": [
"sit_at",
"work_at",
"access"
],
"attributes": "clean",
"id": "desk33",
"room": "postdoc_bay2"
},
{
"affordances": [
"sit_at",
"work_at",
"access"
],
"attributes": "clean",
"id": "desk34",
"room": "postdoc_bay2"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "snack, food, color: yellow, freshness: fresh, size: small",
"id": "dorittos1",
"parent": "desk35",
"room": "postdoc_bay3"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "writing tool, marker, color: black, size: standard, condition: new",
"id": "marker",
"parent": "desk35",
"room": "postdoc_bay3"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "safety equipment, fire, color: red, size: standard, condition: new",
"id": "fire_extinguisher1",
"parent": "desk31",
"room": "postdoc_bay1"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "decorative, framed, color: gold, size: large, condition: new",
"id": "frame1",
"parent": "desk32",
"room": "postdoc_bay1"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "decorative, framed, color: silver, size: large, condition: used",
"id": "frame2",
"parent": "desk32",
"room": "postdoc_bay1"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "clothing, promotional, color: blue, size: M, condition: new",
"id": "complimentary_tshirt7",
"parent": "desk32",
"room": "postdoc_bay1"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "clothing, promotional, color: red, size: L, condition: used",
"id": "complimentary_tshirt8",
"parent": "desk32",
"room": "postdoc_bay1"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "decorative, framed, color: brown, size: large, condition: new",
"id": "frame3",
"parent": "desk33",
"room": "postdoc_bay2"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Find me anything purple in the postdoc bays.
|
task_Office_simple_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Find me anything purple in the postdoc bays. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'postdoc_bay3', 'attributes': 'clean', 'affordances': ['sit_at', 'work_at', 'access'], 'id': 'desk35'}, {'room': 'postdoc_bay3', 'attributes': 'clean', 'affordances': ['sit_at', 'work_at', 'access'], 'id': 'desk36'}, {'room': 'postdoc_bay1', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk31'}, {'room': 'postdoc_bay1', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk32'}, {'room': 'postdoc_bay2', 'attributes': 'clean', 'affordances': ['sit_at', 'work_at', 'access'], 'id': 'desk33'}, {'room': 'postdoc_bay2', 'attributes': 'clean', 'affordances': ['sit_at', 'work_at', 'access'], 'id': 'desk34'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'snack, food, color: yellow, freshness: fresh, size: small', 'id': 'dorittos1', 'parent': 'desk35', 'room': 'postdoc_bay3'}, {'affordances': ['pickup', 'release'], 'attributes': 'writing tool, marker, color: black, size: standard, condition: new', 'id': 'marker', 'parent': 'desk35', 'room': 'postdoc_bay3'}, {'affordances': ['pickup', 'release'], 'attributes': 'safety equipment, fire, color: red, size: standard, condition: new', 'id': 'fire_extinguisher1', 'parent': 'desk31', 'room': 'postdoc_bay1'}, {'affordances': ['pickup', 'release'], 'attributes': 'decorative, framed, color: gold, size: large, condition: new', 'id': 'frame1', 'parent': 'desk32', 'room': 'postdoc_bay1'}, {'affordances': ['pickup', 'release'], 'attributes': 'decorative, framed, color: silver, size: large, condition: used', 'id': 'frame2', 'parent': 'desk32', 'room': 'postdoc_bay1'}, {'affordances': ['pickup', 'release'], 'attributes': 'clothing, promotional, color: blue, size: M, condition: new', 'id': 'complimentary_tshirt7', 'parent': 'desk32', 'room': 'postdoc_bay1'}, {'affordances': ['pickup', 'release'], 'attributes': 'clothing, promotional, color: red, size: L, condition: used', 'id': 'complimentary_tshirt8', 'parent': 'desk32', 'room': 'postdoc_bay1'}, {'affordances': ['pickup', 'release'], 'attributes': 'decorative, framed, color: brown, size: large, condition: new', 'id': 'frame3', 'parent': 'desk33', 'room': 'postdoc_bay2'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'postdoc_bay1↔desk31', 'postdoc_bay1↔desk32', 'postdoc_bay2↔desk33', 'postdoc_bay2↔desk34', 'postdoc_bay3↔desk35', 'postdoc_bay3↔desk36', 'mobile_robotics_lab↔agent', 'desk35↔dorittos1', 'desk35↔marker', 'desk31↔fire_extinguisher1', 'desk32↔frame1', 'desk32↔frame2', 'desk32↔complimentary_tshirt7', 'desk32↔complimentary_tshirt8', 'desk33↔frame3']}
|
[goto(postdoc_bay1), access(desk31), access(desk32), goto(postdoc_bay2), access(desk33), access(desk34), goto(postdoc_bay3), access(desk35), access(desk36), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"kitchen↔fridge",
"kitchen↔cabinet",
"kitchen↔kitchen_bench",
"kitchen↔dishwasher",
"kitchen↔drawer",
"kitchen↔microwave",
"kitchen↔rubbish_bin",
"kitchen↔recycling_bin",
"cafeteria↔lunch_table",
"mobile_robotics_lab↔agent",
"lunch_table↔banana1",
"lunch_table↔fork",
"lunch_table↔knife",
"lunch_table↔plate",
"fridge↔tomato",
"fridge↔cheese",
"fridge↔banana2",
"fridge↔J64M",
"fridge↔chicken_kebab",
"fridge↔noodles",
"fridge↔salmon_bagel",
"fridge↔greek_salad",
"fridge↔carrot",
"kitchen_bench↔butter",
"kitchen_bench↔bread",
"kitchen_bench↔orange1",
"kitchen_bench↔kale_leaves2",
"dishwasher↔bowl",
"dishwasher↔plate2",
"dishwasher↔spoon",
"dishwasher↔chips",
"rubbish_bin↔banana_peel",
"rubbish_bin↔plastic_bottle",
"recycling_bin↔milk_carton",
"recycling_bin↔orange_peel",
"recycling_bin↔apple_core"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"open",
"close",
"access"
],
"attributes": "closed",
"id": "fridge",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "cabinet",
"room": "kitchen"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"access",
"turn_on",
"turn_off",
"open",
"close"
],
"attributes": "closed",
"id": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "drawer",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "microwave",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "recycling_bin",
"room": "kitchen"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: yellow, freshness: fresh, size: medium",
"id": "banana1",
"parent": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "fork",
"parent": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "knife",
"parent": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "plate",
"parent": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: red, freshness: fresh, size: medium",
"id": "tomato",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, dairy, color: yellow, freshness: fresh, size: medium",
"id": "cheese",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: yellow, freshness: fresh, size: medium",
"id": "banana2",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: green, freshness: fresh, size: medium",
"id": "J64M",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, meat, color: brown, freshness: fresh, size: medium",
"id": "chicken_kebab",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, grain, color: yellow, freshness: fresh, size: medium",
"id": "noodles",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, sandwich, color: pink, freshness: fresh, size: medium",
"id": "salmon_bagel",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, salad, color: green, freshness: fresh, size: medium",
"id": "greek_salad",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: orange, freshness: fresh, size: medium",
"id": "carrot",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, spread, color: yellow, freshness: fresh, size: small",
"id": "butter",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, bread, color: brown, freshness: fresh, size: medium",
"id": "bread",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: orange, freshness: fresh, size: medium",
"id": "orange1",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: green, freshness: fresh, size: small",
"id": "kale_leaves2",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "bowl",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "plate2",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "spoon",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "snack, food, color: yellow, freshness: fresh, size: small",
"id": "chips",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: yellow, size: small, condition: used",
"id": "banana_peel",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, plastic, color: clear, size: standard, condition: used",
"id": "plastic_bottle",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, carton, color: white, size: standard, condition: new",
"id": "milk_carton",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: orange, size: small, condition: used",
"id": "orange_peel",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: brown, size: small, condition: used",
"id": "apple_core",
"parent": "recycling_bin",
"room": "kitchen"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Find me a ripe banana.
|
task_Office_simple_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Find me a ripe banana. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'cafeteria', 'attributes': 'clean', 'affordances': ['access'], 'id': 'lunch_table'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['open', 'close', 'access'], 'id': 'fridge'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'cabinet'}, {'room': 'kitchen', 'attributes': 'clean', 'affordances': ['access'], 'id': 'kitchen_bench'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'turn_on', 'turn_off', 'open', 'close'], 'id': 'dishwasher'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'drawer'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'microwave'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'rubbish_bin'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'recycling_bin'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: yellow, freshness: fresh, size: medium', 'id': 'banana1', 'parent': 'lunch_table', 'room': 'cafeteria'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'fork', 'parent': 'lunch_table', 'room': 'cafeteria'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'knife', 'parent': 'lunch_table', 'room': 'cafeteria'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'plate', 'parent': 'lunch_table', 'room': 'cafeteria'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: red, freshness: fresh, size: medium', 'id': 'tomato', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, dairy, color: yellow, freshness: fresh, size: medium', 'id': 'cheese', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: yellow, freshness: fresh, size: medium', 'id': 'banana2', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: green, freshness: fresh, size: medium', 'id': 'J64M', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, meat, color: brown, freshness: fresh, size: medium', 'id': 'chicken_kebab', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, grain, color: yellow, freshness: fresh, size: medium', 'id': 'noodles', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, sandwich, color: pink, freshness: fresh, size: medium', 'id': 'salmon_bagel', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, salad, color: green, freshness: fresh, size: medium', 'id': 'greek_salad', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: orange, freshness: fresh, size: medium', 'id': 'carrot', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, spread, color: yellow, freshness: fresh, size: small', 'id': 'butter', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, bread, color: brown, freshness: fresh, size: medium', 'id': 'bread', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: orange, freshness: fresh, size: medium', 'id': 'orange1', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: green, freshness: fresh, size: small', 'id': 'kale_leaves2', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'bowl', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'plate2', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'spoon', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'snack, food, color: yellow, freshness: fresh, size: small', 'id': 'chips', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: yellow, size: small, condition: used', 'id': 'banana_peel', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, plastic, color: clear, size: standard, condition: used', 'id': 'plastic_bottle', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, carton, color: white, size: standard, condition: new', 'id': 'milk_carton', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: orange, size: small, condition: used', 'id': 'orange_peel', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: brown, size: small, condition: used', 'id': 'apple_core', 'parent': 'recycling_bin', 'room': 'kitchen'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'kitchen↔fridge', 'kitchen↔cabinet', 'kitchen↔kitchen_bench', 'kitchen↔dishwasher', 'kitchen↔drawer', 'kitchen↔microwave', 'kitchen↔rubbish_bin', 'kitchen↔recycling_bin', 'cafeteria↔lunch_table', 'mobile_robotics_lab↔agent', 'lunch_table↔banana1', 'lunch_table↔fork', 'lunch_table↔knife', 'lunch_table↔plate', 'fridge↔tomato', 'fridge↔cheese', 'fridge↔banana2', 'fridge↔J64M', 'fridge↔chicken_kebab', 'fridge↔noodles', 'fridge↔salmon_bagel', 'fridge↔greek_salad', 'fridge↔carrot', 'kitchen_bench↔butter', 'kitchen_bench↔bread', 'kitchen_bench↔orange1', 'kitchen_bench↔kale_leaves2', 'dishwasher↔bowl', 'dishwasher↔plate2', 'dishwasher↔spoon', 'dishwasher↔chips', 'rubbish_bin↔banana_peel', 'rubbish_bin↔plastic_bottle', 'recycling_bin↔milk_carton', 'recycling_bin↔orange_peel', 'recycling_bin↔apple_core']}
|
[goto(cafeteria), access(lunch_table), pickup(banana1), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"robot_lounge2↔toolbox",
"mobile_robotics_lab↔agent",
"toolbox↔screwdiver1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "toolbox",
"room": "robot_lounge2"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "tool, hand-held, color: black, size: standard, condition: new",
"id": "screwdiver1",
"parent": "toolbox",
"room": "robot_lounge2"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Find me something that has a screwdriver in it.
|
task_Office_simple_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Find me something that has a screwdriver in it. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'robot_lounge2', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'toolbox'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'tool, hand-held, color: black, size: standard, condition: new', 'id': 'screwdiver1', 'parent': 'toolbox', 'room': 'robot_lounge2'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'robot_lounge2↔toolbox', 'mobile_robotics_lab↔agent', 'toolbox↔screwdiver1']}
|
[goto(robot_lounge2), open(toolbox), access(toolbox), pickup(screwdiver1), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"michaels_office↔desk6",
"michaels_office↔cabinet6",
"mobile_robotics_lab↔agent",
"desk6↔scissors",
"cabinet6↔terminator_poster",
"cabinet6↔stapler3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk6",
"room": "michaels_office"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cabinet6",
"room": "michaels_office"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "tool, cutting, color: silver, size: standard, condition: used",
"id": "scissors",
"parent": "desk6",
"room": "michaels_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "decorative, poster, color: multi, size: large, condition: new",
"id": "terminator_poster",
"parent": "cabinet6",
"room": "michaels_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "stationery, office supply, color: black, size: standard, condition: used",
"id": "stapler3",
"parent": "cabinet6",
"room": "michaels_office"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
One of the offices has a poster of the Terminator. Which one is it?
|
task_Office_simple_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: One of the offices has a poster of the Terminator. Which one is it? and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'michaels_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk6'}, {'room': 'michaels_office', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cabinet6'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'tool, cutting, color: silver, size: standard, condition: used', 'id': 'scissors', 'parent': 'desk6', 'room': 'michaels_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'decorative, poster, color: multi, size: large, condition: new', 'id': 'terminator_poster', 'parent': 'cabinet6', 'room': 'michaels_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'stationery, office supply, color: black, size: standard, condition: used', 'id': 'stapler3', 'parent': 'cabinet6', 'room': 'michaels_office'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'michaels_office↔desk6', 'michaels_office↔cabinet6', 'mobile_robotics_lab↔agent', 'desk6↔scissors', 'cabinet6↔terminator_poster', 'cabinet6↔stapler3']}
|
[goto(michaels_office), open(cabinet6), access(cabinet6), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"printing_zone2↔printer2",
"mobile_robotics_lab↔agent",
"printer2↔document"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "printer2",
"room": "printing_zone2"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "document, paper, color: white, size: A4, condition: new",
"id": "document",
"parent": "printer2",
"room": "printing_zone2"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
I printed a document but I don't know which printer has it. Find the document.
|
task_Office_simple_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: I printed a document but I don't know which printer has it. Find the document. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'printing_zone2', 'attributes': 'clean', 'affordances': ['access'], 'id': 'printer2'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'document, paper, color: white, size: A4, condition: new', 'id': 'document', 'parent': 'printer2', 'room': 'printing_zone2'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'printing_zone2↔printer2', 'mobile_robotics_lab↔agent', 'printer2↔document']}
|
[goto(printing_zone2), access(printer2), pickup(document), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"meeting_room3↔table1",
"meeting_room3↔table6",
"mobile_robotics_lab↔agent",
"table1↔headphones"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "table1",
"room": "meeting_room3"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "table6",
"room": "meeting_room3"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "electronic, audio, color: black, size: standard, condition: new",
"id": "headphones",
"parent": "table1",
"room": "meeting_room3"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
I left my headphones in one of the meeting rooms. Locate them.
|
task_Office_simple_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: I left my headphones in one of the meeting rooms. Locate them. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'meeting_room3', 'attributes': 'clean', 'affordances': ['access'], 'id': 'table1'}, {'room': 'meeting_room3', 'attributes': 'clean', 'affordances': ['access'], 'id': 'table6'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'electronic, audio, color: black, size: standard, condition: new', 'id': 'headphones', 'parent': 'table1', 'room': 'meeting_room3'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'meeting_room3↔table1', 'meeting_room3↔table6', 'mobile_robotics_lab↔agent', 'table1↔headphones']}
|
[goto(meeting_room3), access(table1), pickup(headphones), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"phd_bay3↔desk19",
"phd_bay3↔desk20",
"phd_bay3↔desk21",
"phd_bay3↔desk22",
"phd_bay3↔desk23",
"phd_bay3↔desk24",
"mobile_robotics_lab↔agent",
"desk21↔drone1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"sit_at",
"work_at",
"access"
],
"attributes": "clean",
"id": "desk19",
"room": "phd_bay3"
},
{
"affordances": [
"sit_at",
"work_at",
"access"
],
"attributes": "clean",
"id": "desk20",
"room": "phd_bay3"
},
{
"affordances": [
"sit_at",
"work_at",
"access"
],
"attributes": "clean",
"id": "desk21",
"room": "phd_bay3"
},
{
"affordances": [
"sit_at",
"work_at",
"access"
],
"attributes": "clean",
"id": "desk22",
"room": "phd_bay3"
},
{
"affordances": [
"sit_at",
"work_at",
"access"
],
"attributes": "clean",
"id": "desk23",
"room": "phd_bay3"
},
{
"affordances": [
"sit_at",
"work_at",
"access"
],
"attributes": "clean",
"id": "desk24",
"room": "phd_bay3"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "drone, electronic, color: black, size: standard, condition: used",
"id": "drone1",
"parent": "desk21",
"room": "phd_bay3"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Find the PhD bay that has a drone in it.
|
task_Office_simple_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Find the PhD bay that has a drone in it. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'phd_bay3', 'attributes': 'clean', 'affordances': ['sit_at', 'work_at', 'access'], 'id': 'desk19'}, {'room': 'phd_bay3', 'attributes': 'clean', 'affordances': ['sit_at', 'work_at', 'access'], 'id': 'desk20'}, {'room': 'phd_bay3', 'attributes': 'clean', 'affordances': ['sit_at', 'work_at', 'access'], 'id': 'desk21'}, {'room': 'phd_bay3', 'attributes': 'clean', 'affordances': ['sit_at', 'work_at', 'access'], 'id': 'desk22'}, {'room': 'phd_bay3', 'attributes': 'clean', 'affordances': ['sit_at', 'work_at', 'access'], 'id': 'desk23'}, {'room': 'phd_bay3', 'attributes': 'clean', 'affordances': ['sit_at', 'work_at', 'access'], 'id': 'desk24'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'drone, electronic, color: black, size: standard, condition: used', 'id': 'drone1', 'parent': 'desk21', 'room': 'phd_bay3'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'phd_bay3↔desk19', 'phd_bay3↔desk20', 'phd_bay3↔desk21', 'phd_bay3↔desk22', 'phd_bay3↔desk23', 'phd_bay3↔desk24', 'mobile_robotics_lab↔agent', 'desk21↔drone1']}
|
[goto(phd_bay3), access(desk21), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"agriculture_lab↔produce_container",
"mobile_robotics_lab↔agent",
"produce_container↔kale_leaves1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "produce_container",
"room": "agriculture_lab"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: green, freshness: fresh, size: small",
"id": "kale_leaves1",
"parent": "produce_container",
"room": "agriculture_lab"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Find the kale that is not in the kitchen.
|
task_Office_simple_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Find the kale that is not in the kitchen. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'agriculture_lab', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'produce_container'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: green, freshness: fresh, size: small', 'id': 'kale_leaves1', 'parent': 'produce_container', 'room': 'agriculture_lab'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'agriculture_lab↔produce_container', 'mobile_robotics_lab↔agent', 'produce_container↔kale_leaves1']}
|
[goto(agriculture_lab), open(produce_container), access(produce_container), pickup(kale_leaves1), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"tobis_office↔desk38",
"filipes_office↔desk37",
"mobile_robotics_lab↔agent",
"desk38↔pepsi",
"desk37↔stapler2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk38",
"room": "tobis_office"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk37",
"room": "filipes_office"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, canned, color: blue, size: 355ml, freshness: expired",
"id": "pepsi",
"parent": "desk38",
"room": "tobis_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "stationery, office supply, color: blue, size: standard, condition: used",
"id": "stapler2",
"parent": "desk37",
"room": "filipes_office"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Find me an office that does not have a cabinet.
|
task_Office_simple_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Find me an office that does not have a cabinet. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'tobis_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk38'}, {'room': 'filipes_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk37'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'beverage, canned, color: blue, size: 355ml, freshness: expired', 'id': 'pepsi', 'parent': 'desk38', 'room': 'tobis_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'stationery, office supply, color: blue, size: standard, condition: used', 'id': 'stapler2', 'parent': 'desk37', 'room': 'filipes_office'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'tobis_office↔desk38', 'filipes_office↔desk37', 'mobile_robotics_lab↔agent', 'desk38↔pepsi', 'desk37↔stapler2']}
|
[goto(tobis_office), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"nikos_office↔desk1",
"nikos_office↔chair1",
"nikos_office↔cabinet1",
"mobile_robotics_lab↔agent",
"desk1↔coffee_mug"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk1",
"room": "nikos_office"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "chair1",
"room": "nikos_office"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cabinet1",
"room": "nikos_office"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "kitchenware, drinkware, color: white, size: standard, condition: new",
"id": "coffee_mug",
"parent": "desk1",
"room": "nikos_office"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Find me an office that contains a cabinet, a desk, and a chair.
|
task_Office_simple_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Find me an office that contains a cabinet, a desk, and a chair. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'nikos_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk1'}, {'room': 'nikos_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'chair1'}, {'room': 'nikos_office', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cabinet1'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'kitchenware, drinkware, color: white, size: standard, condition: new', 'id': 'coffee_mug', 'parent': 'desk1', 'room': 'nikos_office'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'nikos_office↔desk1', 'nikos_office↔chair1', 'nikos_office↔cabinet1', 'mobile_robotics_lab↔agent', 'desk1↔coffee_mug']}
|
[goto(nikos_office), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"manipulation_lab↔table3",
"mobile_robotics_lab↔agent",
"table3↔book1",
"table3↔gripper"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "table3",
"room": "manipulation_lab"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "book, reading, color: green, size: standard, condition: used",
"id": "book1",
"parent": "table3",
"room": "manipulation_lab"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "tool, robotic, color: gray, size: standard, condition: new",
"id": "gripper",
"parent": "table3",
"room": "manipulation_lab"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Find a book that was left next to a robotic gripper.
|
task_Office_simple_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Find a book that was left next to a robotic gripper. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'manipulation_lab', 'attributes': 'clean', 'affordances': ['access'], 'id': 'table3'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'book, reading, color: green, size: standard, condition: used', 'id': 'book1', 'parent': 'table3', 'room': 'manipulation_lab'}, {'affordances': ['pickup', 'release'], 'attributes': 'tool, robotic, color: gray, size: standard, condition: new', 'id': 'gripper', 'parent': 'table3', 'room': 'manipulation_lab'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'manipulation_lab↔table3', 'mobile_robotics_lab↔agent', 'table3↔book1', 'table3↔gripper']}
|
[goto(manipulation_lab), access(table3), pickup(book1), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"filipes_office↔desk37",
"mobile_robotics_lab↔agent",
"desk37↔stapler2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk37",
"room": "filipes_office"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "stationery, office supply, color: blue, size: standard, condition: used",
"id": "stapler2",
"parent": "desk37",
"room": "filipes_office"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Luis gave one of his neighbours a stapler. Find the stapler.
|
task_Office_simple_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Luis gave one of his neighbours a stapler. Find the stapler. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'filipes_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk37'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'stationery, office supply, color: blue, size: standard, condition: used', 'id': 'stapler2', 'parent': 'desk37', 'room': 'filipes_office'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'filipes_office↔desk37', 'mobile_robotics_lab↔agent', 'desk37↔stapler2']}
|
[goto(peters_office), open(cabinet2), access(cabinet2), pickup(stapler), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"meeting_room2↔chair2",
"mobile_robotics_lab↔agent"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "chair2",
"room": "meeting_room2"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": null,
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
There is a meeting room with a chair but no table. Locate it.
|
task_Office_simple_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: There is a meeting room with a chair but no table. Locate it. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'meeting_room2', 'attributes': 'clean', 'affordances': ['access'], 'id': 'chair2'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'meeting_room2↔chair2', 'mobile_robotics_lab↔agent']}
|
[goto(meeting_room2), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"kitchen↔fridge",
"kitchen↔cabinet",
"kitchen↔kitchen_bench",
"kitchen↔dishwasher",
"kitchen↔drawer",
"kitchen↔microwave",
"kitchen↔rubbish_bin",
"kitchen↔recycling_bin",
"mobile_robotics_lab↔agent",
"fridge↔tomato",
"fridge↔cheese",
"fridge↔banana2",
"fridge↔J64M",
"fridge↔chicken_kebab",
"fridge↔noodles",
"fridge↔salmon_bagel",
"fridge↔greek_salad",
"fridge↔carrot",
"kitchen_bench↔butter",
"kitchen_bench↔bread",
"kitchen_bench↔orange1",
"kitchen_bench↔kale_leaves2",
"dishwasher↔bowl",
"dishwasher↔plate2",
"dishwasher↔spoon",
"dishwasher↔chips",
"rubbish_bin↔banana_peel",
"rubbish_bin↔plastic_bottle",
"recycling_bin↔milk_carton",
"recycling_bin↔orange_peel",
"recycling_bin↔apple_core"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"open",
"close",
"access"
],
"attributes": "closed",
"id": "fridge",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "cabinet",
"room": "kitchen"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"access",
"turn_on",
"turn_off",
"open",
"close"
],
"attributes": "closed",
"id": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "drawer",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "microwave",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "recycling_bin",
"room": "kitchen"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: red, freshness: fresh, size: medium",
"id": "tomato",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, dairy, color: yellow, freshness: fresh, size: medium",
"id": "cheese",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: yellow, freshness: fresh, size: medium",
"id": "banana2",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: green, freshness: fresh, size: medium",
"id": "J64M",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, meat, color: brown, freshness: fresh, size: medium",
"id": "chicken_kebab",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, grain, color: yellow, freshness: fresh, size: medium",
"id": "noodles",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, sandwich, color: pink, freshness: fresh, size: medium",
"id": "salmon_bagel",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, salad, color: green, freshness: fresh, size: medium",
"id": "greek_salad",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: orange, freshness: fresh, size: medium",
"id": "carrot",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, spread, color: yellow, freshness: fresh, size: small",
"id": "butter",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, bread, color: brown, freshness: fresh, size: medium",
"id": "bread",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: orange, freshness: fresh, size: medium",
"id": "orange1",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: green, freshness: fresh, size: small",
"id": "kale_leaves2",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "bowl",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "plate2",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "spoon",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "snack, food, color: yellow, freshness: fresh, size: small",
"id": "chips",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: yellow, size: small, condition: used",
"id": "banana_peel",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, plastic, color: clear, size: standard, condition: used",
"id": "plastic_bottle",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, carton, color: white, size: standard, condition: new",
"id": "milk_carton",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: orange, size: small, condition: used",
"id": "orange_peel",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: brown, size: small, condition: used",
"id": "apple_core",
"parent": "recycling_bin",
"room": "kitchen"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Find object J64M. J64M should be kept at below 0 degrees Celsius.
|
task_Office_complex_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Find object J64M. J64M should be kept at below 0 degrees Celsius. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'kitchen', 'attributes': 'closed', 'affordances': ['open', 'close', 'access'], 'id': 'fridge'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'cabinet'}, {'room': 'kitchen', 'attributes': 'clean', 'affordances': ['access'], 'id': 'kitchen_bench'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'turn_on', 'turn_off', 'open', 'close'], 'id': 'dishwasher'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'drawer'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'microwave'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'rubbish_bin'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'recycling_bin'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: red, freshness: fresh, size: medium', 'id': 'tomato', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, dairy, color: yellow, freshness: fresh, size: medium', 'id': 'cheese', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: yellow, freshness: fresh, size: medium', 'id': 'banana2', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: green, freshness: fresh, size: medium', 'id': 'J64M', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, meat, color: brown, freshness: fresh, size: medium', 'id': 'chicken_kebab', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, grain, color: yellow, freshness: fresh, size: medium', 'id': 'noodles', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, sandwich, color: pink, freshness: fresh, size: medium', 'id': 'salmon_bagel', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, salad, color: green, freshness: fresh, size: medium', 'id': 'greek_salad', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: orange, freshness: fresh, size: medium', 'id': 'carrot', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, spread, color: yellow, freshness: fresh, size: small', 'id': 'butter', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, bread, color: brown, freshness: fresh, size: medium', 'id': 'bread', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: orange, freshness: fresh, size: medium', 'id': 'orange1', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: green, freshness: fresh, size: small', 'id': 'kale_leaves2', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'bowl', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'plate2', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'spoon', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'snack, food, color: yellow, freshness: fresh, size: small', 'id': 'chips', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: yellow, size: small, condition: used', 'id': 'banana_peel', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, plastic, color: clear, size: standard, condition: used', 'id': 'plastic_bottle', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, carton, color: white, size: standard, condition: new', 'id': 'milk_carton', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: orange, size: small, condition: used', 'id': 'orange_peel', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: brown, size: small, condition: used', 'id': 'apple_core', 'parent': 'recycling_bin', 'room': 'kitchen'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'kitchen↔fridge', 'kitchen↔cabinet', 'kitchen↔kitchen_bench', 'kitchen↔dishwasher', 'kitchen↔drawer', 'kitchen↔microwave', 'kitchen↔rubbish_bin', 'kitchen↔recycling_bin', 'mobile_robotics_lab↔agent', 'fridge↔tomato', 'fridge↔cheese', 'fridge↔banana2', 'fridge↔J64M', 'fridge↔chicken_kebab', 'fridge↔noodles', 'fridge↔salmon_bagel', 'fridge↔greek_salad', 'fridge↔carrot', 'kitchen_bench↔butter', 'kitchen_bench↔bread', 'kitchen_bench↔orange1', 'kitchen_bench↔kale_leaves2', 'dishwasher↔bowl', 'dishwasher↔plate2', 'dishwasher↔spoon', 'dishwasher↔chips', 'rubbish_bin↔banana_peel', 'rubbish_bin↔plastic_bottle', 'recycling_bin↔milk_carton', 'recycling_bin↔orange_peel', 'recycling_bin↔apple_core']}
|
[goto(kitchen), open(fridge), access(fridge), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"kitchen↔fridge",
"kitchen↔cabinet",
"kitchen↔kitchen_bench",
"kitchen↔dishwasher",
"kitchen↔drawer",
"kitchen↔microwave",
"kitchen↔rubbish_bin",
"kitchen↔recycling_bin",
"mobile_robotics_lab↔agent",
"fridge↔tomato",
"fridge↔cheese",
"fridge↔banana2",
"fridge↔J64M",
"fridge↔chicken_kebab",
"fridge↔noodles",
"fridge↔salmon_bagel",
"fridge↔greek_salad",
"fridge↔carrot",
"kitchen_bench↔butter",
"kitchen_bench↔bread",
"kitchen_bench↔orange1",
"kitchen_bench↔kale_leaves2",
"dishwasher↔bowl",
"dishwasher↔plate2",
"dishwasher↔spoon",
"dishwasher↔chips",
"rubbish_bin↔banana_peel",
"rubbish_bin↔plastic_bottle",
"recycling_bin↔milk_carton",
"recycling_bin↔orange_peel",
"recycling_bin↔apple_core"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"open",
"close",
"access"
],
"attributes": "closed",
"id": "fridge",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "cabinet",
"room": "kitchen"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"access",
"turn_on",
"turn_off",
"open",
"close"
],
"attributes": "closed",
"id": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "drawer",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "microwave",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "recycling_bin",
"room": "kitchen"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: red, freshness: fresh, size: medium",
"id": "tomato",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, dairy, color: yellow, freshness: fresh, size: medium",
"id": "cheese",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: yellow, freshness: fresh, size: medium",
"id": "banana2",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: green, freshness: fresh, size: medium",
"id": "J64M",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, meat, color: brown, freshness: fresh, size: medium",
"id": "chicken_kebab",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, grain, color: yellow, freshness: fresh, size: medium",
"id": "noodles",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, sandwich, color: pink, freshness: fresh, size: medium",
"id": "salmon_bagel",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, salad, color: green, freshness: fresh, size: medium",
"id": "greek_salad",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: orange, freshness: fresh, size: medium",
"id": "carrot",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, spread, color: yellow, freshness: fresh, size: small",
"id": "butter",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, bread, color: brown, freshness: fresh, size: medium",
"id": "bread",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: orange, freshness: fresh, size: medium",
"id": "orange1",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: green, freshness: fresh, size: small",
"id": "kale_leaves2",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "bowl",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "plate2",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "spoon",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "snack, food, color: yellow, freshness: fresh, size: small",
"id": "chips",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: yellow, size: small, condition: used",
"id": "banana_peel",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, plastic, color: clear, size: standard, condition: used",
"id": "plastic_bottle",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, carton, color: white, size: standard, condition: new",
"id": "milk_carton",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: orange, size: small, condition: used",
"id": "orange_peel",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: brown, size: small, condition: used",
"id": "apple_core",
"parent": "recycling_bin",
"room": "kitchen"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Find me something non vegetarian.
|
task_Office_complex_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Find me something non vegetarian. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'kitchen', 'attributes': 'closed', 'affordances': ['open', 'close', 'access'], 'id': 'fridge'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'cabinet'}, {'room': 'kitchen', 'attributes': 'clean', 'affordances': ['access'], 'id': 'kitchen_bench'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'turn_on', 'turn_off', 'open', 'close'], 'id': 'dishwasher'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'drawer'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'microwave'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'rubbish_bin'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'recycling_bin'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: red, freshness: fresh, size: medium', 'id': 'tomato', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, dairy, color: yellow, freshness: fresh, size: medium', 'id': 'cheese', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: yellow, freshness: fresh, size: medium', 'id': 'banana2', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: green, freshness: fresh, size: medium', 'id': 'J64M', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, meat, color: brown, freshness: fresh, size: medium', 'id': 'chicken_kebab', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, grain, color: yellow, freshness: fresh, size: medium', 'id': 'noodles', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, sandwich, color: pink, freshness: fresh, size: medium', 'id': 'salmon_bagel', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, salad, color: green, freshness: fresh, size: medium', 'id': 'greek_salad', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: orange, freshness: fresh, size: medium', 'id': 'carrot', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, spread, color: yellow, freshness: fresh, size: small', 'id': 'butter', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, bread, color: brown, freshness: fresh, size: medium', 'id': 'bread', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: orange, freshness: fresh, size: medium', 'id': 'orange1', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: green, freshness: fresh, size: small', 'id': 'kale_leaves2', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'bowl', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'plate2', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'spoon', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'snack, food, color: yellow, freshness: fresh, size: small', 'id': 'chips', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: yellow, size: small, condition: used', 'id': 'banana_peel', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, plastic, color: clear, size: standard, condition: used', 'id': 'plastic_bottle', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, carton, color: white, size: standard, condition: new', 'id': 'milk_carton', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: orange, size: small, condition: used', 'id': 'orange_peel', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: brown, size: small, condition: used', 'id': 'apple_core', 'parent': 'recycling_bin', 'room': 'kitchen'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'kitchen↔fridge', 'kitchen↔cabinet', 'kitchen↔kitchen_bench', 'kitchen↔dishwasher', 'kitchen↔drawer', 'kitchen↔microwave', 'kitchen↔rubbish_bin', 'kitchen↔recycling_bin', 'mobile_robotics_lab↔agent', 'fridge↔tomato', 'fridge↔cheese', 'fridge↔banana2', 'fridge↔J64M', 'fridge↔chicken_kebab', 'fridge↔noodles', 'fridge↔salmon_bagel', 'fridge↔greek_salad', 'fridge↔carrot', 'kitchen_bench↔butter', 'kitchen_bench↔bread', 'kitchen_bench↔orange1', 'kitchen_bench↔kale_leaves2', 'dishwasher↔bowl', 'dishwasher↔plate2', 'dishwasher↔spoon', 'dishwasher↔chips', 'rubbish_bin↔banana_peel', 'rubbish_bin↔plastic_bottle', 'recycling_bin↔milk_carton', 'recycling_bin↔orange_peel', 'recycling_bin↔apple_core']}
|
[goto(kitchen), open(fridge), access(fridge), pickup(chicken_kebab), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"robot_lounge2↔toolbox",
"michaels_office↔desk6",
"michaels_office↔cabinet6",
"cafeteria↔lunch_table",
"mobile_robotics_lab↔agent",
"desk6↔scissors",
"cabinet6↔terminator_poster",
"cabinet6↔stapler3",
"lunch_table↔banana1",
"lunch_table↔fork",
"lunch_table↔knife",
"lunch_table↔plate",
"toolbox↔screwdiver1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk6",
"room": "michaels_office"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cabinet6",
"room": "michaels_office"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "toolbox",
"room": "robot_lounge2"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "tool, cutting, color: silver, size: standard, condition: used",
"id": "scissors",
"parent": "desk6",
"room": "michaels_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "decorative, poster, color: multi, size: large, condition: new",
"id": "terminator_poster",
"parent": "cabinet6",
"room": "michaels_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "stationery, office supply, color: black, size: standard, condition: used",
"id": "stapler3",
"parent": "cabinet6",
"room": "michaels_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: yellow, freshness: fresh, size: medium",
"id": "banana1",
"parent": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "fork",
"parent": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "knife",
"parent": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "plate",
"parent": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "tool, hand-held, color: black, size: standard, condition: new",
"id": "screwdiver1",
"parent": "toolbox",
"room": "robot_lounge2"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Locate something sharp.
|
task_Office_complex_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Locate something sharp. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'michaels_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk6'}, {'room': 'michaels_office', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cabinet6'}, {'room': 'cafeteria', 'attributes': 'clean', 'affordances': ['access'], 'id': 'lunch_table'}, {'room': 'robot_lounge2', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'toolbox'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'tool, cutting, color: silver, size: standard, condition: used', 'id': 'scissors', 'parent': 'desk6', 'room': 'michaels_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'decorative, poster, color: multi, size: large, condition: new', 'id': 'terminator_poster', 'parent': 'cabinet6', 'room': 'michaels_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'stationery, office supply, color: black, size: standard, condition: used', 'id': 'stapler3', 'parent': 'cabinet6', 'room': 'michaels_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: yellow, freshness: fresh, size: medium', 'id': 'banana1', 'parent': 'lunch_table', 'room': 'cafeteria'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'fork', 'parent': 'lunch_table', 'room': 'cafeteria'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'knife', 'parent': 'lunch_table', 'room': 'cafeteria'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'plate', 'parent': 'lunch_table', 'room': 'cafeteria'}, {'affordances': ['pickup', 'release'], 'attributes': 'tool, hand-held, color: black, size: standard, condition: new', 'id': 'screwdiver1', 'parent': 'toolbox', 'room': 'robot_lounge2'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'robot_lounge2↔toolbox', 'michaels_office↔desk6', 'michaels_office↔cabinet6', 'cafeteria↔lunch_table', 'mobile_robotics_lab↔agent', 'desk6↔scissors', 'cabinet6↔terminator_poster', 'cabinet6↔stapler3', 'lunch_table↔banana1', 'lunch_table↔fork', 'lunch_table↔knife', 'lunch_table↔plate', 'toolbox↔screwdiver1']}
|
[goto(cafeteria), access(lunch_table), pickup(knife), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"meeting_room4↔table2",
"mobile_robotics_lab↔agent",
"table2↔janga",
"table2↔risk",
"table2↔monopoly"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "table2",
"room": "meeting_room4"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "game, entertainment, color: multi, size: standard, condition: new",
"id": "janga",
"parent": "table2",
"room": "meeting_room4"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "game, entertainment, color: multi, size: standard, condition: used",
"id": "risk",
"parent": "table2",
"room": "meeting_room4"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "game, entertainment, color: multi, size: standard, condition: new",
"id": "monopoly",
"parent": "table2",
"room": "meeting_room4"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Find the room where people are playing board games.
|
task_Office_complex_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Find the room where people are playing board games. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'meeting_room4', 'attributes': 'clean', 'affordances': ['access'], 'id': 'table2'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'game, entertainment, color: multi, size: standard, condition: new', 'id': 'janga', 'parent': 'table2', 'room': 'meeting_room4'}, {'affordances': ['pickup', 'release'], 'attributes': 'game, entertainment, color: multi, size: standard, condition: used', 'id': 'risk', 'parent': 'table2', 'room': 'meeting_room4'}, {'affordances': ['pickup', 'release'], 'attributes': 'game, entertainment, color: multi, size: standard, condition: new', 'id': 'monopoly', 'parent': 'table2', 'room': 'meeting_room4'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'meeting_room4↔table2', 'mobile_robotics_lab↔agent', 'table2↔janga', 'table2↔risk', 'table2↔monopoly']}
|
[goto(meeting_room4), access(table2), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"michaels_office↔desk6",
"michaels_office↔cabinet6",
"mobile_robotics_lab↔agent",
"desk6↔scissors",
"cabinet6↔terminator_poster",
"cabinet6↔stapler3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk6",
"room": "michaels_office"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cabinet6",
"room": "michaels_office"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "tool, cutting, color: silver, size: standard, condition: used",
"id": "scissors",
"parent": "desk6",
"room": "michaels_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "decorative, poster, color: multi, size: large, condition: new",
"id": "terminator_poster",
"parent": "cabinet6",
"room": "michaels_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "stationery, office supply, color: black, size: standard, condition: used",
"id": "stapler3",
"parent": "cabinet6",
"room": "michaels_office"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Find an office of someone who is clearly a fan of Arnold Schwarzenegger.
|
task_Office_complex_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Find an office of someone who is clearly a fan of Arnold Schwarzenegger. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'michaels_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk6'}, {'room': 'michaels_office', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cabinet6'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'tool, cutting, color: silver, size: standard, condition: used', 'id': 'scissors', 'parent': 'desk6', 'room': 'michaels_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'decorative, poster, color: multi, size: large, condition: new', 'id': 'terminator_poster', 'parent': 'cabinet6', 'room': 'michaels_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'stationery, office supply, color: black, size: standard, condition: used', 'id': 'stapler3', 'parent': 'cabinet6', 'room': 'michaels_office'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'michaels_office↔desk6', 'michaels_office↔cabinet6', 'mobile_robotics_lab↔agent', 'desk6↔scissors', 'cabinet6↔terminator_poster', 'cabinet6↔stapler3']}
|
[goto(michaels_office), access(cabinet6), open(cabinet6), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"postdoc_bay1↔desk31",
"postdoc_bay1↔desk32",
"postdoc_bay2↔desk33",
"postdoc_bay2↔desk34",
"postdoc_bay3↔desk35",
"postdoc_bay3↔desk36",
"mobile_robotics_lab↔agent",
"desk33↔frame3",
"desk35↔dorittos1",
"desk35↔marker",
"desk31↔fire_extinguisher1",
"desk32↔frame1",
"desk32↔frame2",
"desk32↔complimentary_tshirt7",
"desk32↔complimentary_tshirt8"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"sit_at",
"work_at",
"access"
],
"attributes": "clean",
"id": "desk33",
"room": "postdoc_bay2"
},
{
"affordances": [
"sit_at",
"work_at",
"access"
],
"attributes": "clean",
"id": "desk34",
"room": "postdoc_bay2"
},
{
"affordances": [
"sit_at",
"work_at",
"access"
],
"attributes": "clean",
"id": "desk35",
"room": "postdoc_bay3"
},
{
"affordances": [
"sit_at",
"work_at",
"access"
],
"attributes": "clean",
"id": "desk36",
"room": "postdoc_bay3"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk31",
"room": "postdoc_bay1"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk32",
"room": "postdoc_bay1"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "decorative, framed, color: brown, size: large, condition: new",
"id": "frame3",
"parent": "desk33",
"room": "postdoc_bay2"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "snack, food, color: yellow, freshness: fresh, size: small",
"id": "dorittos1",
"parent": "desk35",
"room": "postdoc_bay3"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "writing tool, marker, color: black, size: standard, condition: new",
"id": "marker",
"parent": "desk35",
"room": "postdoc_bay3"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "safety equipment, fire, color: red, size: standard, condition: new",
"id": "fire_extinguisher1",
"parent": "desk31",
"room": "postdoc_bay1"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "decorative, framed, color: gold, size: large, condition: new",
"id": "frame1",
"parent": "desk32",
"room": "postdoc_bay1"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "decorative, framed, color: silver, size: large, condition: used",
"id": "frame2",
"parent": "desk32",
"room": "postdoc_bay1"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "clothing, promotional, color: blue, size: M, condition: new",
"id": "complimentary_tshirt7",
"parent": "desk32",
"room": "postdoc_bay1"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "clothing, promotional, color: red, size: L, condition: used",
"id": "complimentary_tshirt8",
"parent": "desk32",
"room": "postdoc_bay1"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
There is a postdoc that has a pet Husky. Find the desk that's most likely theirs.
|
task_Office_complex_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: There is a postdoc that has a pet Husky. Find the desk that's most likely theirs. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'postdoc_bay2', 'attributes': 'clean', 'affordances': ['sit_at', 'work_at', 'access'], 'id': 'desk33'}, {'room': 'postdoc_bay2', 'attributes': 'clean', 'affordances': ['sit_at', 'work_at', 'access'], 'id': 'desk34'}, {'room': 'postdoc_bay3', 'attributes': 'clean', 'affordances': ['sit_at', 'work_at', 'access'], 'id': 'desk35'}, {'room': 'postdoc_bay3', 'attributes': 'clean', 'affordances': ['sit_at', 'work_at', 'access'], 'id': 'desk36'}, {'room': 'postdoc_bay1', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk31'}, {'room': 'postdoc_bay1', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk32'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'decorative, framed, color: brown, size: large, condition: new', 'id': 'frame3', 'parent': 'desk33', 'room': 'postdoc_bay2'}, {'affordances': ['pickup', 'release'], 'attributes': 'snack, food, color: yellow, freshness: fresh, size: small', 'id': 'dorittos1', 'parent': 'desk35', 'room': 'postdoc_bay3'}, {'affordances': ['pickup', 'release'], 'attributes': 'writing tool, marker, color: black, size: standard, condition: new', 'id': 'marker', 'parent': 'desk35', 'room': 'postdoc_bay3'}, {'affordances': ['pickup', 'release'], 'attributes': 'safety equipment, fire, color: red, size: standard, condition: new', 'id': 'fire_extinguisher1', 'parent': 'desk31', 'room': 'postdoc_bay1'}, {'affordances': ['pickup', 'release'], 'attributes': 'decorative, framed, color: gold, size: large, condition: new', 'id': 'frame1', 'parent': 'desk32', 'room': 'postdoc_bay1'}, {'affordances': ['pickup', 'release'], 'attributes': 'decorative, framed, color: silver, size: large, condition: used', 'id': 'frame2', 'parent': 'desk32', 'room': 'postdoc_bay1'}, {'affordances': ['pickup', 'release'], 'attributes': 'clothing, promotional, color: blue, size: M, condition: new', 'id': 'complimentary_tshirt7', 'parent': 'desk32', 'room': 'postdoc_bay1'}, {'affordances': ['pickup', 'release'], 'attributes': 'clothing, promotional, color: red, size: L, condition: used', 'id': 'complimentary_tshirt8', 'parent': 'desk32', 'room': 'postdoc_bay1'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'postdoc_bay1↔desk31', 'postdoc_bay1↔desk32', 'postdoc_bay2↔desk33', 'postdoc_bay2↔desk34', 'postdoc_bay3↔desk35', 'postdoc_bay3↔desk36', 'mobile_robotics_lab↔agent', 'desk33↔frame3', 'desk35↔dorittos1', 'desk35↔marker', 'desk31↔fire_extinguisher1', 'desk32↔frame1', 'desk32↔frame2', 'desk32↔complimentary_tshirt7', 'desk32↔complimentary_tshirt8']}
|
[goto(postdoc_bay3), access(desk35), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"phd_bay2↔desk13",
"phd_bay2↔desk14",
"phd_bay2↔desk15",
"phd_bay2↔desk16",
"phd_bay2↔desk17",
"phd_bay2↔desk18",
"mobile_robotics_lab↔agent",
"desk15↔complimentary_tshirt3",
"desk18↔complimentary_tshirt4",
"desk18↔complimentary_tshirt6"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk13",
"room": "phd_bay2"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk14",
"room": "phd_bay2"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk15",
"room": "phd_bay2"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk16",
"room": "phd_bay2"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk17",
"room": "phd_bay2"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk18",
"room": "phd_bay2"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "document, paper, color: white, size: A4, condition: new",
"id": "complimentary_tshirt3",
"parent": "desk15",
"room": "phd_bay2"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "document, paper, color: white, size: A4, condition: used",
"id": "complimentary_tshirt4",
"parent": "desk18",
"room": "phd_bay2"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "document, paper, color: white, size: A4, condition: new",
"id": "complimentary_tshirt6",
"parent": "desk18",
"room": "phd_bay2"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
One of the PhD students was given more than one complimentary T-shirts. Find his desk.
|
task_Office_complex_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: One of the PhD students was given more than one complimentary T-shirts. Find his desk. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'phd_bay2', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk13'}, {'room': 'phd_bay2', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk14'}, {'room': 'phd_bay2', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk15'}, {'room': 'phd_bay2', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk16'}, {'room': 'phd_bay2', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk17'}, {'room': 'phd_bay2', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk18'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'document, paper, color: white, size: A4, condition: new', 'id': 'complimentary_tshirt3', 'parent': 'desk15', 'room': 'phd_bay2'}, {'affordances': ['pickup', 'release'], 'attributes': 'document, paper, color: white, size: A4, condition: used', 'id': 'complimentary_tshirt4', 'parent': 'desk18', 'room': 'phd_bay2'}, {'affordances': ['pickup', 'release'], 'attributes': 'document, paper, color: white, size: A4, condition: new', 'id': 'complimentary_tshirt6', 'parent': 'desk18', 'room': 'phd_bay2'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'phd_bay2↔desk13', 'phd_bay2↔desk14', 'phd_bay2↔desk15', 'phd_bay2↔desk16', 'phd_bay2↔desk17', 'phd_bay2↔desk18', 'mobile_robotics_lab↔agent', 'desk15↔complimentary_tshirt3', 'desk18↔complimentary_tshirt4', 'desk18↔complimentary_tshirt6']}
|
[goto(phd_bay2), access(desk18), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"mobile_robotics_lab↔agent"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": null,
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": null,
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Find me the office where a paper attachment device is inside an asset that is open.
|
task_Office_complex_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Find me the office where a paper attachment device is inside an asset that is open. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'mobile_robotics_lab↔agent']}
|
[goto(jasons_office), access(cabinet5), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"wills_office↔desk4",
"wills_office↔cabinet4",
"mobile_robotics_lab↔agent",
"cabinet4↔drone2",
"cabinet4↔apple1",
"cabinet4↔undergrad_thesis1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk4",
"room": "wills_office"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cabinet4",
"room": "wills_office"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "drone, electronic, color: white, size: standard, condition: new",
"id": "drone2",
"parent": "cabinet4",
"room": "wills_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: green, freshness: fresh, size: medium",
"id": "apple1",
"parent": "cabinet4",
"room": "wills_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "document, academic, color: white, size: A4, condition: new",
"id": "undergrad_thesis1",
"parent": "cabinet4",
"room": "wills_office"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
There is an office which has a cabinet containing exactly 3 items in it. Locate the office.
|
task_Office_complex_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: There is an office which has a cabinet containing exactly 3 items in it. Locate the office. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'wills_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk4'}, {'room': 'wills_office', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cabinet4'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'drone, electronic, color: white, size: standard, condition: new', 'id': 'drone2', 'parent': 'cabinet4', 'room': 'wills_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: green, freshness: fresh, size: medium', 'id': 'apple1', 'parent': 'cabinet4', 'room': 'wills_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'document, academic, color: white, size: A4, condition: new', 'id': 'undergrad_thesis1', 'parent': 'cabinet4', 'room': 'wills_office'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'wills_office↔desk4', 'wills_office↔cabinet4', 'mobile_robotics_lab↔agent', 'cabinet4↔drone2', 'cabinet4↔apple1', 'cabinet4↔undergrad_thesis1']}
|
[goto(wills_office), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"peters_office↔cabinet2",
"peters_office↔desk2",
"wills_office↔desk4",
"wills_office↔cabinet4",
"mobile_robotics_lab↔agent",
"cabinet4↔drone2",
"cabinet4↔apple1",
"cabinet4↔undergrad_thesis1",
"cabinet2↔apple3",
"cabinet2↔stapler",
"desk2↔phone"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk4",
"room": "wills_office"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cabinet4",
"room": "wills_office"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cabinet2",
"room": "peters_office"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk2",
"room": "peters_office"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "drone, electronic, color: white, size: standard, condition: new",
"id": "drone2",
"parent": "cabinet4",
"room": "wills_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: green, freshness: fresh, size: medium",
"id": "apple1",
"parent": "cabinet4",
"room": "wills_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "document, academic, color: white, size: A4, condition: new",
"id": "undergrad_thesis1",
"parent": "cabinet4",
"room": "wills_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: red, freshness: fresh, size: medium",
"id": "apple3",
"parent": "cabinet2",
"room": "peters_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "stationery, office supply, color: silver, size: standard, condition: used",
"id": "stapler",
"parent": "cabinet2",
"room": "peters_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "electronic, portable, color: black, size: medium, condition: new",
"id": "phone",
"parent": "desk2",
"room": "peters_office"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
There is an office which has a cabinet containing a rotten apple. The cabinet name contains an even number. Locate the office.
|
task_Office_complex_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: There is an office which has a cabinet containing a rotten apple. The cabinet name contains an even number. Locate the office. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'wills_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk4'}, {'room': 'wills_office', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cabinet4'}, {'room': 'peters_office', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cabinet2'}, {'room': 'peters_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk2'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'drone, electronic, color: white, size: standard, condition: new', 'id': 'drone2', 'parent': 'cabinet4', 'room': 'wills_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: green, freshness: fresh, size: medium', 'id': 'apple1', 'parent': 'cabinet4', 'room': 'wills_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'document, academic, color: white, size: A4, condition: new', 'id': 'undergrad_thesis1', 'parent': 'cabinet4', 'room': 'wills_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: red, freshness: fresh, size: medium', 'id': 'apple3', 'parent': 'cabinet2', 'room': 'peters_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'stationery, office supply, color: silver, size: standard, condition: used', 'id': 'stapler', 'parent': 'cabinet2', 'room': 'peters_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'electronic, portable, color: black, size: medium, condition: new', 'id': 'phone', 'parent': 'desk2', 'room': 'peters_office'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'peters_office↔cabinet2', 'peters_office↔desk2', 'wills_office↔desk4', 'wills_office↔cabinet4', 'mobile_robotics_lab↔agent', 'cabinet4↔drone2', 'cabinet4↔apple1', 'cabinet4↔undergrad_thesis1', 'cabinet2↔apple3', 'cabinet2↔stapler', 'desk2↔phone']}
|
[goto(peters_office), open(cabinet2), access(cabinet2), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"kitchen↔fridge",
"kitchen↔cabinet",
"kitchen↔kitchen_bench",
"kitchen↔dishwasher",
"kitchen↔drawer",
"kitchen↔microwave",
"kitchen↔rubbish_bin",
"kitchen↔recycling_bin",
"mobile_robotics_lab↔agent",
"fridge↔tomato",
"fridge↔cheese",
"fridge↔banana2",
"fridge↔J64M",
"fridge↔chicken_kebab",
"fridge↔noodles",
"fridge↔salmon_bagel",
"fridge↔greek_salad",
"fridge↔carrot",
"kitchen_bench↔butter",
"kitchen_bench↔bread",
"kitchen_bench↔orange1",
"kitchen_bench↔kale_leaves2",
"dishwasher↔bowl",
"dishwasher↔plate2",
"dishwasher↔spoon",
"dishwasher↔chips",
"rubbish_bin↔banana_peel",
"rubbish_bin↔plastic_bottle",
"recycling_bin↔milk_carton",
"recycling_bin↔orange_peel",
"recycling_bin↔apple_core"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"open",
"close",
"access"
],
"attributes": "closed",
"id": "fridge",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "cabinet",
"room": "kitchen"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"access",
"turn_on",
"turn_off",
"open",
"close"
],
"attributes": "closed",
"id": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "drawer",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "microwave",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "recycling_bin",
"room": "kitchen"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: red, freshness: fresh, size: medium",
"id": "tomato",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, dairy, color: yellow, freshness: fresh, size: medium",
"id": "cheese",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: yellow, freshness: fresh, size: medium",
"id": "banana2",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: green, freshness: fresh, size: medium",
"id": "J64M",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, meat, color: brown, freshness: fresh, size: medium",
"id": "chicken_kebab",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, grain, color: yellow, freshness: fresh, size: medium",
"id": "noodles",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, sandwich, color: pink, freshness: fresh, size: medium",
"id": "salmon_bagel",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, salad, color: green, freshness: fresh, size: medium",
"id": "greek_salad",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: orange, freshness: fresh, size: medium",
"id": "carrot",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, spread, color: yellow, freshness: fresh, size: small",
"id": "butter",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, bread, color: brown, freshness: fresh, size: medium",
"id": "bread",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: orange, freshness: fresh, size: medium",
"id": "orange1",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: green, freshness: fresh, size: small",
"id": "kale_leaves2",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "bowl",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "plate2",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "spoon",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "snack, food, color: yellow, freshness: fresh, size: small",
"id": "chips",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: yellow, size: small, condition: used",
"id": "banana_peel",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, plastic, color: clear, size: standard, condition: used",
"id": "plastic_bottle",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, carton, color: white, size: standard, condition: new",
"id": "milk_carton",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: orange, size: small, condition: used",
"id": "orange_peel",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: brown, size: small, condition: used",
"id": "apple_core",
"parent": "recycling_bin",
"room": "kitchen"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Look for a carrot. The carrot is likely to be in a meeting room but I'm not sure.
|
task_Office_complex_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Look for a carrot. The carrot is likely to be in a meeting room but I'm not sure. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'kitchen', 'attributes': 'closed', 'affordances': ['open', 'close', 'access'], 'id': 'fridge'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'cabinet'}, {'room': 'kitchen', 'attributes': 'clean', 'affordances': ['access'], 'id': 'kitchen_bench'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'turn_on', 'turn_off', 'open', 'close'], 'id': 'dishwasher'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'drawer'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'microwave'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'rubbish_bin'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'recycling_bin'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: red, freshness: fresh, size: medium', 'id': 'tomato', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, dairy, color: yellow, freshness: fresh, size: medium', 'id': 'cheese', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: yellow, freshness: fresh, size: medium', 'id': 'banana2', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: green, freshness: fresh, size: medium', 'id': 'J64M', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, meat, color: brown, freshness: fresh, size: medium', 'id': 'chicken_kebab', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, grain, color: yellow, freshness: fresh, size: medium', 'id': 'noodles', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, sandwich, color: pink, freshness: fresh, size: medium', 'id': 'salmon_bagel', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, salad, color: green, freshness: fresh, size: medium', 'id': 'greek_salad', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: orange, freshness: fresh, size: medium', 'id': 'carrot', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, spread, color: yellow, freshness: fresh, size: small', 'id': 'butter', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, bread, color: brown, freshness: fresh, size: medium', 'id': 'bread', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: orange, freshness: fresh, size: medium', 'id': 'orange1', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: green, freshness: fresh, size: small', 'id': 'kale_leaves2', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'bowl', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'plate2', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'spoon', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'snack, food, color: yellow, freshness: fresh, size: small', 'id': 'chips', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: yellow, size: small, condition: used', 'id': 'banana_peel', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, plastic, color: clear, size: standard, condition: used', 'id': 'plastic_bottle', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, carton, color: white, size: standard, condition: new', 'id': 'milk_carton', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: orange, size: small, condition: used', 'id': 'orange_peel', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: brown, size: small, condition: used', 'id': 'apple_core', 'parent': 'recycling_bin', 'room': 'kitchen'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'kitchen↔fridge', 'kitchen↔cabinet', 'kitchen↔kitchen_bench', 'kitchen↔dishwasher', 'kitchen↔drawer', 'kitchen↔microwave', 'kitchen↔rubbish_bin', 'kitchen↔recycling_bin', 'mobile_robotics_lab↔agent', 'fridge↔tomato', 'fridge↔cheese', 'fridge↔banana2', 'fridge↔J64M', 'fridge↔chicken_kebab', 'fridge↔noodles', 'fridge↔salmon_bagel', 'fridge↔greek_salad', 'fridge↔carrot', 'kitchen_bench↔butter', 'kitchen_bench↔bread', 'kitchen_bench↔orange1', 'kitchen_bench↔kale_leaves2', 'dishwasher↔bowl', 'dishwasher↔plate2', 'dishwasher↔spoon', 'dishwasher↔chips', 'rubbish_bin↔banana_peel', 'rubbish_bin↔plastic_bottle', 'recycling_bin↔milk_carton', 'recycling_bin↔orange_peel', 'recycling_bin↔apple_core']}
|
[goto(kitchen), access(fridge), open(fridge), pickup(carrot), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"mobile_robotics_lab↔agent"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": null,
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": null,
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Find me a meeting room with a RealSense camera.
|
task_Office_complex_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Find me a meeting room with a RealSense camera. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'mobile_robotics_lab↔agent']}
|
[goto(meeting_room1), access(table5), goto(meeting_room2), access(chair2), goto(meeting_room3), access(table1), access(table6), goto(meeting_room4), access(table2), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"postdoc_bay1↔desk31",
"postdoc_bay1↔desk32",
"admin↔shelf",
"manipulation_lab↔table3",
"mobile_robotics_lab↔agent",
"table3↔book1",
"table3↔gripper",
"shelf↔fire_extinguisher2",
"desk31↔fire_extinguisher1",
"desk32↔frame1",
"desk32↔frame2",
"desk32↔complimentary_tshirt7",
"desk32↔complimentary_tshirt8"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "table3",
"room": "manipulation_lab"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "shelf",
"room": "admin"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk31",
"room": "postdoc_bay1"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk32",
"room": "postdoc_bay1"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "book, reading, color: green, size: standard, condition: used",
"id": "book1",
"parent": "table3",
"room": "manipulation_lab"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "tool, robotic, color: gray, size: standard, condition: new",
"id": "gripper",
"parent": "table3",
"room": "manipulation_lab"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "safety equipment, fire, color: red, size: standard, condition: new",
"id": "fire_extinguisher2",
"parent": "shelf",
"room": "admin"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "safety equipment, fire, color: red, size: standard, condition: new",
"id": "fire_extinguisher1",
"parent": "desk31",
"room": "postdoc_bay1"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "decorative, framed, color: gold, size: large, condition: new",
"id": "frame1",
"parent": "desk32",
"room": "postdoc_bay1"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "decorative, framed, color: silver, size: large, condition: used",
"id": "frame2",
"parent": "desk32",
"room": "postdoc_bay1"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "clothing, promotional, color: blue, size: M, condition: new",
"id": "complimentary_tshirt7",
"parent": "desk32",
"room": "postdoc_bay1"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "clothing, promotional, color: red, size: L, condition: used",
"id": "complimentary_tshirt8",
"parent": "desk32",
"room": "postdoc_bay1"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Find the closest fire extinguisher to the manipulation lab.
|
task_Office_complex_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Find the closest fire extinguisher to the manipulation lab. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'manipulation_lab', 'attributes': 'clean', 'affordances': ['access'], 'id': 'table3'}, {'room': 'admin', 'attributes': 'clean', 'affordances': ['access'], 'id': 'shelf'}, {'room': 'postdoc_bay1', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk31'}, {'room': 'postdoc_bay1', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk32'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'book, reading, color: green, size: standard, condition: used', 'id': 'book1', 'parent': 'table3', 'room': 'manipulation_lab'}, {'affordances': ['pickup', 'release'], 'attributes': 'tool, robotic, color: gray, size: standard, condition: new', 'id': 'gripper', 'parent': 'table3', 'room': 'manipulation_lab'}, {'affordances': ['pickup', 'release'], 'attributes': 'safety equipment, fire, color: red, size: standard, condition: new', 'id': 'fire_extinguisher2', 'parent': 'shelf', 'room': 'admin'}, {'affordances': ['pickup', 'release'], 'attributes': 'safety equipment, fire, color: red, size: standard, condition: new', 'id': 'fire_extinguisher1', 'parent': 'desk31', 'room': 'postdoc_bay1'}, {'affordances': ['pickup', 'release'], 'attributes': 'decorative, framed, color: gold, size: large, condition: new', 'id': 'frame1', 'parent': 'desk32', 'room': 'postdoc_bay1'}, {'affordances': ['pickup', 'release'], 'attributes': 'decorative, framed, color: silver, size: large, condition: used', 'id': 'frame2', 'parent': 'desk32', 'room': 'postdoc_bay1'}, {'affordances': ['pickup', 'release'], 'attributes': 'clothing, promotional, color: blue, size: M, condition: new', 'id': 'complimentary_tshirt7', 'parent': 'desk32', 'room': 'postdoc_bay1'}, {'affordances': ['pickup', 'release'], 'attributes': 'clothing, promotional, color: red, size: L, condition: used', 'id': 'complimentary_tshirt8', 'parent': 'desk32', 'room': 'postdoc_bay1'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'postdoc_bay1↔desk31', 'postdoc_bay1↔desk32', 'admin↔shelf', 'manipulation_lab↔table3', 'mobile_robotics_lab↔agent', 'table3↔book1', 'table3↔gripper', 'shelf↔fire_extinguisher2', 'desk31↔fire_extinguisher1', 'desk32↔frame1', 'desk32↔frame2', 'desk32↔complimentary_tshirt7', 'desk32↔complimentary_tshirt8']}
|
[goto(postdoc_bay1), access(desk31), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"meeting_room1↔chair3",
"meeting_room1↔chair4",
"meeting_room1↔chair5",
"meeting_room1↔table5",
"meeting_room2↔chair2",
"kitchen↔fridge",
"kitchen↔cabinet",
"kitchen↔kitchen_bench",
"kitchen↔dishwasher",
"kitchen↔drawer",
"kitchen↔microwave",
"kitchen↔rubbish_bin",
"kitchen↔recycling_bin",
"meeting_room4↔table2",
"meeting_room3↔table1",
"meeting_room3↔table6",
"mobile_robotics_lab↔agent",
"table1↔headphones",
"table2↔janga",
"table2↔risk",
"table2↔monopoly",
"fridge↔tomato",
"fridge↔cheese",
"fridge↔banana2",
"fridge↔J64M",
"fridge↔chicken_kebab",
"fridge↔noodles",
"fridge↔salmon_bagel",
"fridge↔greek_salad",
"fridge↔carrot",
"kitchen_bench↔butter",
"kitchen_bench↔bread",
"kitchen_bench↔orange1",
"kitchen_bench↔kale_leaves2",
"dishwasher↔bowl",
"dishwasher↔plate2",
"dishwasher↔spoon",
"dishwasher↔chips",
"rubbish_bin↔banana_peel",
"rubbish_bin↔plastic_bottle",
"recycling_bin↔milk_carton",
"recycling_bin↔orange_peel",
"recycling_bin↔apple_core"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "table1",
"room": "meeting_room3"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "table6",
"room": "meeting_room3"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "chair3",
"room": "meeting_room1"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "chair4",
"room": "meeting_room1"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "chair5",
"room": "meeting_room1"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "table5",
"room": "meeting_room1"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "chair2",
"room": "meeting_room2"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "table2",
"room": "meeting_room4"
},
{
"affordances": [
"open",
"close",
"access"
],
"attributes": "closed",
"id": "fridge",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "cabinet",
"room": "kitchen"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"access",
"turn_on",
"turn_off",
"open",
"close"
],
"attributes": "closed",
"id": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "drawer",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "microwave",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "recycling_bin",
"room": "kitchen"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "electronic, audio, color: black, size: standard, condition: new",
"id": "headphones",
"parent": "table1",
"room": "meeting_room3"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "game, entertainment, color: multi, size: standard, condition: new",
"id": "janga",
"parent": "table2",
"room": "meeting_room4"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "game, entertainment, color: multi, size: standard, condition: used",
"id": "risk",
"parent": "table2",
"room": "meeting_room4"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "game, entertainment, color: multi, size: standard, condition: new",
"id": "monopoly",
"parent": "table2",
"room": "meeting_room4"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: red, freshness: fresh, size: medium",
"id": "tomato",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, dairy, color: yellow, freshness: fresh, size: medium",
"id": "cheese",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: yellow, freshness: fresh, size: medium",
"id": "banana2",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: green, freshness: fresh, size: medium",
"id": "J64M",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, meat, color: brown, freshness: fresh, size: medium",
"id": "chicken_kebab",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, grain, color: yellow, freshness: fresh, size: medium",
"id": "noodles",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, sandwich, color: pink, freshness: fresh, size: medium",
"id": "salmon_bagel",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, salad, color: green, freshness: fresh, size: medium",
"id": "greek_salad",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: orange, freshness: fresh, size: medium",
"id": "carrot",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, spread, color: yellow, freshness: fresh, size: small",
"id": "butter",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, bread, color: brown, freshness: fresh, size: medium",
"id": "bread",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: orange, freshness: fresh, size: medium",
"id": "orange1",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: green, freshness: fresh, size: small",
"id": "kale_leaves2",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "bowl",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "plate2",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "spoon",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "snack, food, color: yellow, freshness: fresh, size: small",
"id": "chips",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: yellow, size: small, condition: used",
"id": "banana_peel",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, plastic, color: clear, size: standard, condition: used",
"id": "plastic_bottle",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, carton, color: white, size: standard, condition: new",
"id": "milk_carton",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: orange, size: small, condition: used",
"id": "orange_peel",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: brown, size: small, condition: used",
"id": "apple_core",
"parent": "recycling_bin",
"room": "kitchen"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Find me the closest meeting room to the kitchen.
|
task_Office_complex_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Find me the closest meeting room to the kitchen. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'meeting_room3', 'attributes': 'clean', 'affordances': ['access'], 'id': 'table1'}, {'room': 'meeting_room3', 'attributes': 'clean', 'affordances': ['access'], 'id': 'table6'}, {'room': 'meeting_room1', 'attributes': 'clean', 'affordances': ['access'], 'id': 'chair3'}, {'room': 'meeting_room1', 'attributes': 'clean', 'affordances': ['access'], 'id': 'chair4'}, {'room': 'meeting_room1', 'attributes': 'clean', 'affordances': ['access'], 'id': 'chair5'}, {'room': 'meeting_room1', 'attributes': 'clean', 'affordances': ['access'], 'id': 'table5'}, {'room': 'meeting_room2', 'attributes': 'clean', 'affordances': ['access'], 'id': 'chair2'}, {'room': 'meeting_room4', 'attributes': 'clean', 'affordances': ['access'], 'id': 'table2'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['open', 'close', 'access'], 'id': 'fridge'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'cabinet'}, {'room': 'kitchen', 'attributes': 'clean', 'affordances': ['access'], 'id': 'kitchen_bench'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'turn_on', 'turn_off', 'open', 'close'], 'id': 'dishwasher'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'drawer'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'microwave'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'rubbish_bin'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'recycling_bin'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'electronic, audio, color: black, size: standard, condition: new', 'id': 'headphones', 'parent': 'table1', 'room': 'meeting_room3'}, {'affordances': ['pickup', 'release'], 'attributes': 'game, entertainment, color: multi, size: standard, condition: new', 'id': 'janga', 'parent': 'table2', 'room': 'meeting_room4'}, {'affordances': ['pickup', 'release'], 'attributes': 'game, entertainment, color: multi, size: standard, condition: used', 'id': 'risk', 'parent': 'table2', 'room': 'meeting_room4'}, {'affordances': ['pickup', 'release'], 'attributes': 'game, entertainment, color: multi, size: standard, condition: new', 'id': 'monopoly', 'parent': 'table2', 'room': 'meeting_room4'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: red, freshness: fresh, size: medium', 'id': 'tomato', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, dairy, color: yellow, freshness: fresh, size: medium', 'id': 'cheese', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: yellow, freshness: fresh, size: medium', 'id': 'banana2', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: green, freshness: fresh, size: medium', 'id': 'J64M', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, meat, color: brown, freshness: fresh, size: medium', 'id': 'chicken_kebab', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, grain, color: yellow, freshness: fresh, size: medium', 'id': 'noodles', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, sandwich, color: pink, freshness: fresh, size: medium', 'id': 'salmon_bagel', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, salad, color: green, freshness: fresh, size: medium', 'id': 'greek_salad', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: orange, freshness: fresh, size: medium', 'id': 'carrot', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, spread, color: yellow, freshness: fresh, size: small', 'id': 'butter', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, bread, color: brown, freshness: fresh, size: medium', 'id': 'bread', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: orange, freshness: fresh, size: medium', 'id': 'orange1', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: green, freshness: fresh, size: small', 'id': 'kale_leaves2', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'bowl', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'plate2', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'spoon', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'snack, food, color: yellow, freshness: fresh, size: small', 'id': 'chips', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: yellow, size: small, condition: used', 'id': 'banana_peel', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, plastic, color: clear, size: standard, condition: used', 'id': 'plastic_bottle', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, carton, color: white, size: standard, condition: new', 'id': 'milk_carton', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: orange, size: small, condition: used', 'id': 'orange_peel', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: brown, size: small, condition: used', 'id': 'apple_core', 'parent': 'recycling_bin', 'room': 'kitchen'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'meeting_room1↔chair3', 'meeting_room1↔chair4', 'meeting_room1↔chair5', 'meeting_room1↔table5', 'meeting_room2↔chair2', 'kitchen↔fridge', 'kitchen↔cabinet', 'kitchen↔kitchen_bench', 'kitchen↔dishwasher', 'kitchen↔drawer', 'kitchen↔microwave', 'kitchen↔rubbish_bin', 'kitchen↔recycling_bin', 'meeting_room4↔table2', 'meeting_room3↔table1', 'meeting_room3↔table6', 'mobile_robotics_lab↔agent', 'table1↔headphones', 'table2↔janga', 'table2↔risk', 'table2↔monopoly', 'fridge↔tomato', 'fridge↔cheese', 'fridge↔banana2', 'fridge↔J64M', 'fridge↔chicken_kebab', 'fridge↔noodles', 'fridge↔salmon_bagel', 'fridge↔greek_salad', 'fridge↔carrot', 'kitchen_bench↔butter', 'kitchen_bench↔bread', 'kitchen_bench↔orange1', 'kitchen_bench↔kale_leaves2', 'dishwasher↔bowl', 'dishwasher↔plate2', 'dishwasher↔spoon', 'dishwasher↔chips', 'rubbish_bin↔banana_peel', 'rubbish_bin↔plastic_bottle', 'recycling_bin↔milk_carton', 'recycling_bin↔orange_peel', 'recycling_bin↔apple_core']}
|
[goto(floor_A), goto(kitchen), goto(floor_A), goto(meeting_room3), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"tobis_office↔desk38",
"filipes_office↔desk37",
"mobile_robotics_lab↔agent",
"desk37↔stapler2",
"desk38↔pepsi"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk37",
"room": "filipes_office"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk38",
"room": "tobis_office"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "stationery, office supply, color: blue, size: standard, condition: used",
"id": "stapler2",
"parent": "desk37",
"room": "filipes_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, canned, color: blue, size: 355ml, freshness: expired",
"id": "pepsi",
"parent": "desk38",
"room": "tobis_office"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Either Filipe or Tobi has my headphones. Locate it.
|
task_Office_complex_search
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Either Filipe or Tobi has my headphones. Locate it. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'filipes_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk37'}, {'room': 'tobis_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk38'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'stationery, office supply, color: blue, size: standard, condition: used', 'id': 'stapler2', 'parent': 'desk37', 'room': 'filipes_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, canned, color: blue, size: 355ml, freshness: expired', 'id': 'pepsi', 'parent': 'desk38', 'room': 'tobis_office'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'tobis_office↔desk38', 'filipes_office↔desk37', 'mobile_robotics_lab↔agent', 'desk37↔stapler2', 'desk38↔pepsi']}
|
[goto(meeting_room3), access(table1), pickup(headphones), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"jasons_office↔desk5",
"jasons_office↔cabinet5",
"mobile_robotics_lab↔agent",
"desk5↔monitor"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk5",
"room": "jasons_office"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "opened",
"id": "cabinet5",
"room": "jasons_office"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "electronic, display, color: black, size: large, condition: new",
"id": "monitor",
"parent": "desk5",
"room": "jasons_office"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Close Jason's cabinet.
|
task_Office_simple_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Close Jason's cabinet. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'jasons_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk5'}, {'room': 'jasons_office', 'attributes': 'opened', 'affordances': ['access', 'open', 'close'], 'id': 'cabinet5'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'electronic, display, color: black, size: large, condition: new', 'id': 'monitor', 'parent': 'desk5', 'room': 'jasons_office'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'jasons_office↔desk5', 'jasons_office↔cabinet5', 'mobile_robotics_lab↔agent', 'desk5↔monitor']}
|
[goto(jasons_office), access(cabinet5), close(cabinet5), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"kitchen↔fridge",
"kitchen↔cabinet",
"kitchen↔kitchen_bench",
"kitchen↔dishwasher",
"kitchen↔drawer",
"kitchen↔microwave",
"kitchen↔rubbish_bin",
"kitchen↔recycling_bin",
"mobile_robotics_lab↔agent",
"fridge↔tomato",
"fridge↔cheese",
"fridge↔banana2",
"fridge↔J64M",
"fridge↔chicken_kebab",
"fridge↔noodles",
"fridge↔salmon_bagel",
"fridge↔greek_salad",
"fridge↔carrot",
"kitchen_bench↔butter",
"kitchen_bench↔bread",
"kitchen_bench↔orange1",
"kitchen_bench↔kale_leaves2",
"dishwasher↔bowl",
"dishwasher↔plate2",
"dishwasher↔spoon",
"dishwasher↔chips",
"rubbish_bin↔banana_peel",
"rubbish_bin↔plastic_bottle",
"recycling_bin↔milk_carton",
"recycling_bin↔orange_peel",
"recycling_bin↔apple_core"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"open",
"close",
"access"
],
"attributes": "closed",
"id": "fridge",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "cabinet",
"room": "kitchen"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"access",
"turn_on",
"turn_off",
"open",
"close"
],
"attributes": "closed",
"id": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "drawer",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "microwave",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "recycling_bin",
"room": "kitchen"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: red, freshness: fresh, size: medium",
"id": "tomato",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, dairy, color: yellow, freshness: fresh, size: medium",
"id": "cheese",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: yellow, freshness: fresh, size: medium",
"id": "banana2",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: green, freshness: fresh, size: medium",
"id": "J64M",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, meat, color: brown, freshness: fresh, size: medium",
"id": "chicken_kebab",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, grain, color: yellow, freshness: fresh, size: medium",
"id": "noodles",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, sandwich, color: pink, freshness: fresh, size: medium",
"id": "salmon_bagel",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, salad, color: green, freshness: fresh, size: medium",
"id": "greek_salad",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: orange, freshness: fresh, size: medium",
"id": "carrot",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, spread, color: yellow, freshness: fresh, size: small",
"id": "butter",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, bread, color: brown, freshness: fresh, size: medium",
"id": "bread",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: orange, freshness: fresh, size: medium",
"id": "orange1",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: green, freshness: fresh, size: small",
"id": "kale_leaves2",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "bowl",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "plate2",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "spoon",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "snack, food, color: yellow, freshness: fresh, size: small",
"id": "chips",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: yellow, size: small, condition: used",
"id": "banana_peel",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, plastic, color: clear, size: standard, condition: used",
"id": "plastic_bottle",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, carton, color: white, size: standard, condition: new",
"id": "milk_carton",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: orange, size: small, condition: used",
"id": "orange_peel",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: brown, size: small, condition: used",
"id": "apple_core",
"parent": "recycling_bin",
"room": "kitchen"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Refrigerate the orange left on the kitchen bench.
|
task_Office_simple_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Refrigerate the orange left on the kitchen bench. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'kitchen', 'attributes': 'closed', 'affordances': ['open', 'close', 'access'], 'id': 'fridge'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'cabinet'}, {'room': 'kitchen', 'attributes': 'clean', 'affordances': ['access'], 'id': 'kitchen_bench'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'turn_on', 'turn_off', 'open', 'close'], 'id': 'dishwasher'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'drawer'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'microwave'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'rubbish_bin'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'recycling_bin'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: red, freshness: fresh, size: medium', 'id': 'tomato', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, dairy, color: yellow, freshness: fresh, size: medium', 'id': 'cheese', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: yellow, freshness: fresh, size: medium', 'id': 'banana2', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: green, freshness: fresh, size: medium', 'id': 'J64M', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, meat, color: brown, freshness: fresh, size: medium', 'id': 'chicken_kebab', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, grain, color: yellow, freshness: fresh, size: medium', 'id': 'noodles', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, sandwich, color: pink, freshness: fresh, size: medium', 'id': 'salmon_bagel', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, salad, color: green, freshness: fresh, size: medium', 'id': 'greek_salad', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: orange, freshness: fresh, size: medium', 'id': 'carrot', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, spread, color: yellow, freshness: fresh, size: small', 'id': 'butter', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, bread, color: brown, freshness: fresh, size: medium', 'id': 'bread', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: orange, freshness: fresh, size: medium', 'id': 'orange1', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: green, freshness: fresh, size: small', 'id': 'kale_leaves2', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'bowl', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'plate2', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'spoon', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'snack, food, color: yellow, freshness: fresh, size: small', 'id': 'chips', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: yellow, size: small, condition: used', 'id': 'banana_peel', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, plastic, color: clear, size: standard, condition: used', 'id': 'plastic_bottle', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, carton, color: white, size: standard, condition: new', 'id': 'milk_carton', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: orange, size: small, condition: used', 'id': 'orange_peel', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: brown, size: small, condition: used', 'id': 'apple_core', 'parent': 'recycling_bin', 'room': 'kitchen'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'kitchen↔fridge', 'kitchen↔cabinet', 'kitchen↔kitchen_bench', 'kitchen↔dishwasher', 'kitchen↔drawer', 'kitchen↔microwave', 'kitchen↔rubbish_bin', 'kitchen↔recycling_bin', 'mobile_robotics_lab↔agent', 'fridge↔tomato', 'fridge↔cheese', 'fridge↔banana2', 'fridge↔J64M', 'fridge↔chicken_kebab', 'fridge↔noodles', 'fridge↔salmon_bagel', 'fridge↔greek_salad', 'fridge↔carrot', 'kitchen_bench↔butter', 'kitchen_bench↔bread', 'kitchen_bench↔orange1', 'kitchen_bench↔kale_leaves2', 'dishwasher↔bowl', 'dishwasher↔plate2', 'dishwasher↔spoon', 'dishwasher↔chips', 'rubbish_bin↔banana_peel', 'rubbish_bin↔plastic_bottle', 'recycling_bin↔milk_carton', 'recycling_bin↔orange_peel', 'recycling_bin↔apple_core']}
|
[goto(kitchen), access(kitchen_bench), pickup(orange1), open(fridge), access(fridge), release(orange1), close(fridge), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"kitchen↔fridge",
"kitchen↔cabinet",
"kitchen↔kitchen_bench",
"kitchen↔dishwasher",
"kitchen↔drawer",
"kitchen↔microwave",
"kitchen↔rubbish_bin",
"kitchen↔recycling_bin",
"cafeteria↔lunch_table",
"mobile_robotics_lab↔agent",
"fridge↔tomato",
"fridge↔cheese",
"fridge↔banana2",
"fridge↔J64M",
"fridge↔chicken_kebab",
"fridge↔noodles",
"fridge↔salmon_bagel",
"fridge↔greek_salad",
"fridge↔carrot",
"kitchen_bench↔butter",
"kitchen_bench↔bread",
"kitchen_bench↔orange1",
"kitchen_bench↔kale_leaves2",
"dishwasher↔bowl",
"dishwasher↔plate2",
"dishwasher↔spoon",
"dishwasher↔chips",
"rubbish_bin↔banana_peel",
"rubbish_bin↔plastic_bottle",
"recycling_bin↔milk_carton",
"recycling_bin↔orange_peel",
"recycling_bin↔apple_core",
"lunch_table↔banana1",
"lunch_table↔fork",
"lunch_table↔knife",
"lunch_table↔plate"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"open",
"close",
"access"
],
"attributes": "closed",
"id": "fridge",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "cabinet",
"room": "kitchen"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"access",
"turn_on",
"turn_off",
"open",
"close"
],
"attributes": "closed",
"id": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "drawer",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "microwave",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "lunch_table",
"room": "cafeteria"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: red, freshness: fresh, size: medium",
"id": "tomato",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, dairy, color: yellow, freshness: fresh, size: medium",
"id": "cheese",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: yellow, freshness: fresh, size: medium",
"id": "banana2",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: green, freshness: fresh, size: medium",
"id": "J64M",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, meat, color: brown, freshness: fresh, size: medium",
"id": "chicken_kebab",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, grain, color: yellow, freshness: fresh, size: medium",
"id": "noodles",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, sandwich, color: pink, freshness: fresh, size: medium",
"id": "salmon_bagel",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, salad, color: green, freshness: fresh, size: medium",
"id": "greek_salad",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: orange, freshness: fresh, size: medium",
"id": "carrot",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, spread, color: yellow, freshness: fresh, size: small",
"id": "butter",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, bread, color: brown, freshness: fresh, size: medium",
"id": "bread",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: orange, freshness: fresh, size: medium",
"id": "orange1",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: green, freshness: fresh, size: small",
"id": "kale_leaves2",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "bowl",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "plate2",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "spoon",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "snack, food, color: yellow, freshness: fresh, size: small",
"id": "chips",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: yellow, size: small, condition: used",
"id": "banana_peel",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, plastic, color: clear, size: standard, condition: used",
"id": "plastic_bottle",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, carton, color: white, size: standard, condition: new",
"id": "milk_carton",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: orange, size: small, condition: used",
"id": "orange_peel",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: brown, size: small, condition: used",
"id": "apple_core",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: yellow, freshness: fresh, size: medium",
"id": "banana1",
"parent": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "fork",
"parent": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "knife",
"parent": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "plate",
"parent": "lunch_table",
"room": "cafeteria"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Take care of the dirty plate in the lunchroom.
|
task_Office_simple_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Take care of the dirty plate in the lunchroom. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'kitchen', 'attributes': 'closed', 'affordances': ['open', 'close', 'access'], 'id': 'fridge'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'cabinet'}, {'room': 'kitchen', 'attributes': 'clean', 'affordances': ['access'], 'id': 'kitchen_bench'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'turn_on', 'turn_off', 'open', 'close'], 'id': 'dishwasher'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'drawer'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'microwave'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'rubbish_bin'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'recycling_bin'}, {'room': 'cafeteria', 'attributes': 'clean', 'affordances': ['access'], 'id': 'lunch_table'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: red, freshness: fresh, size: medium', 'id': 'tomato', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, dairy, color: yellow, freshness: fresh, size: medium', 'id': 'cheese', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: yellow, freshness: fresh, size: medium', 'id': 'banana2', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: green, freshness: fresh, size: medium', 'id': 'J64M', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, meat, color: brown, freshness: fresh, size: medium', 'id': 'chicken_kebab', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, grain, color: yellow, freshness: fresh, size: medium', 'id': 'noodles', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, sandwich, color: pink, freshness: fresh, size: medium', 'id': 'salmon_bagel', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, salad, color: green, freshness: fresh, size: medium', 'id': 'greek_salad', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: orange, freshness: fresh, size: medium', 'id': 'carrot', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, spread, color: yellow, freshness: fresh, size: small', 'id': 'butter', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, bread, color: brown, freshness: fresh, size: medium', 'id': 'bread', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: orange, freshness: fresh, size: medium', 'id': 'orange1', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: green, freshness: fresh, size: small', 'id': 'kale_leaves2', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'bowl', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'plate2', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'spoon', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'snack, food, color: yellow, freshness: fresh, size: small', 'id': 'chips', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: yellow, size: small, condition: used', 'id': 'banana_peel', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, plastic, color: clear, size: standard, condition: used', 'id': 'plastic_bottle', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, carton, color: white, size: standard, condition: new', 'id': 'milk_carton', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: orange, size: small, condition: used', 'id': 'orange_peel', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: brown, size: small, condition: used', 'id': 'apple_core', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: yellow, freshness: fresh, size: medium', 'id': 'banana1', 'parent': 'lunch_table', 'room': 'cafeteria'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'fork', 'parent': 'lunch_table', 'room': 'cafeteria'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'knife', 'parent': 'lunch_table', 'room': 'cafeteria'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'plate', 'parent': 'lunch_table', 'room': 'cafeteria'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'kitchen↔fridge', 'kitchen↔cabinet', 'kitchen↔kitchen_bench', 'kitchen↔dishwasher', 'kitchen↔drawer', 'kitchen↔microwave', 'kitchen↔rubbish_bin', 'kitchen↔recycling_bin', 'cafeteria↔lunch_table', 'mobile_robotics_lab↔agent', 'fridge↔tomato', 'fridge↔cheese', 'fridge↔banana2', 'fridge↔J64M', 'fridge↔chicken_kebab', 'fridge↔noodles', 'fridge↔salmon_bagel', 'fridge↔greek_salad', 'fridge↔carrot', 'kitchen_bench↔butter', 'kitchen_bench↔bread', 'kitchen_bench↔orange1', 'kitchen_bench↔kale_leaves2', 'dishwasher↔bowl', 'dishwasher↔plate2', 'dishwasher↔spoon', 'dishwasher↔chips', 'rubbish_bin↔banana_peel', 'rubbish_bin↔plastic_bottle', 'recycling_bin↔milk_carton', 'recycling_bin↔orange_peel', 'recycling_bin↔apple_core', 'lunch_table↔banana1', 'lunch_table↔fork', 'lunch_table↔knife', 'lunch_table↔plate']}
|
[goto(cafeteria), access(lunch_table), pickup(plate), goto(kitchen), open(dishwasher), access(dishwasher), release(plate), close(dishwasher), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"printing_zone2↔printer2",
"wills_office↔desk4",
"wills_office↔cabinet4",
"mobile_robotics_lab↔agent",
"cabinet4↔drone2",
"cabinet4↔apple1",
"cabinet4↔undergrad_thesis1",
"printer2↔document"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk4",
"room": "wills_office"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cabinet4",
"room": "wills_office"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "printer2",
"room": "printing_zone2"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "drone, electronic, color: white, size: standard, condition: new",
"id": "drone2",
"parent": "cabinet4",
"room": "wills_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: green, freshness: fresh, size: medium",
"id": "apple1",
"parent": "cabinet4",
"room": "wills_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "document, academic, color: white, size: A4, condition: new",
"id": "undergrad_thesis1",
"parent": "cabinet4",
"room": "wills_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "document, paper, color: white, size: A4, condition: new",
"id": "document",
"parent": "printer2",
"room": "printing_zone2"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Place the printed document on Will's desk.
|
task_Office_simple_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Place the printed document on Will's desk. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'wills_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk4'}, {'room': 'wills_office', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cabinet4'}, {'room': 'printing_zone2', 'attributes': 'clean', 'affordances': ['access'], 'id': 'printer2'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'drone, electronic, color: white, size: standard, condition: new', 'id': 'drone2', 'parent': 'cabinet4', 'room': 'wills_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: green, freshness: fresh, size: medium', 'id': 'apple1', 'parent': 'cabinet4', 'room': 'wills_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'document, academic, color: white, size: A4, condition: new', 'id': 'undergrad_thesis1', 'parent': 'cabinet4', 'room': 'wills_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'document, paper, color: white, size: A4, condition: new', 'id': 'document', 'parent': 'printer2', 'room': 'printing_zone2'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'printing_zone2↔printer2', 'wills_office↔desk4', 'wills_office↔cabinet4', 'mobile_robotics_lab↔agent', 'cabinet4↔drone2', 'cabinet4↔apple1', 'cabinet4↔undergrad_thesis1', 'printer2↔document']}
|
[goto(printing_zone2), access(printer2), pickup(document), goto(wills_office), access(desk4), release(document), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"peters_office↔cabinet2",
"peters_office↔desk2",
"kitchen↔fridge",
"kitchen↔cabinet",
"kitchen↔kitchen_bench",
"kitchen↔dishwasher",
"kitchen↔drawer",
"kitchen↔microwave",
"kitchen↔rubbish_bin",
"kitchen↔recycling_bin",
"mobile_robotics_lab↔agent",
"fridge↔tomato",
"fridge↔cheese",
"fridge↔banana2",
"fridge↔J64M",
"fridge↔chicken_kebab",
"fridge↔noodles",
"fridge↔salmon_bagel",
"fridge↔greek_salad",
"fridge↔carrot",
"kitchen_bench↔butter",
"kitchen_bench↔bread",
"kitchen_bench↔orange1",
"kitchen_bench↔kale_leaves2",
"dishwasher↔bowl",
"dishwasher↔plate2",
"dishwasher↔spoon",
"dishwasher↔chips",
"rubbish_bin↔banana_peel",
"rubbish_bin↔plastic_bottle",
"recycling_bin↔milk_carton",
"recycling_bin↔orange_peel",
"recycling_bin↔apple_core",
"cabinet2↔apple3",
"cabinet2↔stapler",
"desk2↔phone"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"open",
"close",
"access"
],
"attributes": "closed",
"id": "fridge",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "cabinet",
"room": "kitchen"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"access",
"turn_on",
"turn_off",
"open",
"close"
],
"attributes": "closed",
"id": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "drawer",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "microwave",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cabinet2",
"room": "peters_office"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk2",
"room": "peters_office"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: red, freshness: fresh, size: medium",
"id": "tomato",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, dairy, color: yellow, freshness: fresh, size: medium",
"id": "cheese",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: yellow, freshness: fresh, size: medium",
"id": "banana2",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: green, freshness: fresh, size: medium",
"id": "J64M",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, meat, color: brown, freshness: fresh, size: medium",
"id": "chicken_kebab",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, grain, color: yellow, freshness: fresh, size: medium",
"id": "noodles",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, sandwich, color: pink, freshness: fresh, size: medium",
"id": "salmon_bagel",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, salad, color: green, freshness: fresh, size: medium",
"id": "greek_salad",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: orange, freshness: fresh, size: medium",
"id": "carrot",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, spread, color: yellow, freshness: fresh, size: small",
"id": "butter",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, bread, color: brown, freshness: fresh, size: medium",
"id": "bread",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: orange, freshness: fresh, size: medium",
"id": "orange1",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: green, freshness: fresh, size: small",
"id": "kale_leaves2",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "bowl",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "plate2",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "spoon",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "snack, food, color: yellow, freshness: fresh, size: small",
"id": "chips",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: yellow, size: small, condition: used",
"id": "banana_peel",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, plastic, color: clear, size: standard, condition: used",
"id": "plastic_bottle",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, carton, color: white, size: standard, condition: new",
"id": "milk_carton",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: orange, size: small, condition: used",
"id": "orange_peel",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: brown, size: small, condition: used",
"id": "apple_core",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: red, freshness: fresh, size: medium",
"id": "apple3",
"parent": "cabinet2",
"room": "peters_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "stationery, office supply, color: silver, size: standard, condition: used",
"id": "stapler",
"parent": "cabinet2",
"room": "peters_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "electronic, portable, color: black, size: medium, condition: new",
"id": "phone",
"parent": "desk2",
"room": "peters_office"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Peter is working hard at his desk. Get him a healthy snack.
|
task_Office_simple_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Peter is working hard at his desk. Get him a healthy snack. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'kitchen', 'attributes': 'closed', 'affordances': ['open', 'close', 'access'], 'id': 'fridge'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'cabinet'}, {'room': 'kitchen', 'attributes': 'clean', 'affordances': ['access'], 'id': 'kitchen_bench'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'turn_on', 'turn_off', 'open', 'close'], 'id': 'dishwasher'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'drawer'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'microwave'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'rubbish_bin'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'recycling_bin'}, {'room': 'peters_office', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cabinet2'}, {'room': 'peters_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk2'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: red, freshness: fresh, size: medium', 'id': 'tomato', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, dairy, color: yellow, freshness: fresh, size: medium', 'id': 'cheese', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: yellow, freshness: fresh, size: medium', 'id': 'banana2', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: green, freshness: fresh, size: medium', 'id': 'J64M', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, meat, color: brown, freshness: fresh, size: medium', 'id': 'chicken_kebab', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, grain, color: yellow, freshness: fresh, size: medium', 'id': 'noodles', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, sandwich, color: pink, freshness: fresh, size: medium', 'id': 'salmon_bagel', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, salad, color: green, freshness: fresh, size: medium', 'id': 'greek_salad', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: orange, freshness: fresh, size: medium', 'id': 'carrot', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, spread, color: yellow, freshness: fresh, size: small', 'id': 'butter', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, bread, color: brown, freshness: fresh, size: medium', 'id': 'bread', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: orange, freshness: fresh, size: medium', 'id': 'orange1', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: green, freshness: fresh, size: small', 'id': 'kale_leaves2', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'bowl', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'plate2', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'spoon', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'snack, food, color: yellow, freshness: fresh, size: small', 'id': 'chips', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: yellow, size: small, condition: used', 'id': 'banana_peel', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, plastic, color: clear, size: standard, condition: used', 'id': 'plastic_bottle', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, carton, color: white, size: standard, condition: new', 'id': 'milk_carton', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: orange, size: small, condition: used', 'id': 'orange_peel', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: brown, size: small, condition: used', 'id': 'apple_core', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: red, freshness: fresh, size: medium', 'id': 'apple3', 'parent': 'cabinet2', 'room': 'peters_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'stationery, office supply, color: silver, size: standard, condition: used', 'id': 'stapler', 'parent': 'cabinet2', 'room': 'peters_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'electronic, portable, color: black, size: medium, condition: new', 'id': 'phone', 'parent': 'desk2', 'room': 'peters_office'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'peters_office↔cabinet2', 'peters_office↔desk2', 'kitchen↔fridge', 'kitchen↔cabinet', 'kitchen↔kitchen_bench', 'kitchen↔dishwasher', 'kitchen↔drawer', 'kitchen↔microwave', 'kitchen↔rubbish_bin', 'kitchen↔recycling_bin', 'mobile_robotics_lab↔agent', 'fridge↔tomato', 'fridge↔cheese', 'fridge↔banana2', 'fridge↔J64M', 'fridge↔chicken_kebab', 'fridge↔noodles', 'fridge↔salmon_bagel', 'fridge↔greek_salad', 'fridge↔carrot', 'kitchen_bench↔butter', 'kitchen_bench↔bread', 'kitchen_bench↔orange1', 'kitchen_bench↔kale_leaves2', 'dishwasher↔bowl', 'dishwasher↔plate2', 'dishwasher↔spoon', 'dishwasher↔chips', 'rubbish_bin↔banana_peel', 'rubbish_bin↔plastic_bottle', 'recycling_bin↔milk_carton', 'recycling_bin↔orange_peel', 'recycling_bin↔apple_core', 'cabinet2↔apple3', 'cabinet2↔stapler', 'desk2↔phone']}
|
[goto(cafeteria), access(lunch_table), pickup(banana1), goto(peters_office), access(desk2), release(banana1), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"peters_office↔cabinet2",
"peters_office↔desk2",
"mobile_robotics_lab↔agent",
"cabinet2↔apple3",
"cabinet2↔stapler",
"desk2↔phone"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cabinet2",
"room": "peters_office"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk2",
"room": "peters_office"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: red, freshness: fresh, size: medium",
"id": "apple3",
"parent": "cabinet2",
"room": "peters_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "stationery, office supply, color: silver, size: standard, condition: used",
"id": "stapler",
"parent": "cabinet2",
"room": "peters_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "electronic, portable, color: black, size: medium, condition: new",
"id": "phone",
"parent": "desk2",
"room": "peters_office"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Hide one of Peter's valuable belongings.
|
task_Office_simple_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Hide one of Peter's valuable belongings. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'peters_office', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cabinet2'}, {'room': 'peters_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk2'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: red, freshness: fresh, size: medium', 'id': 'apple3', 'parent': 'cabinet2', 'room': 'peters_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'stationery, office supply, color: silver, size: standard, condition: used', 'id': 'stapler', 'parent': 'cabinet2', 'room': 'peters_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'electronic, portable, color: black, size: medium, condition: new', 'id': 'phone', 'parent': 'desk2', 'room': 'peters_office'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'peters_office↔cabinet2', 'peters_office↔desk2', 'mobile_robotics_lab↔agent', 'cabinet2↔apple3', 'cabinet2↔stapler', 'desk2↔phone']}
|
[goto(peters_office), access(desk2), pickup(phone), goto(dimitys_office), open(cabinet3), access(cabinet3), release(phone), close(cabinet3), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"admin↔shelf",
"mobile_robotics_lab↔agent",
"shelf↔fire_extinguisher2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "shelf",
"room": "admin"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "safety equipment, fire, color: red, size: standard, condition: new",
"id": "fire_extinguisher2",
"parent": "shelf",
"room": "admin"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Wipe the dusty admin shelf.
|
task_Office_simple_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Wipe the dusty admin shelf. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'admin', 'attributes': 'clean', 'affordances': ['access'], 'id': 'shelf'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'safety equipment, fire, color: red, size: standard, condition: new', 'id': 'fire_extinguisher2', 'parent': 'shelf', 'room': 'admin'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'admin↔shelf', 'mobile_robotics_lab↔agent', 'shelf↔fire_extinguisher2']}
|
[goto(supplies_station), open(cupboard1), access(cupboard1), pickup(paper_towel), goto(admin), access(shelf), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"nikos_office↔desk1",
"nikos_office↔chair1",
"nikos_office↔cabinet1",
"mobile_robotics_lab↔agent",
"desk1↔coffee_mug"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk1",
"room": "nikos_office"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "chair1",
"room": "nikos_office"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cabinet1",
"room": "nikos_office"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "kitchenware, drinkware, color: white, size: standard, condition: new",
"id": "coffee_mug",
"parent": "desk1",
"room": "nikos_office"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
There is coffee dripping on the floor. Stop it.
|
task_Office_simple_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: There is coffee dripping on the floor. Stop it. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'nikos_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk1'}, {'room': 'nikos_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'chair1'}, {'room': 'nikos_office', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cabinet1'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'kitchenware, drinkware, color: white, size: standard, condition: new', 'id': 'coffee_mug', 'parent': 'desk1', 'room': 'nikos_office'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'nikos_office↔desk1', 'nikos_office↔chair1', 'nikos_office↔cabinet1', 'mobile_robotics_lab↔agent', 'desk1↔coffee_mug']}
|
[goto(kitchen), access(cabinet), open(cabinet), turn_off(cabinet), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"wills_office↔desk4",
"wills_office↔cabinet4",
"mobile_robotics_lab↔agent",
"cabinet4↔drone2",
"cabinet4↔apple1",
"cabinet4↔undergrad_thesis1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk4",
"room": "wills_office"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cabinet4",
"room": "wills_office"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "drone, electronic, color: white, size: standard, condition: new",
"id": "drone2",
"parent": "cabinet4",
"room": "wills_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: green, freshness: fresh, size: medium",
"id": "apple1",
"parent": "cabinet4",
"room": "wills_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "document, academic, color: white, size: A4, condition: new",
"id": "undergrad_thesis1",
"parent": "cabinet4",
"room": "wills_office"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Place Will's drone on his desk.
|
task_Office_simple_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Place Will's drone on his desk. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'wills_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk4'}, {'room': 'wills_office', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cabinet4'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'drone, electronic, color: white, size: standard, condition: new', 'id': 'drone2', 'parent': 'cabinet4', 'room': 'wills_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: green, freshness: fresh, size: medium', 'id': 'apple1', 'parent': 'cabinet4', 'room': 'wills_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'document, academic, color: white, size: A4, condition: new', 'id': 'undergrad_thesis1', 'parent': 'cabinet4', 'room': 'wills_office'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'wills_office↔desk4', 'wills_office↔cabinet4', 'mobile_robotics_lab↔agent', 'cabinet4↔drone2', 'cabinet4↔apple1', 'cabinet4↔undergrad_thesis1']}
|
[goto(wills_office), open(cabinet4), access(cabinet4), pickup(drone2), access(desk4), release(drone2), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"jasons_office↔desk5",
"jasons_office↔cabinet5",
"filipes_office↔desk37",
"mobile_robotics_lab↔agent",
"desk37↔stapler2",
"desk5↔monitor"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk37",
"room": "filipes_office"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk5",
"room": "jasons_office"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "opened",
"id": "cabinet5",
"room": "jasons_office"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "stationery, office supply, color: blue, size: standard, condition: used",
"id": "stapler2",
"parent": "desk37",
"room": "filipes_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "electronic, display, color: black, size: large, condition: new",
"id": "monitor",
"parent": "desk5",
"room": "jasons_office"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Move the monitor from Jason's office to Filipe's.
|
task_Office_simple_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Move the monitor from Jason's office to Filipe's. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'filipes_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk37'}, {'room': 'jasons_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk5'}, {'room': 'jasons_office', 'attributes': 'opened', 'affordances': ['access', 'open', 'close'], 'id': 'cabinet5'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'stationery, office supply, color: blue, size: standard, condition: used', 'id': 'stapler2', 'parent': 'desk37', 'room': 'filipes_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'electronic, display, color: black, size: large, condition: new', 'id': 'monitor', 'parent': 'desk5', 'room': 'jasons_office'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'jasons_office↔desk5', 'jasons_office↔cabinet5', 'filipes_office↔desk37', 'mobile_robotics_lab↔agent', 'desk37↔stapler2', 'desk5↔monitor']}
|
[goto(jasons_office), access(desk5), pickup(monitor), goto(filipes_office), access(desk37), release(monitor), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"mobile_robotics_lab↔table4",
"manipulation_lab↔table3",
"lobby↔shelf2",
"agriculture_lab↔produce_container",
"mobile_robotics_lab↔agent",
"table4↔book2",
"shelf2↔parcel",
"table3↔book1",
"table3↔gripper",
"produce_container↔kale_leaves1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "table4",
"room": "mobile_robotics_lab"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "shelf2",
"room": "supplies_station"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "table3",
"room": "manipulation_lab"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "produce_container",
"room": "agriculture_lab"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "book, reading, color: blue, size: standard, condition: new",
"id": "book2",
"parent": "table4",
"room": "mobile_robotics_lab"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "parcel, package, color: brown, size: standard, condition: new",
"id": "parcel",
"parent": "shelf2",
"room": "lobby"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "book, reading, color: green, size: standard, condition: used",
"id": "book1",
"parent": "table3",
"room": "manipulation_lab"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "tool, robotic, color: gray, size: standard, condition: new",
"id": "gripper",
"parent": "table3",
"room": "manipulation_lab"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: green, freshness: fresh, size: small",
"id": "kale_leaves1",
"parent": "produce_container",
"room": "agriculture_lab"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
My parcel just got delivered! Locate it and place it in the appropriate lab.
|
task_Office_simple_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: My parcel just got delivered! Locate it and place it in the appropriate lab. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'mobile_robotics_lab', 'attributes': 'clean', 'affordances': ['access'], 'id': 'table4'}, {'room': 'supplies_station', 'attributes': 'clean', 'affordances': ['access'], 'id': 'shelf2'}, {'room': 'manipulation_lab', 'attributes': 'clean', 'affordances': ['access'], 'id': 'table3'}, {'room': 'agriculture_lab', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'produce_container'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'book, reading, color: blue, size: standard, condition: new', 'id': 'book2', 'parent': 'table4', 'room': 'mobile_robotics_lab'}, {'affordances': ['pickup', 'release'], 'attributes': 'parcel, package, color: brown, size: standard, condition: new', 'id': 'parcel', 'parent': 'shelf2', 'room': 'lobby'}, {'affordances': ['pickup', 'release'], 'attributes': 'book, reading, color: green, size: standard, condition: used', 'id': 'book1', 'parent': 'table3', 'room': 'manipulation_lab'}, {'affordances': ['pickup', 'release'], 'attributes': 'tool, robotic, color: gray, size: standard, condition: new', 'id': 'gripper', 'parent': 'table3', 'room': 'manipulation_lab'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: green, freshness: fresh, size: small', 'id': 'kale_leaves1', 'parent': 'produce_container', 'room': 'agriculture_lab'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'mobile_robotics_lab↔table4', 'manipulation_lab↔table3', 'lobby↔shelf2', 'agriculture_lab↔produce_container', 'mobile_robotics_lab↔agent', 'table4↔book2', 'shelf2↔parcel', 'table3↔book1', 'table3↔gripper', 'produce_container↔kale_leaves1']}
|
[goto(lobby), access(shelf2), pickup(parcel), goto(mobile_robotics_lab), access(table4), release(parcel), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"mobile_robotics_lab↔agent"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": null,
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": null,
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Check if the coffee machine is working.
|
task_Office_simple_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Check if the coffee machine is working. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'mobile_robotics_lab↔agent']}
|
[goto(kitchen), access(cabinet), open(cabinet), turn_on(cabinet), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"kitchen↔fridge",
"kitchen↔cabinet",
"kitchen↔kitchen_bench",
"kitchen↔dishwasher",
"kitchen↔drawer",
"kitchen↔microwave",
"kitchen↔rubbish_bin",
"kitchen↔recycling_bin",
"mobile_robotics_lab↔agent",
"fridge↔tomato",
"fridge↔cheese",
"fridge↔banana2",
"fridge↔J64M",
"fridge↔chicken_kebab",
"fridge↔noodles",
"fridge↔salmon_bagel",
"fridge↔greek_salad",
"fridge↔carrot",
"kitchen_bench↔butter",
"kitchen_bench↔bread",
"kitchen_bench↔orange1",
"kitchen_bench↔kale_leaves2",
"dishwasher↔bowl",
"dishwasher↔plate2",
"dishwasher↔spoon",
"dishwasher↔chips",
"rubbish_bin↔banana_peel",
"rubbish_bin↔plastic_bottle",
"recycling_bin↔milk_carton",
"recycling_bin↔orange_peel",
"recycling_bin↔apple_core"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"open",
"close",
"access"
],
"attributes": "closed",
"id": "fridge",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "cabinet",
"room": "kitchen"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"access",
"turn_on",
"turn_off",
"open",
"close"
],
"attributes": "closed",
"id": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "drawer",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "microwave",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "recycling_bin",
"room": "kitchen"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: red, freshness: fresh, size: medium",
"id": "tomato",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, dairy, color: yellow, freshness: fresh, size: medium",
"id": "cheese",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: yellow, freshness: fresh, size: medium",
"id": "banana2",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: green, freshness: fresh, size: medium",
"id": "J64M",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, meat, color: brown, freshness: fresh, size: medium",
"id": "chicken_kebab",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, grain, color: yellow, freshness: fresh, size: medium",
"id": "noodles",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, sandwich, color: pink, freshness: fresh, size: medium",
"id": "salmon_bagel",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, salad, color: green, freshness: fresh, size: medium",
"id": "greek_salad",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: orange, freshness: fresh, size: medium",
"id": "carrot",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, spread, color: yellow, freshness: fresh, size: small",
"id": "butter",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, bread, color: brown, freshness: fresh, size: medium",
"id": "bread",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: orange, freshness: fresh, size: medium",
"id": "orange1",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: green, freshness: fresh, size: small",
"id": "kale_leaves2",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "bowl",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "plate2",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "spoon",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "snack, food, color: yellow, freshness: fresh, size: small",
"id": "chips",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: yellow, size: small, condition: used",
"id": "banana_peel",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, plastic, color: clear, size: standard, condition: used",
"id": "plastic_bottle",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, carton, color: white, size: standard, condition: new",
"id": "milk_carton",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: orange, size: small, condition: used",
"id": "orange_peel",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: brown, size: small, condition: used",
"id": "apple_core",
"parent": "recycling_bin",
"room": "kitchen"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Heat up the chicken kebab.
|
task_Office_simple_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Heat up the chicken kebab. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'kitchen', 'attributes': 'closed', 'affordances': ['open', 'close', 'access'], 'id': 'fridge'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'cabinet'}, {'room': 'kitchen', 'attributes': 'clean', 'affordances': ['access'], 'id': 'kitchen_bench'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'turn_on', 'turn_off', 'open', 'close'], 'id': 'dishwasher'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'drawer'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'microwave'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'rubbish_bin'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'recycling_bin'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: red, freshness: fresh, size: medium', 'id': 'tomato', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, dairy, color: yellow, freshness: fresh, size: medium', 'id': 'cheese', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: yellow, freshness: fresh, size: medium', 'id': 'banana2', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: green, freshness: fresh, size: medium', 'id': 'J64M', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, meat, color: brown, freshness: fresh, size: medium', 'id': 'chicken_kebab', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, grain, color: yellow, freshness: fresh, size: medium', 'id': 'noodles', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, sandwich, color: pink, freshness: fresh, size: medium', 'id': 'salmon_bagel', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, salad, color: green, freshness: fresh, size: medium', 'id': 'greek_salad', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: orange, freshness: fresh, size: medium', 'id': 'carrot', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, spread, color: yellow, freshness: fresh, size: small', 'id': 'butter', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, bread, color: brown, freshness: fresh, size: medium', 'id': 'bread', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: orange, freshness: fresh, size: medium', 'id': 'orange1', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: green, freshness: fresh, size: small', 'id': 'kale_leaves2', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'bowl', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'plate2', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'spoon', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'snack, food, color: yellow, freshness: fresh, size: small', 'id': 'chips', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: yellow, size: small, condition: used', 'id': 'banana_peel', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, plastic, color: clear, size: standard, condition: used', 'id': 'plastic_bottle', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, carton, color: white, size: standard, condition: new', 'id': 'milk_carton', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: orange, size: small, condition: used', 'id': 'orange_peel', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: brown, size: small, condition: used', 'id': 'apple_core', 'parent': 'recycling_bin', 'room': 'kitchen'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'kitchen↔fridge', 'kitchen↔cabinet', 'kitchen↔kitchen_bench', 'kitchen↔dishwasher', 'kitchen↔drawer', 'kitchen↔microwave', 'kitchen↔rubbish_bin', 'kitchen↔recycling_bin', 'mobile_robotics_lab↔agent', 'fridge↔tomato', 'fridge↔cheese', 'fridge↔banana2', 'fridge↔J64M', 'fridge↔chicken_kebab', 'fridge↔noodles', 'fridge↔salmon_bagel', 'fridge↔greek_salad', 'fridge↔carrot', 'kitchen_bench↔butter', 'kitchen_bench↔bread', 'kitchen_bench↔orange1', 'kitchen_bench↔kale_leaves2', 'dishwasher↔bowl', 'dishwasher↔plate2', 'dishwasher↔spoon', 'dishwasher↔chips', 'rubbish_bin↔banana_peel', 'rubbish_bin↔plastic_bottle', 'recycling_bin↔milk_carton', 'recycling_bin↔orange_peel', 'recycling_bin↔apple_core']}
|
[goto(kitchen), open(fridge), access(fridge), pickup(chicken_kebab), open(microwave), access(microwave), release(chicken_kebab), close(microwave), turn_on(microwave), open(microwave), access(microwave), pickup(chicken_kebab), access(kitchen_bench), release(chicken_kebab), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"kitchen↔fridge",
"kitchen↔cabinet",
"kitchen↔kitchen_bench",
"kitchen↔dishwasher",
"kitchen↔drawer",
"kitchen↔microwave",
"kitchen↔rubbish_bin",
"kitchen↔recycling_bin",
"mobile_robotics_lab↔agent",
"fridge↔tomato",
"fridge↔cheese",
"fridge↔banana2",
"fridge↔J64M",
"fridge↔chicken_kebab",
"fridge↔noodles",
"fridge↔salmon_bagel",
"fridge↔greek_salad",
"fridge↔carrot",
"kitchen_bench↔butter",
"kitchen_bench↔bread",
"kitchen_bench↔orange1",
"kitchen_bench↔kale_leaves2",
"dishwasher↔bowl",
"dishwasher↔plate2",
"dishwasher↔spoon",
"dishwasher↔chips",
"rubbish_bin↔banana_peel",
"rubbish_bin↔plastic_bottle",
"recycling_bin↔milk_carton",
"recycling_bin↔orange_peel",
"recycling_bin↔apple_core"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"open",
"close",
"access"
],
"attributes": "closed",
"id": "fridge",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "cabinet",
"room": "kitchen"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"access",
"turn_on",
"turn_off",
"open",
"close"
],
"attributes": "closed",
"id": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "drawer",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "microwave",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "recycling_bin",
"room": "kitchen"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: red, freshness: fresh, size: medium",
"id": "tomato",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, dairy, color: yellow, freshness: fresh, size: medium",
"id": "cheese",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: yellow, freshness: fresh, size: medium",
"id": "banana2",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: green, freshness: fresh, size: medium",
"id": "J64M",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, meat, color: brown, freshness: fresh, size: medium",
"id": "chicken_kebab",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, grain, color: yellow, freshness: fresh, size: medium",
"id": "noodles",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, sandwich, color: pink, freshness: fresh, size: medium",
"id": "salmon_bagel",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, salad, color: green, freshness: fresh, size: medium",
"id": "greek_salad",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: orange, freshness: fresh, size: medium",
"id": "carrot",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, spread, color: yellow, freshness: fresh, size: small",
"id": "butter",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, bread, color: brown, freshness: fresh, size: medium",
"id": "bread",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: orange, freshness: fresh, size: medium",
"id": "orange1",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: green, freshness: fresh, size: small",
"id": "kale_leaves2",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "bowl",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "plate2",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "spoon",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "snack, food, color: yellow, freshness: fresh, size: small",
"id": "chips",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: yellow, size: small, condition: used",
"id": "banana_peel",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, plastic, color: clear, size: standard, condition: used",
"id": "plastic_bottle",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, carton, color: white, size: standard, condition: new",
"id": "milk_carton",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: orange, size: small, condition: used",
"id": "orange_peel",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: brown, size: small, condition: used",
"id": "apple_core",
"parent": "recycling_bin",
"room": "kitchen"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Something is smelling in the kitchen. Dispose of it.
|
task_Office_simple_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Something is smelling in the kitchen. Dispose of it. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'kitchen', 'attributes': 'closed', 'affordances': ['open', 'close', 'access'], 'id': 'fridge'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'cabinet'}, {'room': 'kitchen', 'attributes': 'clean', 'affordances': ['access'], 'id': 'kitchen_bench'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'turn_on', 'turn_off', 'open', 'close'], 'id': 'dishwasher'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'drawer'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'microwave'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'rubbish_bin'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'recycling_bin'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: red, freshness: fresh, size: medium', 'id': 'tomato', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, dairy, color: yellow, freshness: fresh, size: medium', 'id': 'cheese', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: yellow, freshness: fresh, size: medium', 'id': 'banana2', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: green, freshness: fresh, size: medium', 'id': 'J64M', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, meat, color: brown, freshness: fresh, size: medium', 'id': 'chicken_kebab', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, grain, color: yellow, freshness: fresh, size: medium', 'id': 'noodles', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, sandwich, color: pink, freshness: fresh, size: medium', 'id': 'salmon_bagel', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, salad, color: green, freshness: fresh, size: medium', 'id': 'greek_salad', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: orange, freshness: fresh, size: medium', 'id': 'carrot', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, spread, color: yellow, freshness: fresh, size: small', 'id': 'butter', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, bread, color: brown, freshness: fresh, size: medium', 'id': 'bread', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: orange, freshness: fresh, size: medium', 'id': 'orange1', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: green, freshness: fresh, size: small', 'id': 'kale_leaves2', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'bowl', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'plate2', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'spoon', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'snack, food, color: yellow, freshness: fresh, size: small', 'id': 'chips', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: yellow, size: small, condition: used', 'id': 'banana_peel', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, plastic, color: clear, size: standard, condition: used', 'id': 'plastic_bottle', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, carton, color: white, size: standard, condition: new', 'id': 'milk_carton', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: orange, size: small, condition: used', 'id': 'orange_peel', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: brown, size: small, condition: used', 'id': 'apple_core', 'parent': 'recycling_bin', 'room': 'kitchen'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'kitchen↔fridge', 'kitchen↔cabinet', 'kitchen↔kitchen_bench', 'kitchen↔dishwasher', 'kitchen↔drawer', 'kitchen↔microwave', 'kitchen↔rubbish_bin', 'kitchen↔recycling_bin', 'mobile_robotics_lab↔agent', 'fridge↔tomato', 'fridge↔cheese', 'fridge↔banana2', 'fridge↔J64M', 'fridge↔chicken_kebab', 'fridge↔noodles', 'fridge↔salmon_bagel', 'fridge↔greek_salad', 'fridge↔carrot', 'kitchen_bench↔butter', 'kitchen_bench↔bread', 'kitchen_bench↔orange1', 'kitchen_bench↔kale_leaves2', 'dishwasher↔bowl', 'dishwasher↔plate2', 'dishwasher↔spoon', 'dishwasher↔chips', 'rubbish_bin↔banana_peel', 'rubbish_bin↔plastic_bottle', 'recycling_bin↔milk_carton', 'recycling_bin↔orange_peel', 'recycling_bin↔apple_core']}
|
[goto(kitchen), access(recycling_bin), pickup(milk_carton), access(rubbish_bin), open(rubbish_bin), release(milk_carton), close(rubbish_bin), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"mobile_robotics_lab↔table4",
"kitchen↔fridge",
"kitchen↔cabinet",
"kitchen↔kitchen_bench",
"kitchen↔dishwasher",
"kitchen↔drawer",
"kitchen↔microwave",
"kitchen↔rubbish_bin",
"kitchen↔recycling_bin",
"mobile_robotics_lab↔agent",
"table4↔book2",
"fridge↔tomato",
"fridge↔cheese",
"fridge↔banana2",
"fridge↔J64M",
"fridge↔chicken_kebab",
"fridge↔noodles",
"fridge↔salmon_bagel",
"fridge↔greek_salad",
"fridge↔carrot",
"kitchen_bench↔butter",
"kitchen_bench↔bread",
"kitchen_bench↔orange1",
"kitchen_bench↔kale_leaves2",
"dishwasher↔bowl",
"dishwasher↔plate2",
"dishwasher↔spoon",
"dishwasher↔chips",
"rubbish_bin↔banana_peel",
"rubbish_bin↔plastic_bottle",
"recycling_bin↔milk_carton",
"recycling_bin↔orange_peel",
"recycling_bin↔apple_core"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "table4",
"room": "mobile_robotics_lab"
},
{
"affordances": [
"open",
"close",
"access"
],
"attributes": "closed",
"id": "fridge",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "cabinet",
"room": "kitchen"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"access",
"turn_on",
"turn_off",
"open",
"close"
],
"attributes": "closed",
"id": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "drawer",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "microwave",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "recycling_bin",
"room": "kitchen"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "book, reading, color: blue, size: standard, condition: new",
"id": "book2",
"parent": "table4",
"room": "mobile_robotics_lab"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: red, freshness: fresh, size: medium",
"id": "tomato",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, dairy, color: yellow, freshness: fresh, size: medium",
"id": "cheese",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: yellow, freshness: fresh, size: medium",
"id": "banana2",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: green, freshness: fresh, size: medium",
"id": "J64M",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, meat, color: brown, freshness: fresh, size: medium",
"id": "chicken_kebab",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, grain, color: yellow, freshness: fresh, size: medium",
"id": "noodles",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, sandwich, color: pink, freshness: fresh, size: medium",
"id": "salmon_bagel",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, salad, color: green, freshness: fresh, size: medium",
"id": "greek_salad",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: orange, freshness: fresh, size: medium",
"id": "carrot",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, spread, color: yellow, freshness: fresh, size: small",
"id": "butter",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, bread, color: brown, freshness: fresh, size: medium",
"id": "bread",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: orange, freshness: fresh, size: medium",
"id": "orange1",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: green, freshness: fresh, size: small",
"id": "kale_leaves2",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "bowl",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "plate2",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "spoon",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "snack, food, color: yellow, freshness: fresh, size: small",
"id": "chips",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: yellow, size: small, condition: used",
"id": "banana_peel",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, plastic, color: clear, size: standard, condition: used",
"id": "plastic_bottle",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, carton, color: white, size: standard, condition: new",
"id": "milk_carton",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: orange, size: small, condition: used",
"id": "orange_peel",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: brown, size: small, condition: used",
"id": "apple_core",
"parent": "recycling_bin",
"room": "kitchen"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Throw what the agent is holding in the bin.
|
task_Office_simple_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Throw what the agent is holding in the bin. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'mobile_robotics_lab', 'attributes': 'clean', 'affordances': ['access'], 'id': 'table4'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['open', 'close', 'access'], 'id': 'fridge'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'cabinet'}, {'room': 'kitchen', 'attributes': 'clean', 'affordances': ['access'], 'id': 'kitchen_bench'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'turn_on', 'turn_off', 'open', 'close'], 'id': 'dishwasher'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'drawer'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'microwave'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'rubbish_bin'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'recycling_bin'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'book, reading, color: blue, size: standard, condition: new', 'id': 'book2', 'parent': 'table4', 'room': 'mobile_robotics_lab'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: red, freshness: fresh, size: medium', 'id': 'tomato', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, dairy, color: yellow, freshness: fresh, size: medium', 'id': 'cheese', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: yellow, freshness: fresh, size: medium', 'id': 'banana2', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: green, freshness: fresh, size: medium', 'id': 'J64M', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, meat, color: brown, freshness: fresh, size: medium', 'id': 'chicken_kebab', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, grain, color: yellow, freshness: fresh, size: medium', 'id': 'noodles', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, sandwich, color: pink, freshness: fresh, size: medium', 'id': 'salmon_bagel', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, salad, color: green, freshness: fresh, size: medium', 'id': 'greek_salad', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: orange, freshness: fresh, size: medium', 'id': 'carrot', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, spread, color: yellow, freshness: fresh, size: small', 'id': 'butter', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, bread, color: brown, freshness: fresh, size: medium', 'id': 'bread', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: orange, freshness: fresh, size: medium', 'id': 'orange1', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: green, freshness: fresh, size: small', 'id': 'kale_leaves2', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'bowl', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'plate2', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'spoon', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'snack, food, color: yellow, freshness: fresh, size: small', 'id': 'chips', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: yellow, size: small, condition: used', 'id': 'banana_peel', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, plastic, color: clear, size: standard, condition: used', 'id': 'plastic_bottle', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, carton, color: white, size: standard, condition: new', 'id': 'milk_carton', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: orange, size: small, condition: used', 'id': 'orange_peel', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: brown, size: small, condition: used', 'id': 'apple_core', 'parent': 'recycling_bin', 'room': 'kitchen'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'mobile_robotics_lab↔table4', 'kitchen↔fridge', 'kitchen↔cabinet', 'kitchen↔kitchen_bench', 'kitchen↔dishwasher', 'kitchen↔drawer', 'kitchen↔microwave', 'kitchen↔rubbish_bin', 'kitchen↔recycling_bin', 'mobile_robotics_lab↔agent', 'table4↔book2', 'fridge↔tomato', 'fridge↔cheese', 'fridge↔banana2', 'fridge↔J64M', 'fridge↔chicken_kebab', 'fridge↔noodles', 'fridge↔salmon_bagel', 'fridge↔greek_salad', 'fridge↔carrot', 'kitchen_bench↔butter', 'kitchen_bench↔bread', 'kitchen_bench↔orange1', 'kitchen_bench↔kale_leaves2', 'dishwasher↔bowl', 'dishwasher↔plate2', 'dishwasher↔spoon', 'dishwasher↔chips', 'rubbish_bin↔banana_peel', 'rubbish_bin↔plastic_bottle', 'recycling_bin↔milk_carton', 'recycling_bin↔orange_peel', 'recycling_bin↔apple_core']}
|
[goto(kitchen), open(rubbish_bin), access(rubbish_bin), release(held_object), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"kitchen↔fridge",
"kitchen↔cabinet",
"kitchen↔kitchen_bench",
"kitchen↔dishwasher",
"kitchen↔drawer",
"kitchen↔microwave",
"kitchen↔rubbish_bin",
"kitchen↔recycling_bin",
"cafeteria↔lunch_table",
"mobile_robotics_lab↔agent",
"fridge↔tomato",
"fridge↔cheese",
"fridge↔banana2",
"fridge↔J64M",
"fridge↔chicken_kebab",
"fridge↔noodles",
"fridge↔salmon_bagel",
"fridge↔greek_salad",
"fridge↔carrot",
"kitchen_bench↔butter",
"kitchen_bench↔bread",
"kitchen_bench↔orange1",
"kitchen_bench↔kale_leaves2",
"dishwasher↔bowl",
"dishwasher↔plate2",
"dishwasher↔spoon",
"dishwasher↔chips",
"rubbish_bin↔banana_peel",
"rubbish_bin↔plastic_bottle",
"recycling_bin↔milk_carton",
"recycling_bin↔orange_peel",
"recycling_bin↔apple_core",
"lunch_table↔banana1",
"lunch_table↔fork",
"lunch_table↔knife",
"lunch_table↔plate"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"open",
"close",
"access"
],
"attributes": "closed",
"id": "fridge",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "cabinet",
"room": "kitchen"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"access",
"turn_on",
"turn_off",
"open",
"close"
],
"attributes": "closed",
"id": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "drawer",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "microwave",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "lunch_table",
"room": "cafeteria"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: red, freshness: fresh, size: medium",
"id": "tomato",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, dairy, color: yellow, freshness: fresh, size: medium",
"id": "cheese",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: yellow, freshness: fresh, size: medium",
"id": "banana2",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: green, freshness: fresh, size: medium",
"id": "J64M",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, meat, color: brown, freshness: fresh, size: medium",
"id": "chicken_kebab",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, grain, color: yellow, freshness: fresh, size: medium",
"id": "noodles",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, sandwich, color: pink, freshness: fresh, size: medium",
"id": "salmon_bagel",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, salad, color: green, freshness: fresh, size: medium",
"id": "greek_salad",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: orange, freshness: fresh, size: medium",
"id": "carrot",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, spread, color: yellow, freshness: fresh, size: small",
"id": "butter",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, bread, color: brown, freshness: fresh, size: medium",
"id": "bread",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: orange, freshness: fresh, size: medium",
"id": "orange1",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: green, freshness: fresh, size: small",
"id": "kale_leaves2",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "bowl",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "plate2",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "spoon",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "snack, food, color: yellow, freshness: fresh, size: small",
"id": "chips",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: yellow, size: small, condition: used",
"id": "banana_peel",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, plastic, color: clear, size: standard, condition: used",
"id": "plastic_bottle",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, carton, color: white, size: standard, condition: new",
"id": "milk_carton",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: orange, size: small, condition: used",
"id": "orange_peel",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: brown, size: small, condition: used",
"id": "apple_core",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: yellow, freshness: fresh, size: medium",
"id": "banana1",
"parent": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "fork",
"parent": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "knife",
"parent": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "plate",
"parent": "lunch_table",
"room": "cafeteria"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Heat up the noodles in the fridge, and place it somewhere where I can enjoy it.
|
task_Office_long_horizon_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Heat up the noodles in the fridge, and place it somewhere where I can enjoy it. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'kitchen', 'attributes': 'closed', 'affordances': ['open', 'close', 'access'], 'id': 'fridge'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'cabinet'}, {'room': 'kitchen', 'attributes': 'clean', 'affordances': ['access'], 'id': 'kitchen_bench'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'turn_on', 'turn_off', 'open', 'close'], 'id': 'dishwasher'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'drawer'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'microwave'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'rubbish_bin'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'recycling_bin'}, {'room': 'cafeteria', 'attributes': 'clean', 'affordances': ['access'], 'id': 'lunch_table'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: red, freshness: fresh, size: medium', 'id': 'tomato', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, dairy, color: yellow, freshness: fresh, size: medium', 'id': 'cheese', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: yellow, freshness: fresh, size: medium', 'id': 'banana2', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: green, freshness: fresh, size: medium', 'id': 'J64M', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, meat, color: brown, freshness: fresh, size: medium', 'id': 'chicken_kebab', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, grain, color: yellow, freshness: fresh, size: medium', 'id': 'noodles', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, sandwich, color: pink, freshness: fresh, size: medium', 'id': 'salmon_bagel', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, salad, color: green, freshness: fresh, size: medium', 'id': 'greek_salad', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: orange, freshness: fresh, size: medium', 'id': 'carrot', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, spread, color: yellow, freshness: fresh, size: small', 'id': 'butter', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, bread, color: brown, freshness: fresh, size: medium', 'id': 'bread', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: orange, freshness: fresh, size: medium', 'id': 'orange1', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: green, freshness: fresh, size: small', 'id': 'kale_leaves2', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'bowl', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'plate2', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'spoon', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'snack, food, color: yellow, freshness: fresh, size: small', 'id': 'chips', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: yellow, size: small, condition: used', 'id': 'banana_peel', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, plastic, color: clear, size: standard, condition: used', 'id': 'plastic_bottle', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, carton, color: white, size: standard, condition: new', 'id': 'milk_carton', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: orange, size: small, condition: used', 'id': 'orange_peel', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: brown, size: small, condition: used', 'id': 'apple_core', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: yellow, freshness: fresh, size: medium', 'id': 'banana1', 'parent': 'lunch_table', 'room': 'cafeteria'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'fork', 'parent': 'lunch_table', 'room': 'cafeteria'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'knife', 'parent': 'lunch_table', 'room': 'cafeteria'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'plate', 'parent': 'lunch_table', 'room': 'cafeteria'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'kitchen↔fridge', 'kitchen↔cabinet', 'kitchen↔kitchen_bench', 'kitchen↔dishwasher', 'kitchen↔drawer', 'kitchen↔microwave', 'kitchen↔rubbish_bin', 'kitchen↔recycling_bin', 'cafeteria↔lunch_table', 'mobile_robotics_lab↔agent', 'fridge↔tomato', 'fridge↔cheese', 'fridge↔banana2', 'fridge↔J64M', 'fridge↔chicken_kebab', 'fridge↔noodles', 'fridge↔salmon_bagel', 'fridge↔greek_salad', 'fridge↔carrot', 'kitchen_bench↔butter', 'kitchen_bench↔bread', 'kitchen_bench↔orange1', 'kitchen_bench↔kale_leaves2', 'dishwasher↔bowl', 'dishwasher↔plate2', 'dishwasher↔spoon', 'dishwasher↔chips', 'rubbish_bin↔banana_peel', 'rubbish_bin↔plastic_bottle', 'recycling_bin↔milk_carton', 'recycling_bin↔orange_peel', 'recycling_bin↔apple_core', 'lunch_table↔banana1', 'lunch_table↔fork', 'lunch_table↔knife', 'lunch_table↔plate']}
|
[goto(kitchen), access(fridge), open(fridge), pickup(noodles), access(microwave), open(microwave), release(noodles), close(microwave), turn_on(microwave), open(microwave), pickup(noodles), goto(cafeteria), access(lunch_table), release(noodles), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"kitchen↔fridge",
"kitchen↔cabinet",
"kitchen↔kitchen_bench",
"kitchen↔dishwasher",
"kitchen↔drawer",
"kitchen↔microwave",
"kitchen↔rubbish_bin",
"kitchen↔recycling_bin",
"dimitys_office↔desk3",
"dimitys_office↔cabinet3",
"mobile_robotics_lab↔agent",
"desk3↔K31X",
"desk3↔buzzer",
"cabinet3↔apple2",
"fridge↔tomato",
"fridge↔cheese",
"fridge↔banana2",
"fridge↔J64M",
"fridge↔chicken_kebab",
"fridge↔noodles",
"fridge↔salmon_bagel",
"fridge↔greek_salad",
"fridge↔carrot",
"kitchen_bench↔butter",
"kitchen_bench↔bread",
"kitchen_bench↔orange1",
"kitchen_bench↔kale_leaves2",
"dishwasher↔bowl",
"dishwasher↔plate2",
"dishwasher↔spoon",
"dishwasher↔chips",
"rubbish_bin↔banana_peel",
"rubbish_bin↔plastic_bottle",
"recycling_bin↔milk_carton",
"recycling_bin↔orange_peel",
"recycling_bin↔apple_core"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"sit_at",
"work_at",
"access"
],
"attributes": "clean",
"id": "desk3",
"room": "dimitys_office"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cabinet3",
"room": "dimitys_office"
},
{
"affordances": [
"open",
"close",
"access"
],
"attributes": "closed",
"id": "fridge",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "cabinet",
"room": "kitchen"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"access",
"turn_on",
"turn_off",
"open",
"close"
],
"attributes": "closed",
"id": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "drawer",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "microwave",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "recycling_bin",
"room": "kitchen"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "electronic, portable, color: silver, size: compact, condition: new",
"id": "K31X",
"parent": "desk3",
"room": "dimitys_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "electronic, alert, color: black, size: standard, condition: new",
"id": "buzzer",
"parent": "desk3",
"room": "dimitys_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: red, freshness: fresh, size: medium",
"id": "apple2",
"parent": "cabinet3",
"room": "dimitys_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: red, freshness: fresh, size: medium",
"id": "tomato",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, dairy, color: yellow, freshness: fresh, size: medium",
"id": "cheese",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: yellow, freshness: fresh, size: medium",
"id": "banana2",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: green, freshness: fresh, size: medium",
"id": "J64M",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, meat, color: brown, freshness: fresh, size: medium",
"id": "chicken_kebab",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, grain, color: yellow, freshness: fresh, size: medium",
"id": "noodles",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, sandwich, color: pink, freshness: fresh, size: medium",
"id": "salmon_bagel",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, salad, color: green, freshness: fresh, size: medium",
"id": "greek_salad",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: orange, freshness: fresh, size: medium",
"id": "carrot",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, spread, color: yellow, freshness: fresh, size: small",
"id": "butter",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, bread, color: brown, freshness: fresh, size: medium",
"id": "bread",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: orange, freshness: fresh, size: medium",
"id": "orange1",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: green, freshness: fresh, size: small",
"id": "kale_leaves2",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "bowl",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "plate2",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "spoon",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "snack, food, color: yellow, freshness: fresh, size: small",
"id": "chips",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: yellow, size: small, condition: used",
"id": "banana_peel",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, plastic, color: clear, size: standard, condition: used",
"id": "plastic_bottle",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, carton, color: white, size: standard, condition: new",
"id": "milk_carton",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: orange, size: small, condition: used",
"id": "orange_peel",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: brown, size: small, condition: used",
"id": "apple_core",
"parent": "recycling_bin",
"room": "kitchen"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Throw the rotting fruit in Dimity's office in the correct bin.
|
task_Office_long_horizon_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Throw the rotting fruit in Dimity's office in the correct bin. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'dimitys_office', 'attributes': 'clean', 'affordances': ['sit_at', 'work_at', 'access'], 'id': 'desk3'}, {'room': 'dimitys_office', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cabinet3'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['open', 'close', 'access'], 'id': 'fridge'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'cabinet'}, {'room': 'kitchen', 'attributes': 'clean', 'affordances': ['access'], 'id': 'kitchen_bench'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'turn_on', 'turn_off', 'open', 'close'], 'id': 'dishwasher'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'drawer'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'microwave'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'rubbish_bin'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'recycling_bin'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'electronic, portable, color: silver, size: compact, condition: new', 'id': 'K31X', 'parent': 'desk3', 'room': 'dimitys_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'electronic, alert, color: black, size: standard, condition: new', 'id': 'buzzer', 'parent': 'desk3', 'room': 'dimitys_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: red, freshness: fresh, size: medium', 'id': 'apple2', 'parent': 'cabinet3', 'room': 'dimitys_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: red, freshness: fresh, size: medium', 'id': 'tomato', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, dairy, color: yellow, freshness: fresh, size: medium', 'id': 'cheese', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: yellow, freshness: fresh, size: medium', 'id': 'banana2', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: green, freshness: fresh, size: medium', 'id': 'J64M', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, meat, color: brown, freshness: fresh, size: medium', 'id': 'chicken_kebab', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, grain, color: yellow, freshness: fresh, size: medium', 'id': 'noodles', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, sandwich, color: pink, freshness: fresh, size: medium', 'id': 'salmon_bagel', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, salad, color: green, freshness: fresh, size: medium', 'id': 'greek_salad', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: orange, freshness: fresh, size: medium', 'id': 'carrot', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, spread, color: yellow, freshness: fresh, size: small', 'id': 'butter', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, bread, color: brown, freshness: fresh, size: medium', 'id': 'bread', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: orange, freshness: fresh, size: medium', 'id': 'orange1', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: green, freshness: fresh, size: small', 'id': 'kale_leaves2', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'bowl', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'plate2', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'spoon', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'snack, food, color: yellow, freshness: fresh, size: small', 'id': 'chips', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: yellow, size: small, condition: used', 'id': 'banana_peel', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, plastic, color: clear, size: standard, condition: used', 'id': 'plastic_bottle', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, carton, color: white, size: standard, condition: new', 'id': 'milk_carton', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: orange, size: small, condition: used', 'id': 'orange_peel', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: brown, size: small, condition: used', 'id': 'apple_core', 'parent': 'recycling_bin', 'room': 'kitchen'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'kitchen↔fridge', 'kitchen↔cabinet', 'kitchen↔kitchen_bench', 'kitchen↔dishwasher', 'kitchen↔drawer', 'kitchen↔microwave', 'kitchen↔rubbish_bin', 'kitchen↔recycling_bin', 'dimitys_office↔desk3', 'dimitys_office↔cabinet3', 'mobile_robotics_lab↔agent', 'desk3↔K31X', 'desk3↔buzzer', 'cabinet3↔apple2', 'fridge↔tomato', 'fridge↔cheese', 'fridge↔banana2', 'fridge↔J64M', 'fridge↔chicken_kebab', 'fridge↔noodles', 'fridge↔salmon_bagel', 'fridge↔greek_salad', 'fridge↔carrot', 'kitchen_bench↔butter', 'kitchen_bench↔bread', 'kitchen_bench↔orange1', 'kitchen_bench↔kale_leaves2', 'dishwasher↔bowl', 'dishwasher↔plate2', 'dishwasher↔spoon', 'dishwasher↔chips', 'rubbish_bin↔banana_peel', 'rubbish_bin↔plastic_bottle', 'recycling_bin↔milk_carton', 'recycling_bin↔orange_peel', 'recycling_bin↔apple_core']}
|
[goto(dimitys_office), open(cabinet3), access(cabinet3), pickup(apple2), goto(kitchen), open(recycling_bin), access(rubbish_bin), release(apple2), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"kitchen↔fridge",
"kitchen↔cabinet",
"kitchen↔kitchen_bench",
"kitchen↔dishwasher",
"kitchen↔drawer",
"kitchen↔microwave",
"kitchen↔rubbish_bin",
"kitchen↔recycling_bin",
"cafeteria↔lunch_table",
"mobile_robotics_lab↔agent",
"fridge↔tomato",
"fridge↔cheese",
"fridge↔banana2",
"fridge↔J64M",
"fridge↔chicken_kebab",
"fridge↔noodles",
"fridge↔salmon_bagel",
"fridge↔greek_salad",
"fridge↔carrot",
"kitchen_bench↔butter",
"kitchen_bench↔bread",
"kitchen_bench↔orange1",
"kitchen_bench↔kale_leaves2",
"dishwasher↔bowl",
"dishwasher↔plate2",
"dishwasher↔spoon",
"dishwasher↔chips",
"rubbish_bin↔banana_peel",
"rubbish_bin↔plastic_bottle",
"recycling_bin↔milk_carton",
"recycling_bin↔orange_peel",
"recycling_bin↔apple_core",
"lunch_table↔banana1",
"lunch_table↔fork",
"lunch_table↔knife",
"lunch_table↔plate"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"open",
"close",
"access"
],
"attributes": "closed",
"id": "fridge",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "cabinet",
"room": "kitchen"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"access",
"turn_on",
"turn_off",
"open",
"close"
],
"attributes": "closed",
"id": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "drawer",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "microwave",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "lunch_table",
"room": "cafeteria"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: red, freshness: fresh, size: medium",
"id": "tomato",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, dairy, color: yellow, freshness: fresh, size: medium",
"id": "cheese",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: yellow, freshness: fresh, size: medium",
"id": "banana2",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: green, freshness: fresh, size: medium",
"id": "J64M",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, meat, color: brown, freshness: fresh, size: medium",
"id": "chicken_kebab",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, grain, color: yellow, freshness: fresh, size: medium",
"id": "noodles",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, sandwich, color: pink, freshness: fresh, size: medium",
"id": "salmon_bagel",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, salad, color: green, freshness: fresh, size: medium",
"id": "greek_salad",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: orange, freshness: fresh, size: medium",
"id": "carrot",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, spread, color: yellow, freshness: fresh, size: small",
"id": "butter",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, bread, color: brown, freshness: fresh, size: medium",
"id": "bread",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: orange, freshness: fresh, size: medium",
"id": "orange1",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: green, freshness: fresh, size: small",
"id": "kale_leaves2",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "bowl",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "plate2",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "spoon",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "snack, food, color: yellow, freshness: fresh, size: small",
"id": "chips",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: yellow, size: small, condition: used",
"id": "banana_peel",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, plastic, color: clear, size: standard, condition: used",
"id": "plastic_bottle",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, carton, color: white, size: standard, condition: new",
"id": "milk_carton",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: orange, size: small, condition: used",
"id": "orange_peel",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: brown, size: small, condition: used",
"id": "apple_core",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: yellow, freshness: fresh, size: medium",
"id": "banana1",
"parent": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "fork",
"parent": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "knife",
"parent": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "plate",
"parent": "lunch_table",
"room": "cafeteria"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Wash all the dishes on the lunch table. Once finished, place all the clean cutlery in the drawer.
|
task_Office_long_horizon_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Wash all the dishes on the lunch table. Once finished, place all the clean cutlery in the drawer. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'kitchen', 'attributes': 'closed', 'affordances': ['open', 'close', 'access'], 'id': 'fridge'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'cabinet'}, {'room': 'kitchen', 'attributes': 'clean', 'affordances': ['access'], 'id': 'kitchen_bench'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'turn_on', 'turn_off', 'open', 'close'], 'id': 'dishwasher'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'drawer'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'microwave'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'rubbish_bin'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'recycling_bin'}, {'room': 'cafeteria', 'attributes': 'clean', 'affordances': ['access'], 'id': 'lunch_table'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: red, freshness: fresh, size: medium', 'id': 'tomato', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, dairy, color: yellow, freshness: fresh, size: medium', 'id': 'cheese', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: yellow, freshness: fresh, size: medium', 'id': 'banana2', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: green, freshness: fresh, size: medium', 'id': 'J64M', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, meat, color: brown, freshness: fresh, size: medium', 'id': 'chicken_kebab', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, grain, color: yellow, freshness: fresh, size: medium', 'id': 'noodles', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, sandwich, color: pink, freshness: fresh, size: medium', 'id': 'salmon_bagel', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, salad, color: green, freshness: fresh, size: medium', 'id': 'greek_salad', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: orange, freshness: fresh, size: medium', 'id': 'carrot', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, spread, color: yellow, freshness: fresh, size: small', 'id': 'butter', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, bread, color: brown, freshness: fresh, size: medium', 'id': 'bread', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: orange, freshness: fresh, size: medium', 'id': 'orange1', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: green, freshness: fresh, size: small', 'id': 'kale_leaves2', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'bowl', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'plate2', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'spoon', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'snack, food, color: yellow, freshness: fresh, size: small', 'id': 'chips', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: yellow, size: small, condition: used', 'id': 'banana_peel', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, plastic, color: clear, size: standard, condition: used', 'id': 'plastic_bottle', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, carton, color: white, size: standard, condition: new', 'id': 'milk_carton', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: orange, size: small, condition: used', 'id': 'orange_peel', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: brown, size: small, condition: used', 'id': 'apple_core', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: yellow, freshness: fresh, size: medium', 'id': 'banana1', 'parent': 'lunch_table', 'room': 'cafeteria'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'fork', 'parent': 'lunch_table', 'room': 'cafeteria'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'knife', 'parent': 'lunch_table', 'room': 'cafeteria'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'plate', 'parent': 'lunch_table', 'room': 'cafeteria'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'kitchen↔fridge', 'kitchen↔cabinet', 'kitchen↔kitchen_bench', 'kitchen↔dishwasher', 'kitchen↔drawer', 'kitchen↔microwave', 'kitchen↔rubbish_bin', 'kitchen↔recycling_bin', 'cafeteria↔lunch_table', 'mobile_robotics_lab↔agent', 'fridge↔tomato', 'fridge↔cheese', 'fridge↔banana2', 'fridge↔J64M', 'fridge↔chicken_kebab', 'fridge↔noodles', 'fridge↔salmon_bagel', 'fridge↔greek_salad', 'fridge↔carrot', 'kitchen_bench↔butter', 'kitchen_bench↔bread', 'kitchen_bench↔orange1', 'kitchen_bench↔kale_leaves2', 'dishwasher↔bowl', 'dishwasher↔plate2', 'dishwasher↔spoon', 'dishwasher↔chips', 'rubbish_bin↔banana_peel', 'rubbish_bin↔plastic_bottle', 'recycling_bin↔milk_carton', 'recycling_bin↔orange_peel', 'recycling_bin↔apple_core', 'lunch_table↔banana1', 'lunch_table↔fork', 'lunch_table↔knife', 'lunch_table↔plate']}
|
[goto(kitchen), access(dishwasher), open(dishwasher), pickup(bowl), access(kitchen_bench), release(bowl), access(dishwasher), pickup(plate2), access(kitchen_bench), release(plate2), access(dishwasher), pickup(spoon), access(kitchen_bench), release(spoon), access(dishwasher), pickup(chips), access(kitchen_bench), release(chips), goto(cafeteria), access(lunch_table), pickup(fork), goto(kitchen), access(dishwasher), release(fork), goto(cafeteria), access(lunch_table), pickup(knife), goto(kitchen), access(dishwasher), release(knife), goto(cafeteria), access(lunch_table),pickup(plate), goto(kitchen), access(dishwasher), release(plate), close(dishwasher), turn_on(dishwasher), turn_off(dishwasher), open(dishwasher), access(drawer), open(drawer), access(dishwasher), pickup(fork), access(drawer), release(fork), access(dishwasher), pickup(knife), access(drawer), release(knife), access(dishwasher), pickup(plate), access(drawer), release(plate),close(drawer), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"printing_zone2↔printer2",
"wills_office↔desk4",
"wills_office↔cabinet4",
"mobile_robotics_lab↔agent",
"cabinet4↔drone2",
"cabinet4↔apple1",
"cabinet4↔undergrad_thesis1",
"printer2↔document"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk4",
"room": "wills_office"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cabinet4",
"room": "wills_office"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "printer2",
"room": "printing_zone2"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "drone, electronic, color: white, size: standard, condition: new",
"id": "drone2",
"parent": "cabinet4",
"room": "wills_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: green, freshness: fresh, size: medium",
"id": "apple1",
"parent": "cabinet4",
"room": "wills_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "document, academic, color: white, size: A4, condition: new",
"id": "undergrad_thesis1",
"parent": "cabinet4",
"room": "wills_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "document, paper, color: white, size: A4, condition: new",
"id": "document",
"parent": "printer2",
"room": "printing_zone2"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Safely file away the freshly printed document in Will's office then place the undergraduate thesis on his desk.
|
task_Office_long_horizon_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Safely file away the freshly printed document in Will's office then place the undergraduate thesis on his desk. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'wills_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk4'}, {'room': 'wills_office', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cabinet4'}, {'room': 'printing_zone2', 'attributes': 'clean', 'affordances': ['access'], 'id': 'printer2'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'drone, electronic, color: white, size: standard, condition: new', 'id': 'drone2', 'parent': 'cabinet4', 'room': 'wills_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: green, freshness: fresh, size: medium', 'id': 'apple1', 'parent': 'cabinet4', 'room': 'wills_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'document, academic, color: white, size: A4, condition: new', 'id': 'undergrad_thesis1', 'parent': 'cabinet4', 'room': 'wills_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'document, paper, color: white, size: A4, condition: new', 'id': 'document', 'parent': 'printer2', 'room': 'printing_zone2'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'printing_zone2↔printer2', 'wills_office↔desk4', 'wills_office↔cabinet4', 'mobile_robotics_lab↔agent', 'cabinet4↔drone2', 'cabinet4↔apple1', 'cabinet4↔undergrad_thesis1', 'printer2↔document']}
|
[goto(printing_zone2), access(printer2), pickup(document), goto(wills_office), access(cabinet4), open(cabinet4), release(document), close(cabinet4), access(cabinet4), open(cabinet4), pickup(undergrad_thesis1), access(desk4), release(undergrad_thesis1), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"nikos_office↔desk1",
"nikos_office↔chair1",
"nikos_office↔cabinet1",
"kitchen↔fridge",
"kitchen↔cabinet",
"kitchen↔kitchen_bench",
"kitchen↔dishwasher",
"kitchen↔drawer",
"kitchen↔microwave",
"kitchen↔rubbish_bin",
"kitchen↔recycling_bin",
"mobile_robotics_lab↔agent",
"fridge↔tomato",
"fridge↔cheese",
"fridge↔banana2",
"fridge↔J64M",
"fridge↔chicken_kebab",
"fridge↔noodles",
"fridge↔salmon_bagel",
"fridge↔greek_salad",
"fridge↔carrot",
"kitchen_bench↔butter",
"kitchen_bench↔bread",
"kitchen_bench↔orange1",
"kitchen_bench↔kale_leaves2",
"dishwasher↔bowl",
"dishwasher↔plate2",
"dishwasher↔spoon",
"dishwasher↔chips",
"rubbish_bin↔banana_peel",
"rubbish_bin↔plastic_bottle",
"recycling_bin↔milk_carton",
"recycling_bin↔orange_peel",
"recycling_bin↔apple_core",
"desk1↔coffee_mug"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"open",
"close",
"access"
],
"attributes": "closed",
"id": "fridge",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "cabinet",
"room": "kitchen"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"access",
"turn_on",
"turn_off",
"open",
"close"
],
"attributes": "closed",
"id": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "drawer",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "microwave",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk1",
"room": "nikos_office"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "chair1",
"room": "nikos_office"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cabinet1",
"room": "nikos_office"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: red, freshness: fresh, size: medium",
"id": "tomato",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, dairy, color: yellow, freshness: fresh, size: medium",
"id": "cheese",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: yellow, freshness: fresh, size: medium",
"id": "banana2",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: green, freshness: fresh, size: medium",
"id": "J64M",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, meat, color: brown, freshness: fresh, size: medium",
"id": "chicken_kebab",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, grain, color: yellow, freshness: fresh, size: medium",
"id": "noodles",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, sandwich, color: pink, freshness: fresh, size: medium",
"id": "salmon_bagel",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, salad, color: green, freshness: fresh, size: medium",
"id": "greek_salad",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: orange, freshness: fresh, size: medium",
"id": "carrot",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, spread, color: yellow, freshness: fresh, size: small",
"id": "butter",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, bread, color: brown, freshness: fresh, size: medium",
"id": "bread",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: orange, freshness: fresh, size: medium",
"id": "orange1",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: green, freshness: fresh, size: small",
"id": "kale_leaves2",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "bowl",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "plate2",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "spoon",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "snack, food, color: yellow, freshness: fresh, size: small",
"id": "chips",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: yellow, size: small, condition: used",
"id": "banana_peel",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, plastic, color: clear, size: standard, condition: used",
"id": "plastic_bottle",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, carton, color: white, size: standard, condition: new",
"id": "milk_carton",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: orange, size: small, condition: used",
"id": "orange_peel",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: brown, size: small, condition: used",
"id": "apple_core",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "kitchenware, drinkware, color: white, size: standard, condition: new",
"id": "coffee_mug",
"parent": "desk1",
"room": "nikos_office"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Make Niko a coffee and place the mug on his desk.
|
task_Office_long_horizon_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Make Niko a coffee and place the mug on his desk. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'kitchen', 'attributes': 'closed', 'affordances': ['open', 'close', 'access'], 'id': 'fridge'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'cabinet'}, {'room': 'kitchen', 'attributes': 'clean', 'affordances': ['access'], 'id': 'kitchen_bench'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'turn_on', 'turn_off', 'open', 'close'], 'id': 'dishwasher'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'drawer'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'microwave'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'rubbish_bin'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'recycling_bin'}, {'room': 'nikos_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk1'}, {'room': 'nikos_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'chair1'}, {'room': 'nikos_office', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cabinet1'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: red, freshness: fresh, size: medium', 'id': 'tomato', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, dairy, color: yellow, freshness: fresh, size: medium', 'id': 'cheese', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: yellow, freshness: fresh, size: medium', 'id': 'banana2', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: green, freshness: fresh, size: medium', 'id': 'J64M', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, meat, color: brown, freshness: fresh, size: medium', 'id': 'chicken_kebab', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, grain, color: yellow, freshness: fresh, size: medium', 'id': 'noodles', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, sandwich, color: pink, freshness: fresh, size: medium', 'id': 'salmon_bagel', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, salad, color: green, freshness: fresh, size: medium', 'id': 'greek_salad', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: orange, freshness: fresh, size: medium', 'id': 'carrot', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, spread, color: yellow, freshness: fresh, size: small', 'id': 'butter', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, bread, color: brown, freshness: fresh, size: medium', 'id': 'bread', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: orange, freshness: fresh, size: medium', 'id': 'orange1', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: green, freshness: fresh, size: small', 'id': 'kale_leaves2', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'bowl', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'plate2', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'spoon', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'snack, food, color: yellow, freshness: fresh, size: small', 'id': 'chips', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: yellow, size: small, condition: used', 'id': 'banana_peel', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, plastic, color: clear, size: standard, condition: used', 'id': 'plastic_bottle', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, carton, color: white, size: standard, condition: new', 'id': 'milk_carton', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: orange, size: small, condition: used', 'id': 'orange_peel', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: brown, size: small, condition: used', 'id': 'apple_core', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'kitchenware, drinkware, color: white, size: standard, condition: new', 'id': 'coffee_mug', 'parent': 'desk1', 'room': 'nikos_office'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'nikos_office↔desk1', 'nikos_office↔chair1', 'nikos_office↔cabinet1', 'kitchen↔fridge', 'kitchen↔cabinet', 'kitchen↔kitchen_bench', 'kitchen↔dishwasher', 'kitchen↔drawer', 'kitchen↔microwave', 'kitchen↔rubbish_bin', 'kitchen↔recycling_bin', 'mobile_robotics_lab↔agent', 'fridge↔tomato', 'fridge↔cheese', 'fridge↔banana2', 'fridge↔J64M', 'fridge↔chicken_kebab', 'fridge↔noodles', 'fridge↔salmon_bagel', 'fridge↔greek_salad', 'fridge↔carrot', 'kitchen_bench↔butter', 'kitchen_bench↔bread', 'kitchen_bench↔orange1', 'kitchen_bench↔kale_leaves2', 'dishwasher↔bowl', 'dishwasher↔plate2', 'dishwasher↔spoon', 'dishwasher↔chips', 'rubbish_bin↔banana_peel', 'rubbish_bin↔plastic_bottle', 'recycling_bin↔milk_carton', 'recycling_bin↔orange_peel', 'recycling_bin↔apple_core', 'desk1↔coffee_mug']}
|
[goto(nikos_office), access(desk1), pickup(coffee_mug), goto(kitchen), access(coffee_machine), release(coffee_mug), turn_on(coffee_machine), turn_off(coffee_machine), pickup(coffee_mug), goto(nikos_office), access(desk1), release(coffee_mug), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"kitchen↔fridge",
"kitchen↔cabinet",
"kitchen↔kitchen_bench",
"kitchen↔dishwasher",
"kitchen↔drawer",
"kitchen↔microwave",
"kitchen↔rubbish_bin",
"kitchen↔recycling_bin",
"agriculture_lab↔produce_container",
"mobile_robotics_lab↔agent",
"fridge↔tomato",
"fridge↔cheese",
"fridge↔banana2",
"fridge↔J64M",
"fridge↔chicken_kebab",
"fridge↔noodles",
"fridge↔salmon_bagel",
"fridge↔greek_salad",
"fridge↔carrot",
"kitchen_bench↔butter",
"kitchen_bench↔bread",
"kitchen_bench↔orange1",
"kitchen_bench↔kale_leaves2",
"dishwasher↔bowl",
"dishwasher↔plate2",
"dishwasher↔spoon",
"dishwasher↔chips",
"rubbish_bin↔banana_peel",
"rubbish_bin↔plastic_bottle",
"recycling_bin↔milk_carton",
"recycling_bin↔orange_peel",
"recycling_bin↔apple_core",
"produce_container↔kale_leaves1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"open",
"close",
"access"
],
"attributes": "closed",
"id": "fridge",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "cabinet",
"room": "kitchen"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"access",
"turn_on",
"turn_off",
"open",
"close"
],
"attributes": "closed",
"id": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "drawer",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "microwave",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "produce_container",
"room": "agriculture_lab"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: red, freshness: fresh, size: medium",
"id": "tomato",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, dairy, color: yellow, freshness: fresh, size: medium",
"id": "cheese",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: yellow, freshness: fresh, size: medium",
"id": "banana2",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: green, freshness: fresh, size: medium",
"id": "J64M",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, meat, color: brown, freshness: fresh, size: medium",
"id": "chicken_kebab",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, grain, color: yellow, freshness: fresh, size: medium",
"id": "noodles",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, sandwich, color: pink, freshness: fresh, size: medium",
"id": "salmon_bagel",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, salad, color: green, freshness: fresh, size: medium",
"id": "greek_salad",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: orange, freshness: fresh, size: medium",
"id": "carrot",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, spread, color: yellow, freshness: fresh, size: small",
"id": "butter",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, bread, color: brown, freshness: fresh, size: medium",
"id": "bread",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: orange, freshness: fresh, size: medium",
"id": "orange1",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: green, freshness: fresh, size: small",
"id": "kale_leaves2",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "bowl",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "plate2",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "spoon",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "snack, food, color: yellow, freshness: fresh, size: small",
"id": "chips",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: yellow, size: small, condition: used",
"id": "banana_peel",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, plastic, color: clear, size: standard, condition: used",
"id": "plastic_bottle",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, carton, color: white, size: standard, condition: new",
"id": "milk_carton",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: orange, size: small, condition: used",
"id": "orange_peel",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: brown, size: small, condition: used",
"id": "apple_core",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: green, freshness: fresh, size: small",
"id": "kale_leaves1",
"parent": "produce_container",
"room": "agriculture_lab"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Someone has thrown items in the wrong bins. Correct this.
|
task_Office_long_horizon_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Someone has thrown items in the wrong bins. Correct this. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'kitchen', 'attributes': 'closed', 'affordances': ['open', 'close', 'access'], 'id': 'fridge'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'cabinet'}, {'room': 'kitchen', 'attributes': 'clean', 'affordances': ['access'], 'id': 'kitchen_bench'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'turn_on', 'turn_off', 'open', 'close'], 'id': 'dishwasher'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'drawer'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'microwave'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'rubbish_bin'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'recycling_bin'}, {'room': 'agriculture_lab', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'produce_container'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: red, freshness: fresh, size: medium', 'id': 'tomato', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, dairy, color: yellow, freshness: fresh, size: medium', 'id': 'cheese', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: yellow, freshness: fresh, size: medium', 'id': 'banana2', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: green, freshness: fresh, size: medium', 'id': 'J64M', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, meat, color: brown, freshness: fresh, size: medium', 'id': 'chicken_kebab', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, grain, color: yellow, freshness: fresh, size: medium', 'id': 'noodles', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, sandwich, color: pink, freshness: fresh, size: medium', 'id': 'salmon_bagel', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, salad, color: green, freshness: fresh, size: medium', 'id': 'greek_salad', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: orange, freshness: fresh, size: medium', 'id': 'carrot', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, spread, color: yellow, freshness: fresh, size: small', 'id': 'butter', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, bread, color: brown, freshness: fresh, size: medium', 'id': 'bread', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: orange, freshness: fresh, size: medium', 'id': 'orange1', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: green, freshness: fresh, size: small', 'id': 'kale_leaves2', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'bowl', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'plate2', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'spoon', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'snack, food, color: yellow, freshness: fresh, size: small', 'id': 'chips', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: yellow, size: small, condition: used', 'id': 'banana_peel', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, plastic, color: clear, size: standard, condition: used', 'id': 'plastic_bottle', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, carton, color: white, size: standard, condition: new', 'id': 'milk_carton', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: orange, size: small, condition: used', 'id': 'orange_peel', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: brown, size: small, condition: used', 'id': 'apple_core', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: green, freshness: fresh, size: small', 'id': 'kale_leaves1', 'parent': 'produce_container', 'room': 'agriculture_lab'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'kitchen↔fridge', 'kitchen↔cabinet', 'kitchen↔kitchen_bench', 'kitchen↔dishwasher', 'kitchen↔drawer', 'kitchen↔microwave', 'kitchen↔rubbish_bin', 'kitchen↔recycling_bin', 'agriculture_lab↔produce_container', 'mobile_robotics_lab↔agent', 'fridge↔tomato', 'fridge↔cheese', 'fridge↔banana2', 'fridge↔J64M', 'fridge↔chicken_kebab', 'fridge↔noodles', 'fridge↔salmon_bagel', 'fridge↔greek_salad', 'fridge↔carrot', 'kitchen_bench↔butter', 'kitchen_bench↔bread', 'kitchen_bench↔orange1', 'kitchen_bench↔kale_leaves2', 'dishwasher↔bowl', 'dishwasher↔plate2', 'dishwasher↔spoon', 'dishwasher↔chips', 'rubbish_bin↔banana_peel', 'rubbish_bin↔plastic_bottle', 'recycling_bin↔milk_carton', 'recycling_bin↔orange_peel', 'recycling_bin↔apple_core', 'produce_container↔kale_leaves1']}
|
[goto(kitchen), access(rubbish_bin), open(rubbish_bin), access(recycling_bin), open(recycling_bin), pickup(orange_peel), access(rubbish_bin), release(orange_peel), access(recycling_bin), pickup(apple_core), access(rubbish_bin), release(apple_core), pickup(plastic_bottle), access(recycling_bin), release(plastic_bottle), close(recycling_bin), access(rubbish_bin), close(rubbish_bin) done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"tobis_office↔desk38",
"supplies_station↔cupboard1",
"supplies_station↔cupboard2",
"kitchen↔fridge",
"kitchen↔cabinet",
"kitchen↔kitchen_bench",
"kitchen↔dishwasher",
"kitchen↔drawer",
"kitchen↔microwave",
"kitchen↔rubbish_bin",
"kitchen↔recycling_bin",
"mobile_robotics_lab↔agent",
"fridge↔tomato",
"fridge↔cheese",
"fridge↔banana2",
"fridge↔J64M",
"fridge↔chicken_kebab",
"fridge↔noodles",
"fridge↔salmon_bagel",
"fridge↔greek_salad",
"fridge↔carrot",
"kitchen_bench↔butter",
"kitchen_bench↔bread",
"kitchen_bench↔orange1",
"kitchen_bench↔kale_leaves2",
"dishwasher↔bowl",
"dishwasher↔plate2",
"dishwasher↔spoon",
"dishwasher↔chips",
"rubbish_bin↔banana_peel",
"rubbish_bin↔plastic_bottle",
"recycling_bin↔milk_carton",
"recycling_bin↔orange_peel",
"recycling_bin↔apple_core",
"desk38↔pepsi",
"cupboard1↔paper_towel",
"cupboard1↔printer_paper",
"cupboard2↔vodka",
"cupboard2↔orange_juice",
"cupboard2↔biscuits",
"cupboard2↔bottle_water1",
"cupboard2↔bottle_water2",
"cupboard2↔bottle_water3",
"cupboard2↔bottle_water4",
"cupboard2↔bottle_water5"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"open",
"close",
"access"
],
"attributes": "closed",
"id": "fridge",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "cabinet",
"room": "kitchen"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"access",
"turn_on",
"turn_off",
"open",
"close"
],
"attributes": "closed",
"id": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "drawer",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "microwave",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk38",
"room": "tobis_office"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cupboard1",
"room": "supplies_station"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cupboard2",
"room": "supplies_station"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: red, freshness: fresh, size: medium",
"id": "tomato",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, dairy, color: yellow, freshness: fresh, size: medium",
"id": "cheese",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: yellow, freshness: fresh, size: medium",
"id": "banana2",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: green, freshness: fresh, size: medium",
"id": "J64M",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, meat, color: brown, freshness: fresh, size: medium",
"id": "chicken_kebab",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, grain, color: yellow, freshness: fresh, size: medium",
"id": "noodles",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, sandwich, color: pink, freshness: fresh, size: medium",
"id": "salmon_bagel",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, salad, color: green, freshness: fresh, size: medium",
"id": "greek_salad",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: orange, freshness: fresh, size: medium",
"id": "carrot",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, spread, color: yellow, freshness: fresh, size: small",
"id": "butter",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, bread, color: brown, freshness: fresh, size: medium",
"id": "bread",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: orange, freshness: fresh, size: medium",
"id": "orange1",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: green, freshness: fresh, size: small",
"id": "kale_leaves2",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "bowl",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "plate2",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "spoon",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "snack, food, color: yellow, freshness: fresh, size: small",
"id": "chips",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: yellow, size: small, condition: used",
"id": "banana_peel",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, plastic, color: clear, size: standard, condition: used",
"id": "plastic_bottle",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, carton, color: white, size: standard, condition: new",
"id": "milk_carton",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: orange, size: small, condition: used",
"id": "orange_peel",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: brown, size: small, condition: used",
"id": "apple_core",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, canned, color: blue, size: 355ml, freshness: expired",
"id": "pepsi",
"parent": "desk38",
"room": "tobis_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "paper, cleaning, color: white, size: standard, condition: new",
"id": "paper_towel",
"parent": "cupboard1",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "paper, printing, color: white, size: A4, condition: new",
"id": "printer_paper",
"parent": "cupboard1",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, alcoholic, color: clear, size: standard, condition: new",
"id": "vodka",
"parent": "cupboard2",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, juice, color: orange, size: standard, condition: new",
"id": "orange_juice",
"parent": "cupboard2",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "snack, food, color: brown, freshness: fresh, size: small",
"id": "biscuits",
"parent": "cupboard2",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, bottled, color: clear, size: standard, condition: new",
"id": "bottle_water1",
"parent": "cupboard2",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, bottled, color: clear, size: standard, condition: new",
"id": "bottle_water2",
"parent": "cupboard2",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, bottled, color: clear, size: standard, condition: new",
"id": "bottle_water3",
"parent": "cupboard2",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, bottled, color: clear, size: standard, condition: new",
"id": "bottle_water4",
"parent": "cupboard2",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, bottled, color: clear, size: standard, condition: new",
"id": "bottle_water5",
"parent": "cupboard2",
"room": "supplies_station"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Tobi spilt soda on his desk. Throw away the can and take him something to clean with.
|
task_Office_long_horizon_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Tobi spilt soda on his desk. Throw away the can and take him something to clean with. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'kitchen', 'attributes': 'closed', 'affordances': ['open', 'close', 'access'], 'id': 'fridge'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'cabinet'}, {'room': 'kitchen', 'attributes': 'clean', 'affordances': ['access'], 'id': 'kitchen_bench'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'turn_on', 'turn_off', 'open', 'close'], 'id': 'dishwasher'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'drawer'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'microwave'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'rubbish_bin'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'recycling_bin'}, {'room': 'tobis_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk38'}, {'room': 'supplies_station', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cupboard1'}, {'room': 'supplies_station', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cupboard2'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: red, freshness: fresh, size: medium', 'id': 'tomato', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, dairy, color: yellow, freshness: fresh, size: medium', 'id': 'cheese', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: yellow, freshness: fresh, size: medium', 'id': 'banana2', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: green, freshness: fresh, size: medium', 'id': 'J64M', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, meat, color: brown, freshness: fresh, size: medium', 'id': 'chicken_kebab', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, grain, color: yellow, freshness: fresh, size: medium', 'id': 'noodles', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, sandwich, color: pink, freshness: fresh, size: medium', 'id': 'salmon_bagel', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, salad, color: green, freshness: fresh, size: medium', 'id': 'greek_salad', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: orange, freshness: fresh, size: medium', 'id': 'carrot', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, spread, color: yellow, freshness: fresh, size: small', 'id': 'butter', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, bread, color: brown, freshness: fresh, size: medium', 'id': 'bread', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: orange, freshness: fresh, size: medium', 'id': 'orange1', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: green, freshness: fresh, size: small', 'id': 'kale_leaves2', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'bowl', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'plate2', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'spoon', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'snack, food, color: yellow, freshness: fresh, size: small', 'id': 'chips', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: yellow, size: small, condition: used', 'id': 'banana_peel', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, plastic, color: clear, size: standard, condition: used', 'id': 'plastic_bottle', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, carton, color: white, size: standard, condition: new', 'id': 'milk_carton', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: orange, size: small, condition: used', 'id': 'orange_peel', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: brown, size: small, condition: used', 'id': 'apple_core', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, canned, color: blue, size: 355ml, freshness: expired', 'id': 'pepsi', 'parent': 'desk38', 'room': 'tobis_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'paper, cleaning, color: white, size: standard, condition: new', 'id': 'paper_towel', 'parent': 'cupboard1', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'paper, printing, color: white, size: A4, condition: new', 'id': 'printer_paper', 'parent': 'cupboard1', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, alcoholic, color: clear, size: standard, condition: new', 'id': 'vodka', 'parent': 'cupboard2', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, juice, color: orange, size: standard, condition: new', 'id': 'orange_juice', 'parent': 'cupboard2', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'snack, food, color: brown, freshness: fresh, size: small', 'id': 'biscuits', 'parent': 'cupboard2', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, bottled, color: clear, size: standard, condition: new', 'id': 'bottle_water1', 'parent': 'cupboard2', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, bottled, color: clear, size: standard, condition: new', 'id': 'bottle_water2', 'parent': 'cupboard2', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, bottled, color: clear, size: standard, condition: new', 'id': 'bottle_water3', 'parent': 'cupboard2', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, bottled, color: clear, size: standard, condition: new', 'id': 'bottle_water4', 'parent': 'cupboard2', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, bottled, color: clear, size: standard, condition: new', 'id': 'bottle_water5', 'parent': 'cupboard2', 'room': 'supplies_station'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'tobis_office↔desk38', 'supplies_station↔cupboard1', 'supplies_station↔cupboard2', 'kitchen↔fridge', 'kitchen↔cabinet', 'kitchen↔kitchen_bench', 'kitchen↔dishwasher', 'kitchen↔drawer', 'kitchen↔microwave', 'kitchen↔rubbish_bin', 'kitchen↔recycling_bin', 'mobile_robotics_lab↔agent', 'fridge↔tomato', 'fridge↔cheese', 'fridge↔banana2', 'fridge↔J64M', 'fridge↔chicken_kebab', 'fridge↔noodles', 'fridge↔salmon_bagel', 'fridge↔greek_salad', 'fridge↔carrot', 'kitchen_bench↔butter', 'kitchen_bench↔bread', 'kitchen_bench↔orange1', 'kitchen_bench↔kale_leaves2', 'dishwasher↔bowl', 'dishwasher↔plate2', 'dishwasher↔spoon', 'dishwasher↔chips', 'rubbish_bin↔banana_peel', 'rubbish_bin↔plastic_bottle', 'recycling_bin↔milk_carton', 'recycling_bin↔orange_peel', 'recycling_bin↔apple_core', 'desk38↔pepsi', 'cupboard1↔paper_towel', 'cupboard1↔printer_paper', 'cupboard2↔vodka', 'cupboard2↔orange_juice', 'cupboard2↔biscuits', 'cupboard2↔bottle_water1', 'cupboard2↔bottle_water2', 'cupboard2↔bottle_water3', 'cupboard2↔bottle_water4', 'cupboard2↔bottle_water5']}
|
[goto(tobis_office), access(desk38), pickup(pepsi), goto(kitchen), access(kitchen_bench), release(pepsi), access(rubbish_bin), open(rubbish_bin), access(kitchen_bench), pickup(pepsi), access(rubbish_bin),release(pepsi), goto(supplies_station), access(cupboard1), open(cupboard1), pickup(paper_towel), goto(tobis_office), access(desk38), release(paper_towel), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"kitchen↔fridge",
"kitchen↔cabinet",
"kitchen↔kitchen_bench",
"kitchen↔dishwasher",
"kitchen↔drawer",
"kitchen↔microwave",
"kitchen↔rubbish_bin",
"kitchen↔recycling_bin",
"cafeteria↔lunch_table",
"mobile_robotics_lab↔agent",
"fridge↔tomato",
"fridge↔cheese",
"fridge↔banana2",
"fridge↔J64M",
"fridge↔chicken_kebab",
"fridge↔noodles",
"fridge↔salmon_bagel",
"fridge↔greek_salad",
"fridge↔carrot",
"kitchen_bench↔butter",
"kitchen_bench↔bread",
"kitchen_bench↔orange1",
"kitchen_bench↔kale_leaves2",
"dishwasher↔bowl",
"dishwasher↔plate2",
"dishwasher↔spoon",
"dishwasher↔chips",
"rubbish_bin↔banana_peel",
"rubbish_bin↔plastic_bottle",
"recycling_bin↔milk_carton",
"recycling_bin↔orange_peel",
"recycling_bin↔apple_core",
"lunch_table↔banana1",
"lunch_table↔fork",
"lunch_table↔knife",
"lunch_table↔plate"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"open",
"close",
"access"
],
"attributes": "closed",
"id": "fridge",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "cabinet",
"room": "kitchen"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"access",
"turn_on",
"turn_off",
"open",
"close"
],
"attributes": "closed",
"id": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "drawer",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "microwave",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "lunch_table",
"room": "cafeteria"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: red, freshness: fresh, size: medium",
"id": "tomato",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, dairy, color: yellow, freshness: fresh, size: medium",
"id": "cheese",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: yellow, freshness: fresh, size: medium",
"id": "banana2",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: green, freshness: fresh, size: medium",
"id": "J64M",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, meat, color: brown, freshness: fresh, size: medium",
"id": "chicken_kebab",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, grain, color: yellow, freshness: fresh, size: medium",
"id": "noodles",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, sandwich, color: pink, freshness: fresh, size: medium",
"id": "salmon_bagel",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, salad, color: green, freshness: fresh, size: medium",
"id": "greek_salad",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: orange, freshness: fresh, size: medium",
"id": "carrot",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, spread, color: yellow, freshness: fresh, size: small",
"id": "butter",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, bread, color: brown, freshness: fresh, size: medium",
"id": "bread",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: orange, freshness: fresh, size: medium",
"id": "orange1",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: green, freshness: fresh, size: small",
"id": "kale_leaves2",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "bowl",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "plate2",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "spoon",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "snack, food, color: yellow, freshness: fresh, size: small",
"id": "chips",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: yellow, size: small, condition: used",
"id": "banana_peel",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, plastic, color: clear, size: standard, condition: used",
"id": "plastic_bottle",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, carton, color: white, size: standard, condition: new",
"id": "milk_carton",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: orange, size: small, condition: used",
"id": "orange_peel",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: brown, size: small, condition: used",
"id": "apple_core",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: yellow, freshness: fresh, size: medium",
"id": "banana1",
"parent": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "fork",
"parent": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "knife",
"parent": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "plate",
"parent": "lunch_table",
"room": "cafeteria"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
I want to make a sandwich. Place all the ingredients on the lunch table.
|
task_Office_long_horizon_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: I want to make a sandwich. Place all the ingredients on the lunch table. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'kitchen', 'attributes': 'closed', 'affordances': ['open', 'close', 'access'], 'id': 'fridge'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'cabinet'}, {'room': 'kitchen', 'attributes': 'clean', 'affordances': ['access'], 'id': 'kitchen_bench'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'turn_on', 'turn_off', 'open', 'close'], 'id': 'dishwasher'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'drawer'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'microwave'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'rubbish_bin'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'recycling_bin'}, {'room': 'cafeteria', 'attributes': 'clean', 'affordances': ['access'], 'id': 'lunch_table'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: red, freshness: fresh, size: medium', 'id': 'tomato', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, dairy, color: yellow, freshness: fresh, size: medium', 'id': 'cheese', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: yellow, freshness: fresh, size: medium', 'id': 'banana2', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: green, freshness: fresh, size: medium', 'id': 'J64M', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, meat, color: brown, freshness: fresh, size: medium', 'id': 'chicken_kebab', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, grain, color: yellow, freshness: fresh, size: medium', 'id': 'noodles', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, sandwich, color: pink, freshness: fresh, size: medium', 'id': 'salmon_bagel', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, salad, color: green, freshness: fresh, size: medium', 'id': 'greek_salad', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: orange, freshness: fresh, size: medium', 'id': 'carrot', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, spread, color: yellow, freshness: fresh, size: small', 'id': 'butter', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, bread, color: brown, freshness: fresh, size: medium', 'id': 'bread', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: orange, freshness: fresh, size: medium', 'id': 'orange1', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: green, freshness: fresh, size: small', 'id': 'kale_leaves2', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'bowl', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'plate2', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'spoon', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'snack, food, color: yellow, freshness: fresh, size: small', 'id': 'chips', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: yellow, size: small, condition: used', 'id': 'banana_peel', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, plastic, color: clear, size: standard, condition: used', 'id': 'plastic_bottle', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, carton, color: white, size: standard, condition: new', 'id': 'milk_carton', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: orange, size: small, condition: used', 'id': 'orange_peel', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: brown, size: small, condition: used', 'id': 'apple_core', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: yellow, freshness: fresh, size: medium', 'id': 'banana1', 'parent': 'lunch_table', 'room': 'cafeteria'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'fork', 'parent': 'lunch_table', 'room': 'cafeteria'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'knife', 'parent': 'lunch_table', 'room': 'cafeteria'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'plate', 'parent': 'lunch_table', 'room': 'cafeteria'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'kitchen↔fridge', 'kitchen↔cabinet', 'kitchen↔kitchen_bench', 'kitchen↔dishwasher', 'kitchen↔drawer', 'kitchen↔microwave', 'kitchen↔rubbish_bin', 'kitchen↔recycling_bin', 'cafeteria↔lunch_table', 'mobile_robotics_lab↔agent', 'fridge↔tomato', 'fridge↔cheese', 'fridge↔banana2', 'fridge↔J64M', 'fridge↔chicken_kebab', 'fridge↔noodles', 'fridge↔salmon_bagel', 'fridge↔greek_salad', 'fridge↔carrot', 'kitchen_bench↔butter', 'kitchen_bench↔bread', 'kitchen_bench↔orange1', 'kitchen_bench↔kale_leaves2', 'dishwasher↔bowl', 'dishwasher↔plate2', 'dishwasher↔spoon', 'dishwasher↔chips', 'rubbish_bin↔banana_peel', 'rubbish_bin↔plastic_bottle', 'recycling_bin↔milk_carton', 'recycling_bin↔orange_peel', 'recycling_bin↔apple_core', 'lunch_table↔banana1', 'lunch_table↔fork', 'lunch_table↔knife', 'lunch_table↔plate']}
|
[goto(kitchen), access(fridge), open(fridge), pickup(tomato), goto(cafeteria), access(lunch_table), release(tomato), goto(kitchen), access(fridge), pickup(cheese), goto(cafeteria), access(lunch_table), release(cheese),goto(kitchen), access(kitchen_bench), pickup(bread), goto(cafeteria), access(lunch_table), release(bread), goto(kitchen), access(kitchen_bench), pickup(butter), goto(cafeteria), access(lunch_table), release(butter), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"supplies_station↔cupboard1",
"supplies_station↔cupboard2",
"meeting_room3↔table1",
"meeting_room3↔table6",
"mobile_robotics_lab↔agent",
"table1↔headphones",
"cupboard1↔paper_towel",
"cupboard1↔printer_paper",
"cupboard2↔vodka",
"cupboard2↔orange_juice",
"cupboard2↔biscuits",
"cupboard2↔bottle_water1",
"cupboard2↔bottle_water2",
"cupboard2↔bottle_water3",
"cupboard2↔bottle_water4",
"cupboard2↔bottle_water5"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "table1",
"room": "meeting_room3"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "table6",
"room": "meeting_room3"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cupboard1",
"room": "supplies_station"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cupboard2",
"room": "supplies_station"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "electronic, audio, color: black, size: standard, condition: new",
"id": "headphones",
"parent": "table1",
"room": "meeting_room3"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "paper, cleaning, color: white, size: standard, condition: new",
"id": "paper_towel",
"parent": "cupboard1",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "paper, printing, color: white, size: A4, condition: new",
"id": "printer_paper",
"parent": "cupboard1",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, alcoholic, color: clear, size: standard, condition: new",
"id": "vodka",
"parent": "cupboard2",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, juice, color: orange, size: standard, condition: new",
"id": "orange_juice",
"parent": "cupboard2",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "snack, food, color: brown, freshness: fresh, size: small",
"id": "biscuits",
"parent": "cupboard2",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, bottled, color: clear, size: standard, condition: new",
"id": "bottle_water1",
"parent": "cupboard2",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, bottled, color: clear, size: standard, condition: new",
"id": "bottle_water2",
"parent": "cupboard2",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, bottled, color: clear, size: standard, condition: new",
"id": "bottle_water3",
"parent": "cupboard2",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, bottled, color: clear, size: standard, condition: new",
"id": "bottle_water4",
"parent": "cupboard2",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, bottled, color: clear, size: standard, condition: new",
"id": "bottle_water5",
"parent": "cupboard2",
"room": "supplies_station"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
A delegation of project partners is arriving soon. We want to serve them snacks and non-alcoholic drinks. Prepare everything in the largest meeting room. Use items found in the supplies room only.
|
task_Office_long_horizon_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: A delegation of project partners is arriving soon. We want to serve them snacks and non-alcoholic drinks. Prepare everything in the largest meeting room. Use items found in the supplies room only. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'meeting_room3', 'attributes': 'clean', 'affordances': ['access'], 'id': 'table1'}, {'room': 'meeting_room3', 'attributes': 'clean', 'affordances': ['access'], 'id': 'table6'}, {'room': 'supplies_station', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cupboard1'}, {'room': 'supplies_station', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cupboard2'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'electronic, audio, color: black, size: standard, condition: new', 'id': 'headphones', 'parent': 'table1', 'room': 'meeting_room3'}, {'affordances': ['pickup', 'release'], 'attributes': 'paper, cleaning, color: white, size: standard, condition: new', 'id': 'paper_towel', 'parent': 'cupboard1', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'paper, printing, color: white, size: A4, condition: new', 'id': 'printer_paper', 'parent': 'cupboard1', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, alcoholic, color: clear, size: standard, condition: new', 'id': 'vodka', 'parent': 'cupboard2', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, juice, color: orange, size: standard, condition: new', 'id': 'orange_juice', 'parent': 'cupboard2', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'snack, food, color: brown, freshness: fresh, size: small', 'id': 'biscuits', 'parent': 'cupboard2', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, bottled, color: clear, size: standard, condition: new', 'id': 'bottle_water1', 'parent': 'cupboard2', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, bottled, color: clear, size: standard, condition: new', 'id': 'bottle_water2', 'parent': 'cupboard2', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, bottled, color: clear, size: standard, condition: new', 'id': 'bottle_water3', 'parent': 'cupboard2', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, bottled, color: clear, size: standard, condition: new', 'id': 'bottle_water4', 'parent': 'cupboard2', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, bottled, color: clear, size: standard, condition: new', 'id': 'bottle_water5', 'parent': 'cupboard2', 'room': 'supplies_station'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'supplies_station↔cupboard1', 'supplies_station↔cupboard2', 'meeting_room3↔table1', 'meeting_room3↔table6', 'mobile_robotics_lab↔agent', 'table1↔headphones', 'cupboard1↔paper_towel', 'cupboard1↔printer_paper', 'cupboard2↔vodka', 'cupboard2↔orange_juice', 'cupboard2↔biscuits', 'cupboard2↔bottle_water1', 'cupboard2↔bottle_water2', 'cupboard2↔bottle_water3', 'cupboard2↔bottle_water4', 'cupboard2↔bottle_water5']}
|
[goto(supplies_station), open(cupboard2), access(cupboard2), pickup(orange_juice), pickup(biscuits), pickup(bottle_water1), pickup(bottle_water2), pickup(bottle_water3), pickup(bottle_water4), pickup(bottle_water5), goto(meeting_room4), access(table2), release(orange_juice), release(biscuits), release(bottle_water1), release(bottle_water2), release(bottle_water3), release(bottle_water4), release(bottle_water5), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"meeting_room1↔chair3",
"meeting_room1↔chair4",
"meeting_room1↔chair5",
"meeting_room1↔table5",
"supplies_station↔cupboard1",
"supplies_station↔cupboard2",
"mobile_robotics_lab↔agent",
"cupboard1↔paper_towel",
"cupboard1↔printer_paper",
"cupboard2↔vodka",
"cupboard2↔orange_juice",
"cupboard2↔biscuits",
"cupboard2↔bottle_water1",
"cupboard2↔bottle_water2",
"cupboard2↔bottle_water3",
"cupboard2↔bottle_water4",
"cupboard2↔bottle_water5"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "chair3",
"room": "meeting_room1"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "chair4",
"room": "meeting_room1"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "chair5",
"room": "meeting_room1"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "table5",
"room": "meeting_room1"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cupboard1",
"room": "supplies_station"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cupboard2",
"room": "supplies_station"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "paper, cleaning, color: white, size: standard, condition: new",
"id": "paper_towel",
"parent": "cupboard1",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "paper, printing, color: white, size: A4, condition: new",
"id": "printer_paper",
"parent": "cupboard1",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, alcoholic, color: clear, size: standard, condition: new",
"id": "vodka",
"parent": "cupboard2",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, juice, color: orange, size: standard, condition: new",
"id": "orange_juice",
"parent": "cupboard2",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "snack, food, color: brown, freshness: fresh, size: small",
"id": "biscuits",
"parent": "cupboard2",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, bottled, color: clear, size: standard, condition: new",
"id": "bottle_water1",
"parent": "cupboard2",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, bottled, color: clear, size: standard, condition: new",
"id": "bottle_water2",
"parent": "cupboard2",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, bottled, color: clear, size: standard, condition: new",
"id": "bottle_water3",
"parent": "cupboard2",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, bottled, color: clear, size: standard, condition: new",
"id": "bottle_water4",
"parent": "cupboard2",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, bottled, color: clear, size: standard, condition: new",
"id": "bottle_water5",
"parent": "cupboard2",
"room": "supplies_station"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Serve bottled water to the attendees who are seated in meeting room 1. Each attendee can only receive a single bottle of water.
|
task_Office_long_horizon_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Serve bottled water to the attendees who are seated in meeting room 1. Each attendee can only receive a single bottle of water. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'meeting_room1', 'attributes': 'clean', 'affordances': ['access'], 'id': 'chair3'}, {'room': 'meeting_room1', 'attributes': 'clean', 'affordances': ['access'], 'id': 'chair4'}, {'room': 'meeting_room1', 'attributes': 'clean', 'affordances': ['access'], 'id': 'chair5'}, {'room': 'meeting_room1', 'attributes': 'clean', 'affordances': ['access'], 'id': 'table5'}, {'room': 'supplies_station', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cupboard1'}, {'room': 'supplies_station', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cupboard2'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'paper, cleaning, color: white, size: standard, condition: new', 'id': 'paper_towel', 'parent': 'cupboard1', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'paper, printing, color: white, size: A4, condition: new', 'id': 'printer_paper', 'parent': 'cupboard1', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, alcoholic, color: clear, size: standard, condition: new', 'id': 'vodka', 'parent': 'cupboard2', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, juice, color: orange, size: standard, condition: new', 'id': 'orange_juice', 'parent': 'cupboard2', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'snack, food, color: brown, freshness: fresh, size: small', 'id': 'biscuits', 'parent': 'cupboard2', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, bottled, color: clear, size: standard, condition: new', 'id': 'bottle_water1', 'parent': 'cupboard2', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, bottled, color: clear, size: standard, condition: new', 'id': 'bottle_water2', 'parent': 'cupboard2', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, bottled, color: clear, size: standard, condition: new', 'id': 'bottle_water3', 'parent': 'cupboard2', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, bottled, color: clear, size: standard, condition: new', 'id': 'bottle_water4', 'parent': 'cupboard2', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, bottled, color: clear, size: standard, condition: new', 'id': 'bottle_water5', 'parent': 'cupboard2', 'room': 'supplies_station'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'meeting_room1↔chair3', 'meeting_room1↔chair4', 'meeting_room1↔chair5', 'meeting_room1↔table5', 'supplies_station↔cupboard1', 'supplies_station↔cupboard2', 'mobile_robotics_lab↔agent', 'cupboard1↔paper_towel', 'cupboard1↔printer_paper', 'cupboard2↔vodka', 'cupboard2↔orange_juice', 'cupboard2↔biscuits', 'cupboard2↔bottle_water1', 'cupboard2↔bottle_water2', 'cupboard2↔bottle_water3', 'cupboard2↔bottle_water4', 'cupboard2↔bottle_water5']}
|
[goto(supplies_station), open(cupboard2), access(cupboard2), pickup(bottle_water1), pickup(bottle_water2), pickup(bottle_water3), goto(meeting_room1), access(chair3), release(bottle_water1), access(chair4), release(bottle_water2), access(chair5), release(bottle_water3), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"supplies_station↔cupboard1",
"supplies_station↔cupboard2",
"kitchen↔fridge",
"kitchen↔cabinet",
"kitchen↔kitchen_bench",
"kitchen↔dishwasher",
"kitchen↔drawer",
"kitchen↔microwave",
"kitchen↔rubbish_bin",
"kitchen↔recycling_bin",
"cafeteria↔lunch_table",
"mobile_robotics_lab↔agent",
"fridge↔tomato",
"fridge↔cheese",
"fridge↔banana2",
"fridge↔J64M",
"fridge↔chicken_kebab",
"fridge↔noodles",
"fridge↔salmon_bagel",
"fridge↔greek_salad",
"fridge↔carrot",
"kitchen_bench↔butter",
"kitchen_bench↔bread",
"kitchen_bench↔orange1",
"kitchen_bench↔kale_leaves2",
"dishwasher↔bowl",
"dishwasher↔plate2",
"dishwasher↔spoon",
"dishwasher↔chips",
"rubbish_bin↔banana_peel",
"rubbish_bin↔plastic_bottle",
"recycling_bin↔milk_carton",
"recycling_bin↔orange_peel",
"recycling_bin↔apple_core",
"lunch_table↔banana1",
"lunch_table↔fork",
"lunch_table↔knife",
"lunch_table↔plate",
"cupboard1↔paper_towel",
"cupboard1↔printer_paper",
"cupboard2↔vodka",
"cupboard2↔orange_juice",
"cupboard2↔biscuits",
"cupboard2↔bottle_water1",
"cupboard2↔bottle_water2",
"cupboard2↔bottle_water3",
"cupboard2↔bottle_water4",
"cupboard2↔bottle_water5"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"open",
"close",
"access"
],
"attributes": "closed",
"id": "fridge",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "cabinet",
"room": "kitchen"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"access",
"turn_on",
"turn_off",
"open",
"close"
],
"attributes": "closed",
"id": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "drawer",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close",
"turn_off",
"turn_on"
],
"attributes": "closed",
"id": "microwave",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cupboard1",
"room": "supplies_station"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cupboard2",
"room": "supplies_station"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: red, freshness: fresh, size: medium",
"id": "tomato",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, dairy, color: yellow, freshness: fresh, size: medium",
"id": "cheese",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: yellow, freshness: fresh, size: medium",
"id": "banana2",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: green, freshness: fresh, size: medium",
"id": "J64M",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, meat, color: brown, freshness: fresh, size: medium",
"id": "chicken_kebab",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, grain, color: yellow, freshness: fresh, size: medium",
"id": "noodles",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, sandwich, color: pink, freshness: fresh, size: medium",
"id": "salmon_bagel",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, salad, color: green, freshness: fresh, size: medium",
"id": "greek_salad",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: orange, freshness: fresh, size: medium",
"id": "carrot",
"parent": "fridge",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, spread, color: yellow, freshness: fresh, size: small",
"id": "butter",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, bread, color: brown, freshness: fresh, size: medium",
"id": "bread",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: orange, freshness: fresh, size: medium",
"id": "orange1",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, vegetable, color: green, freshness: fresh, size: small",
"id": "kale_leaves2",
"parent": "kitchen_bench",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "bowl",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "plate2",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "spoon",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "snack, food, color: yellow, freshness: fresh, size: small",
"id": "chips",
"parent": "dishwasher",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: yellow, size: small, condition: used",
"id": "banana_peel",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, plastic, color: clear, size: standard, condition: used",
"id": "plastic_bottle",
"parent": "rubbish_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, carton, color: white, size: standard, condition: new",
"id": "milk_carton",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: orange, size: small, condition: used",
"id": "orange_peel",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "waste, organic, color: brown, size: small, condition: used",
"id": "apple_core",
"parent": "recycling_bin",
"room": "kitchen"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: yellow, freshness: fresh, size: medium",
"id": "banana1",
"parent": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "fork",
"parent": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "knife",
"parent": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "plate",
"parent": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "paper, cleaning, color: white, size: standard, condition: new",
"id": "paper_towel",
"parent": "cupboard1",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "paper, printing, color: white, size: A4, condition: new",
"id": "printer_paper",
"parent": "cupboard1",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, alcoholic, color: clear, size: standard, condition: new",
"id": "vodka",
"parent": "cupboard2",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, juice, color: orange, size: standard, condition: new",
"id": "orange_juice",
"parent": "cupboard2",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "snack, food, color: brown, freshness: fresh, size: small",
"id": "biscuits",
"parent": "cupboard2",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, bottled, color: clear, size: standard, condition: new",
"id": "bottle_water1",
"parent": "cupboard2",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, bottled, color: clear, size: standard, condition: new",
"id": "bottle_water2",
"parent": "cupboard2",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, bottled, color: clear, size: standard, condition: new",
"id": "bottle_water3",
"parent": "cupboard2",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, bottled, color: clear, size: standard, condition: new",
"id": "bottle_water4",
"parent": "cupboard2",
"room": "supplies_station"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, bottled, color: clear, size: standard, condition: new",
"id": "bottle_water5",
"parent": "cupboard2",
"room": "supplies_station"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Empty the dishwasher. Place all items in their correct locations
|
task_Office_long_horizon_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Empty the dishwasher. Place all items in their correct locations and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'kitchen', 'attributes': 'closed', 'affordances': ['open', 'close', 'access'], 'id': 'fridge'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'cabinet'}, {'room': 'kitchen', 'attributes': 'clean', 'affordances': ['access'], 'id': 'kitchen_bench'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'turn_on', 'turn_off', 'open', 'close'], 'id': 'dishwasher'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'drawer'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close', 'turn_off', 'turn_on'], 'id': 'microwave'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'rubbish_bin'}, {'room': 'kitchen', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'recycling_bin'}, {'room': 'cafeteria', 'attributes': 'clean', 'affordances': ['access'], 'id': 'lunch_table'}, {'room': 'supplies_station', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cupboard1'}, {'room': 'supplies_station', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cupboard2'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: red, freshness: fresh, size: medium', 'id': 'tomato', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, dairy, color: yellow, freshness: fresh, size: medium', 'id': 'cheese', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: yellow, freshness: fresh, size: medium', 'id': 'banana2', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: green, freshness: fresh, size: medium', 'id': 'J64M', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, meat, color: brown, freshness: fresh, size: medium', 'id': 'chicken_kebab', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, grain, color: yellow, freshness: fresh, size: medium', 'id': 'noodles', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, sandwich, color: pink, freshness: fresh, size: medium', 'id': 'salmon_bagel', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, salad, color: green, freshness: fresh, size: medium', 'id': 'greek_salad', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: orange, freshness: fresh, size: medium', 'id': 'carrot', 'parent': 'fridge', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, spread, color: yellow, freshness: fresh, size: small', 'id': 'butter', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, bread, color: brown, freshness: fresh, size: medium', 'id': 'bread', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: orange, freshness: fresh, size: medium', 'id': 'orange1', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, vegetable, color: green, freshness: fresh, size: small', 'id': 'kale_leaves2', 'parent': 'kitchen_bench', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'bowl', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'plate2', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'spoon', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'snack, food, color: yellow, freshness: fresh, size: small', 'id': 'chips', 'parent': 'dishwasher', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: yellow, size: small, condition: used', 'id': 'banana_peel', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, plastic, color: clear, size: standard, condition: used', 'id': 'plastic_bottle', 'parent': 'rubbish_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, carton, color: white, size: standard, condition: new', 'id': 'milk_carton', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: orange, size: small, condition: used', 'id': 'orange_peel', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'waste, organic, color: brown, size: small, condition: used', 'id': 'apple_core', 'parent': 'recycling_bin', 'room': 'kitchen'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: yellow, freshness: fresh, size: medium', 'id': 'banana1', 'parent': 'lunch_table', 'room': 'cafeteria'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'fork', 'parent': 'lunch_table', 'room': 'cafeteria'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'knife', 'parent': 'lunch_table', 'room': 'cafeteria'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'plate', 'parent': 'lunch_table', 'room': 'cafeteria'}, {'affordances': ['pickup', 'release'], 'attributes': 'paper, cleaning, color: white, size: standard, condition: new', 'id': 'paper_towel', 'parent': 'cupboard1', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'paper, printing, color: white, size: A4, condition: new', 'id': 'printer_paper', 'parent': 'cupboard1', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, alcoholic, color: clear, size: standard, condition: new', 'id': 'vodka', 'parent': 'cupboard2', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, juice, color: orange, size: standard, condition: new', 'id': 'orange_juice', 'parent': 'cupboard2', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'snack, food, color: brown, freshness: fresh, size: small', 'id': 'biscuits', 'parent': 'cupboard2', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, bottled, color: clear, size: standard, condition: new', 'id': 'bottle_water1', 'parent': 'cupboard2', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, bottled, color: clear, size: standard, condition: new', 'id': 'bottle_water2', 'parent': 'cupboard2', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, bottled, color: clear, size: standard, condition: new', 'id': 'bottle_water3', 'parent': 'cupboard2', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, bottled, color: clear, size: standard, condition: new', 'id': 'bottle_water4', 'parent': 'cupboard2', 'room': 'supplies_station'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, bottled, color: clear, size: standard, condition: new', 'id': 'bottle_water5', 'parent': 'cupboard2', 'room': 'supplies_station'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'supplies_station↔cupboard1', 'supplies_station↔cupboard2', 'kitchen↔fridge', 'kitchen↔cabinet', 'kitchen↔kitchen_bench', 'kitchen↔dishwasher', 'kitchen↔drawer', 'kitchen↔microwave', 'kitchen↔rubbish_bin', 'kitchen↔recycling_bin', 'cafeteria↔lunch_table', 'mobile_robotics_lab↔agent', 'fridge↔tomato', 'fridge↔cheese', 'fridge↔banana2', 'fridge↔J64M', 'fridge↔chicken_kebab', 'fridge↔noodles', 'fridge↔salmon_bagel', 'fridge↔greek_salad', 'fridge↔carrot', 'kitchen_bench↔butter', 'kitchen_bench↔bread', 'kitchen_bench↔orange1', 'kitchen_bench↔kale_leaves2', 'dishwasher↔bowl', 'dishwasher↔plate2', 'dishwasher↔spoon', 'dishwasher↔chips', 'rubbish_bin↔banana_peel', 'rubbish_bin↔plastic_bottle', 'recycling_bin↔milk_carton', 'recycling_bin↔orange_peel', 'recycling_bin↔apple_core', 'lunch_table↔banana1', 'lunch_table↔fork', 'lunch_table↔knife', 'lunch_table↔plate', 'cupboard1↔paper_towel', 'cupboard1↔printer_paper', 'cupboard2↔vodka', 'cupboard2↔orange_juice', 'cupboard2↔biscuits', 'cupboard2↔bottle_water1', 'cupboard2↔bottle_water2', 'cupboard2↔bottle_water3', 'cupboard2↔bottle_water4', 'cupboard2↔bottle_water5']}
|
[goto(kitchen), open(dishwasher), access(dishwasher), pickup(bowl), access(kitchen_bench), release(bowl),
access(dishwasher), pickup(plate2), access(kitchen_bench), release(plate2),
access(dishwasher), pickup(spoon), open(drawer), access(drawer), release(spoon),
access(dishwasher), pickup(chips), goto(supplies_station), open(cupboard2), access(cupboard2), release(chips), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"phd_bay1↔desk7",
"phd_bay1↔desk8",
"phd_bay1↔desk9",
"phd_bay1↔desk10",
"phd_bay1↔desk11",
"phd_bay1↔desk12",
"phd_bay2↔desk13",
"phd_bay2↔desk14",
"phd_bay2↔desk15",
"phd_bay2↔desk16",
"phd_bay2↔desk17",
"phd_bay2↔desk18",
"admin↔shelf",
"phd_bay4↔desk25",
"phd_bay4↔desk26",
"phd_bay4↔desk27",
"phd_bay4↔desk28",
"phd_bay4↔desk29",
"phd_bay4↔desk30",
"mobile_robotics_lab↔agent",
"desk25↔complimentary_tshirt5",
"desk9↔complimentary_tshirt1",
"desk10↔complimentary_tshirt2",
"desk15↔complimentary_tshirt3",
"desk18↔complimentary_tshirt4",
"desk18↔complimentary_tshirt6",
"shelf↔fire_extinguisher2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"sit_at",
"work_at",
"access"
],
"attributes": "clean",
"id": "desk25",
"room": "phd_bay4"
},
{
"affordances": [
"sit_at",
"work_at",
"access"
],
"attributes": "clean",
"id": "desk26",
"room": "phd_bay4"
},
{
"affordances": [
"sit_at",
"work_at",
"access"
],
"attributes": "clean",
"id": "desk27",
"room": "phd_bay4"
},
{
"affordances": [
"sit_at",
"work_at",
"access"
],
"attributes": "clean",
"id": "desk28",
"room": "phd_bay4"
},
{
"affordances": [
"sit_at",
"work_at",
"access"
],
"attributes": "clean",
"id": "desk29",
"room": "phd_bay4"
},
{
"affordances": [
"sit_at",
"work_at",
"access"
],
"attributes": "clean",
"id": "desk30",
"room": "phd_bay4"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk7",
"room": "phd_bay1"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk8",
"room": "phd_bay1"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk9",
"room": "phd_bay1"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk10",
"room": "phd_bay1"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk11",
"room": "phd_bay1"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk12",
"room": "phd_bay1"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk13",
"room": "phd_bay2"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk14",
"room": "phd_bay2"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk15",
"room": "phd_bay2"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk16",
"room": "phd_bay2"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk17",
"room": "phd_bay2"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk18",
"room": "phd_bay2"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "shelf",
"room": "admin"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "clothing, promotional, color: red, size: M, condition: new",
"id": "complimentary_tshirt5",
"parent": "desk25",
"room": "phd_bay4"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "document, paper, color: white, size: A4, condition: new",
"id": "complimentary_tshirt1",
"parent": "desk9",
"room": "phd_bay1"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "document, paper, color: white, size: A4, condition: used",
"id": "complimentary_tshirt2",
"parent": "desk10",
"room": "phd_bay1"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "document, paper, color: white, size: A4, condition: new",
"id": "complimentary_tshirt3",
"parent": "desk15",
"room": "phd_bay2"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "document, paper, color: white, size: A4, condition: used",
"id": "complimentary_tshirt4",
"parent": "desk18",
"room": "phd_bay2"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "document, paper, color: white, size: A4, condition: new",
"id": "complimentary_tshirt6",
"parent": "desk18",
"room": "phd_bay2"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "safety equipment, fire, color: red, size: standard, condition: new",
"id": "fire_extinguisher2",
"parent": "shelf",
"room": "admin"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Locate all 6 complimentary t-shirts given to the PhD students and place them on the shelf in admin.
|
task_Office_long_horizon_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Locate all 6 complimentary t-shirts given to the PhD students and place them on the shelf in admin. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'phd_bay4', 'attributes': 'clean', 'affordances': ['sit_at', 'work_at', 'access'], 'id': 'desk25'}, {'room': 'phd_bay4', 'attributes': 'clean', 'affordances': ['sit_at', 'work_at', 'access'], 'id': 'desk26'}, {'room': 'phd_bay4', 'attributes': 'clean', 'affordances': ['sit_at', 'work_at', 'access'], 'id': 'desk27'}, {'room': 'phd_bay4', 'attributes': 'clean', 'affordances': ['sit_at', 'work_at', 'access'], 'id': 'desk28'}, {'room': 'phd_bay4', 'attributes': 'clean', 'affordances': ['sit_at', 'work_at', 'access'], 'id': 'desk29'}, {'room': 'phd_bay4', 'attributes': 'clean', 'affordances': ['sit_at', 'work_at', 'access'], 'id': 'desk30'}, {'room': 'phd_bay1', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk7'}, {'room': 'phd_bay1', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk8'}, {'room': 'phd_bay1', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk9'}, {'room': 'phd_bay1', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk10'}, {'room': 'phd_bay1', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk11'}, {'room': 'phd_bay1', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk12'}, {'room': 'phd_bay2', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk13'}, {'room': 'phd_bay2', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk14'}, {'room': 'phd_bay2', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk15'}, {'room': 'phd_bay2', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk16'}, {'room': 'phd_bay2', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk17'}, {'room': 'phd_bay2', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk18'}, {'room': 'admin', 'attributes': 'clean', 'affordances': ['access'], 'id': 'shelf'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'clothing, promotional, color: red, size: M, condition: new', 'id': 'complimentary_tshirt5', 'parent': 'desk25', 'room': 'phd_bay4'}, {'affordances': ['pickup', 'release'], 'attributes': 'document, paper, color: white, size: A4, condition: new', 'id': 'complimentary_tshirt1', 'parent': 'desk9', 'room': 'phd_bay1'}, {'affordances': ['pickup', 'release'], 'attributes': 'document, paper, color: white, size: A4, condition: used', 'id': 'complimentary_tshirt2', 'parent': 'desk10', 'room': 'phd_bay1'}, {'affordances': ['pickup', 'release'], 'attributes': 'document, paper, color: white, size: A4, condition: new', 'id': 'complimentary_tshirt3', 'parent': 'desk15', 'room': 'phd_bay2'}, {'affordances': ['pickup', 'release'], 'attributes': 'document, paper, color: white, size: A4, condition: used', 'id': 'complimentary_tshirt4', 'parent': 'desk18', 'room': 'phd_bay2'}, {'affordances': ['pickup', 'release'], 'attributes': 'document, paper, color: white, size: A4, condition: new', 'id': 'complimentary_tshirt6', 'parent': 'desk18', 'room': 'phd_bay2'}, {'affordances': ['pickup', 'release'], 'attributes': 'safety equipment, fire, color: red, size: standard, condition: new', 'id': 'fire_extinguisher2', 'parent': 'shelf', 'room': 'admin'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'phd_bay1↔desk7', 'phd_bay1↔desk8', 'phd_bay1↔desk9', 'phd_bay1↔desk10', 'phd_bay1↔desk11', 'phd_bay1↔desk12', 'phd_bay2↔desk13', 'phd_bay2↔desk14', 'phd_bay2↔desk15', 'phd_bay2↔desk16', 'phd_bay2↔desk17', 'phd_bay2↔desk18', 'admin↔shelf', 'phd_bay4↔desk25', 'phd_bay4↔desk26', 'phd_bay4↔desk27', 'phd_bay4↔desk28', 'phd_bay4↔desk29', 'phd_bay4↔desk30', 'mobile_robotics_lab↔agent', 'desk25↔complimentary_tshirt5', 'desk9↔complimentary_tshirt1', 'desk10↔complimentary_tshirt2', 'desk15↔complimentary_tshirt3', 'desk18↔complimentary_tshirt4', 'desk18↔complimentary_tshirt6', 'shelf↔fire_extinguisher2']}
|
[goto(phd_bay1), access(desk9), pickup(complimentary_tshirt1), goto(admin), access(shelf), release(complimentary_tshirt1),
goto(phd_bay1), access(desk10), pickup(complimentary_tshirt2), goto(admin), access(shelf), release(complimentary_tshirt2),
goto(phd_bay2), access(desk15), pickup(complimentary_tshirt3), goto(admin), access(shelf), release(complimentary_tshirt3),
goto(phd_bay2), access(desk18), pickup(complimentary_tshirt4), goto(admin), access(shelf), release(complimentary_tshirt4),
goto(phd_bay2), access(desk18), pickup(complimentary_tshirt6), goto(admin), access(shelf), release(complimentary_tshirt6),
goto(phd_bay4), access(desk25), pickup(complimentary_tshirt5), goto(admin), access(shelf), release(complimentary_tshirt5), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"peters_office↔cabinet2",
"peters_office↔desk2",
"tobis_office↔desk38",
"cafeteria↔lunch_table",
"mobile_robotics_lab↔agent",
"lunch_table↔banana1",
"lunch_table↔fork",
"lunch_table↔knife",
"lunch_table↔plate",
"desk38↔pepsi",
"cabinet2↔apple3",
"cabinet2↔stapler",
"desk2↔phone"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk38",
"room": "tobis_office"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cabinet2",
"room": "peters_office"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk2",
"room": "peters_office"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: yellow, freshness: fresh, size: medium",
"id": "banana1",
"parent": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "fork",
"parent": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: silver, size: standard, condition: new",
"id": "knife",
"parent": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "utensil, eating, color: white, size: standard, condition: new",
"id": "plate",
"parent": "lunch_table",
"room": "cafeteria"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "beverage, canned, color: blue, size: 355ml, freshness: expired",
"id": "pepsi",
"parent": "desk38",
"room": "tobis_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: red, freshness: fresh, size: medium",
"id": "apple3",
"parent": "cabinet2",
"room": "peters_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "stationery, office supply, color: silver, size: standard, condition: used",
"id": "stapler",
"parent": "cabinet2",
"room": "peters_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "electronic, portable, color: black, size: medium, condition: new",
"id": "phone",
"parent": "desk2",
"room": "peters_office"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
I'm hungry. Bring me an apple from Peter and a pepsi from Tobi. I'm at the lunch table.
|
task_Office_long_horizon_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: I'm hungry. Bring me an apple from Peter and a pepsi from Tobi. I'm at the lunch table. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'cafeteria', 'attributes': 'clean', 'affordances': ['access'], 'id': 'lunch_table'}, {'room': 'tobis_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk38'}, {'room': 'peters_office', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cabinet2'}, {'room': 'peters_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk2'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: yellow, freshness: fresh, size: medium', 'id': 'banana1', 'parent': 'lunch_table', 'room': 'cafeteria'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'fork', 'parent': 'lunch_table', 'room': 'cafeteria'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: silver, size: standard, condition: new', 'id': 'knife', 'parent': 'lunch_table', 'room': 'cafeteria'}, {'affordances': ['pickup', 'release'], 'attributes': 'utensil, eating, color: white, size: standard, condition: new', 'id': 'plate', 'parent': 'lunch_table', 'room': 'cafeteria'}, {'affordances': ['pickup', 'release'], 'attributes': 'beverage, canned, color: blue, size: 355ml, freshness: expired', 'id': 'pepsi', 'parent': 'desk38', 'room': 'tobis_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: red, freshness: fresh, size: medium', 'id': 'apple3', 'parent': 'cabinet2', 'room': 'peters_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'stationery, office supply, color: silver, size: standard, condition: used', 'id': 'stapler', 'parent': 'cabinet2', 'room': 'peters_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'electronic, portable, color: black, size: medium, condition: new', 'id': 'phone', 'parent': 'desk2', 'room': 'peters_office'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'peters_office↔cabinet2', 'peters_office↔desk2', 'tobis_office↔desk38', 'cafeteria↔lunch_table', 'mobile_robotics_lab↔agent', 'lunch_table↔banana1', 'lunch_table↔fork', 'lunch_table↔knife', 'lunch_table↔plate', 'desk38↔pepsi', 'cabinet2↔apple3', 'cabinet2↔stapler', 'desk2↔phone']}
|
[goto(phd_bay1), access(desk9), pickup(complimentary_tshirt1), goto(admin), access(shelf), release(complimentary_tshirt1),
goto(phd_bay1), access(desk10), pickup(complimentary_tshirt2), goto(admin), access(shelf), release(complimentary_tshirt2),
goto(phd_bay2), access(desk15), pickup(complimentary_tshirt3), goto(admin), access(shelf), release(complimentary_tshirt3),
goto(phd_bay2), access(desk18), pickup(complimentary_tshirt4), goto(admin), access(shelf), release(complimentary_tshirt4),
goto(phd_bay2), access(desk18), pickup(complimentary_tshirt6), goto(admin), access(shelf), release(complimentary_tshirt6),
goto(phd_bay4), access(desk25), pickup(complimentary_tshirt5), goto(admin), access(shelf), release(complimentary_tshirt5), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"nikos_office↔desk1",
"nikos_office↔chair1",
"nikos_office↔cabinet1",
"dimitys_office↔desk3",
"dimitys_office↔cabinet3",
"mobile_robotics_lab↔agent",
"desk3↔K31X",
"desk3↔buzzer",
"cabinet3↔apple2",
"desk1↔coffee_mug"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"sit_at",
"work_at",
"access"
],
"attributes": "clean",
"id": "desk3",
"room": "dimitys_office"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cabinet3",
"room": "dimitys_office"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk1",
"room": "nikos_office"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "chair1",
"room": "nikos_office"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cabinet1",
"room": "nikos_office"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "electronic, portable, color: silver, size: compact, condition: new",
"id": "K31X",
"parent": "desk3",
"room": "dimitys_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "electronic, alert, color: black, size: standard, condition: new",
"id": "buzzer",
"parent": "desk3",
"room": "dimitys_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: red, freshness: fresh, size: medium",
"id": "apple2",
"parent": "cabinet3",
"room": "dimitys_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "kitchenware, drinkware, color: white, size: standard, condition: new",
"id": "coffee_mug",
"parent": "desk1",
"room": "nikos_office"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
Let's play a prank on Niko. Dimity might have something.
|
task_Office_long_horizon_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: Let's play a prank on Niko. Dimity might have something. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'dimitys_office', 'attributes': 'clean', 'affordances': ['sit_at', 'work_at', 'access'], 'id': 'desk3'}, {'room': 'dimitys_office', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cabinet3'}, {'room': 'nikos_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk1'}, {'room': 'nikos_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'chair1'}, {'room': 'nikos_office', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cabinet1'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'electronic, portable, color: silver, size: compact, condition: new', 'id': 'K31X', 'parent': 'desk3', 'room': 'dimitys_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'electronic, alert, color: black, size: standard, condition: new', 'id': 'buzzer', 'parent': 'desk3', 'room': 'dimitys_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: red, freshness: fresh, size: medium', 'id': 'apple2', 'parent': 'cabinet3', 'room': 'dimitys_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'kitchenware, drinkware, color: white, size: standard, condition: new', 'id': 'coffee_mug', 'parent': 'desk1', 'room': 'nikos_office'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'nikos_office↔desk1', 'nikos_office↔chair1', 'nikos_office↔cabinet1', 'dimitys_office↔desk3', 'dimitys_office↔cabinet3', 'mobile_robotics_lab↔agent', 'desk3↔K31X', 'desk3↔buzzer', 'cabinet3↔apple2', 'desk1↔coffee_mug']}
|
[goto(dimitys_office), access(desk3), pickup(buzzer), goto(nikos_office), open(cabinet1), access(cabinet1), release(buzzer), close(cabinet1), done()]
|
office
|
{
"links": [
"Sayplan_office↔floor_A",
"floor_A↔mobile_robotics_lab",
"peters_office↔cabinet2",
"peters_office↔desk2",
"michaels_office↔desk6",
"michaels_office↔cabinet6",
"wills_office↔desk4",
"wills_office↔cabinet4",
"mobile_robotics_lab↔agent",
"cabinet4↔drone2",
"cabinet4↔apple1",
"cabinet4↔undergrad_thesis1",
"cabinet2↔apple3",
"cabinet2↔stapler",
"desk2↔phone",
"desk6↔scissors",
"cabinet6↔terminator_poster",
"cabinet6↔stapler3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "mobile_robotics_lab"
}
],
"asset": [
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk4",
"room": "wills_office"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cabinet4",
"room": "wills_office"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cabinet2",
"room": "peters_office"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk2",
"room": "peters_office"
},
{
"affordances": [
"access"
],
"attributes": "clean",
"id": "desk6",
"room": "michaels_office"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "closed",
"id": "cabinet6",
"room": "michaels_office"
}
],
"building": [
{
"id": "Sayplan_office"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"release"
],
"attributes": "drone, electronic, color: white, size: standard, condition: new",
"id": "drone2",
"parent": "cabinet4",
"room": "wills_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: green, freshness: fresh, size: medium",
"id": "apple1",
"parent": "cabinet4",
"room": "wills_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "document, academic, color: white, size: A4, condition: new",
"id": "undergrad_thesis1",
"parent": "cabinet4",
"room": "wills_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "edible, fruit, color: red, freshness: fresh, size: medium",
"id": "apple3",
"parent": "cabinet2",
"room": "peters_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "stationery, office supply, color: silver, size: standard, condition: used",
"id": "stapler",
"parent": "cabinet2",
"room": "peters_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "electronic, portable, color: black, size: medium, condition: new",
"id": "phone",
"parent": "desk2",
"room": "peters_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "tool, cutting, color: silver, size: standard, condition: used",
"id": "scissors",
"parent": "desk6",
"room": "michaels_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "decorative, poster, color: multi, size: large, condition: new",
"id": "terminator_poster",
"parent": "cabinet6",
"room": "michaels_office"
},
{
"affordances": [
"pickup",
"release"
],
"attributes": "stationery, office supply, color: black, size: standard, condition: used",
"id": "stapler3",
"parent": "cabinet6",
"room": "michaels_office"
}
],
"room": [
{
"id": "peters_office"
},
{
"id": "tobis_office"
},
{
"id": "meeting_room1"
},
{
"id": "postdoc_bay1"
},
{
"id": "phd_bay1"
},
{
"id": "phd_bay2"
},
{
"id": "admin"
},
{
"id": "printing_zone2"
},
{
"id": "meeting_room2"
},
{
"id": "robot_lounge2"
},
{
"id": "robot_lounge1"
},
{
"id": "nikos_office"
},
{
"id": "michaels_office"
},
{
"id": "mobile_robotics_lab"
},
{
"id": "jasons_office"
},
{
"id": "arrons_office"
},
{
"id": "manipulation_lab"
},
{
"id": "filipes_office"
},
{
"id": "luis_office"
},
{
"id": "wills_office"
},
{
"id": "phd_bay3"
},
{
"id": "postdoc_bay2"
},
{
"id": "lobby"
},
{
"id": "supplies_station"
},
{
"id": "printing_zone1"
},
{
"id": "kitchen"
},
{
"id": "phd_bay4"
},
{
"id": "postdoc_bay3"
},
{
"id": "meeting_room4"
},
{
"id": "ajays_office"
},
{
"id": "chris_office"
},
{
"id": "lauriannes_office"
},
{
"id": "dimitys_office"
},
{
"id": "agriculture_lab"
},
{
"id": "meeting_room3"
},
{
"id": "cafeteria"
},
{
"id": "presentation_lounge"
}
]
}
}
|
There is an office which has a cabinet containing a rotten apple. The cabinet name contains an even number. Locate the office, throw away the fruit and get them a fresh apple.
|
task_Office_long_horizon_planning
|
You are an excellent graph planning agent. Given a graph representation of an environment. You can then use this graph to generate a step-by-step task plan that the agent can follow to solve a given task. You first think about the reasoning process as an internal monologue and then provide the user with the plan.
Lecal actions:
goto(room_id): Move the agent to any room
access(asset_id): Provide access to the set of affordances associated with an asset node and its connected objects.
pickup(object_id): Pick up an accessible object from the accessed node.
release(object_id): Release grasped object at an asset node.
open/close(asset_id): Open/close asset at agent's node, affecting object accessibility.
done(): Call when the task is completed.
and other actions from asset and object affordance
Respond in the following format: <think>
...
</think>
<plan>
[goto(dining_room), ...,access(dining_table), pickup(banana1)]
</plan>
The task is: There is an office which has a cabinet containing a rotten apple. The cabinet name contains an even number. Locate the office, throw away the fruit and get them a fresh apple. and the scene graph is: {'nodes': {'building': [{'id': 'Sayplan_office'}], 'floor': [{'id': 'floor_A'}], 'room': [{'id': 'peters_office'}, {'id': 'tobis_office'}, {'id': 'meeting_room1'}, {'id': 'postdoc_bay1'}, {'id': 'phd_bay1'}, {'id': 'phd_bay2'}, {'id': 'admin'}, {'id': 'printing_zone2'}, {'id': 'meeting_room2'}, {'id': 'robot_lounge2'}, {'id': 'robot_lounge1'}, {'id': 'nikos_office'}, {'id': 'michaels_office'}, {'id': 'mobile_robotics_lab'}, {'id': 'jasons_office'}, {'id': 'arrons_office'}, {'id': 'manipulation_lab'}, {'id': 'filipes_office'}, {'id': 'luis_office'}, {'id': 'wills_office'}, {'id': 'phd_bay3'}, {'id': 'postdoc_bay2'}, {'id': 'lobby'}, {'id': 'supplies_station'}, {'id': 'printing_zone1'}, {'id': 'kitchen'}, {'id': 'phd_bay4'}, {'id': 'postdoc_bay3'}, {'id': 'meeting_room4'}, {'id': 'ajays_office'}, {'id': 'chris_office'}, {'id': 'lauriannes_office'}, {'id': 'dimitys_office'}, {'id': 'agriculture_lab'}, {'id': 'meeting_room3'}, {'id': 'cafeteria'}, {'id': 'presentation_lounge'}], 'agent': [{'location': 'mobile_robotics_lab', 'id': 'agent'}], 'asset': [{'room': 'wills_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk4'}, {'room': 'wills_office', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cabinet4'}, {'room': 'peters_office', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cabinet2'}, {'room': 'peters_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk2'}, {'room': 'michaels_office', 'attributes': 'clean', 'affordances': ['access'], 'id': 'desk6'}, {'room': 'michaels_office', 'attributes': 'closed', 'affordances': ['access', 'open', 'close'], 'id': 'cabinet6'}], 'object': [{'affordances': ['pickup', 'release'], 'attributes': 'drone, electronic, color: white, size: standard, condition: new', 'id': 'drone2', 'parent': 'cabinet4', 'room': 'wills_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: green, freshness: fresh, size: medium', 'id': 'apple1', 'parent': 'cabinet4', 'room': 'wills_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'document, academic, color: white, size: A4, condition: new', 'id': 'undergrad_thesis1', 'parent': 'cabinet4', 'room': 'wills_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'edible, fruit, color: red, freshness: fresh, size: medium', 'id': 'apple3', 'parent': 'cabinet2', 'room': 'peters_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'stationery, office supply, color: silver, size: standard, condition: used', 'id': 'stapler', 'parent': 'cabinet2', 'room': 'peters_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'electronic, portable, color: black, size: medium, condition: new', 'id': 'phone', 'parent': 'desk2', 'room': 'peters_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'tool, cutting, color: silver, size: standard, condition: used', 'id': 'scissors', 'parent': 'desk6', 'room': 'michaels_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'decorative, poster, color: multi, size: large, condition: new', 'id': 'terminator_poster', 'parent': 'cabinet6', 'room': 'michaels_office'}, {'affordances': ['pickup', 'release'], 'attributes': 'stationery, office supply, color: black, size: standard, condition: used', 'id': 'stapler3', 'parent': 'cabinet6', 'room': 'michaels_office'}]}, 'links': ['Sayplan_office↔floor_A', 'floor_A↔mobile_robotics_lab', 'peters_office↔cabinet2', 'peters_office↔desk2', 'michaels_office↔desk6', 'michaels_office↔cabinet6', 'wills_office↔desk4', 'wills_office↔cabinet4', 'mobile_robotics_lab↔agent', 'cabinet4↔drone2', 'cabinet4↔apple1', 'cabinet4↔undergrad_thesis1', 'cabinet2↔apple3', 'cabinet2↔stapler', 'desk2↔phone', 'desk6↔scissors', 'cabinet6↔terminator_poster', 'cabinet6↔stapler3']}
|
[goto(peters_office), open(cabinet2), access(cabinet2), pickup(apple3), goto(kitchen), access(rubbish_bin), release(apple3), open(fridge), access(fridge), pickup(J64M), done()]
|
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