Dataset Viewer
buiding_name
stringlengths 5
12
| scene_graph
dict | task
sequencelengths 58
91
|
|---|---|---|
Allensville
|
{
"links": [
"Allensville↔floor_A",
"floor_A↔lobby1",
"kitchen1↔microwave1",
"kitchen1↔oven1",
"kitchen1↔sink2",
"kitchen1↔refrigerator1",
"kitchen1↔chair5",
"bathroom1↔sink1",
"bathroom1↔toilet1",
"bathroom2↔sink3",
"bathroom2↔toilet2",
"living_room1↔chair1",
"living_room1↔chair4",
"living_room1↔couch1",
"living_room1↔coffee_table1",
"dining_room1↔chair2",
"dining_room1↔chair3",
"dining_room1↔dining_table1",
"bedroom1↔bed1",
"bedroom2↔bed2",
"bedroom2↔desk1",
"lobby1↔cabinet1",
"dining_table1↔vase2",
"dining_table1↔vase3",
"dining_table1↔vase4",
"cabinet1↔vase6",
"cabinet1↔vase7",
"sink2↔bowl1",
"refrigerator1↔apple1",
"refrigerator1↔apple2",
"sink1↔vase1",
"sink1↔potted plant1",
"sink3↔potted plant2",
"coffee_table1↔bowl2",
"desk1↔vase5",
"desk1↔potted plant3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "opened, off",
"id": "microwave1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, dirty, off",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed, dirty",
"id": "toilet1",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet2",
"room": "bathroom2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair4",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair3",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining_table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"open",
"close",
"organize"
],
"attributes": "closed, tidy",
"id": "cabinet1",
"room": "lobby1"
}
],
"building": [
{
"id": "Allensville"
}
],
"floor": [
{
"id": "floor_A"
}
],
"object": [
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "sink1",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "dining_table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "dining_table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "dining_table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase6",
"parent": "cabinet1",
"room": "lobby1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase7",
"parent": "cabinet1",
"room": "lobby1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl1",
"parent": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "bowl2",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"wash"
],
"attributes": "fresh",
"id": "apple1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"wash"
],
"attributes": "expired",
"id": "apple2",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant1",
"parent": "sink1",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "desk1",
"room": "bedroom2"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "dining_room1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
}
]
}
}
|
[
"Open the refrigerator and take out an apple.",
"Place an apple on the dining table.",
"Clean the kitchen sink.",
"Make the bed in bedroom1.",
"Flush the toilet in bathroom1.",
"Fill the bowl from the kitchen sink.",
"Pick up the vase from the bathroom sink.",
"Open the microwave.",
"Water the potted plant in bathroom1.",
"Clean the coffee table in the living room.",
"Clean the dining table.",
"Put the empty bowl inside the kitchen sink.",
"Make the bed in bedroom2.",
"Place a vase from the desk in bedroom2 onto the dining table.",
"Remove the vases from the dining table.",
"Water the potted plant in bathroom2.",
"Fill the vase on the dining table with water.",
"Put the vases back on the dining table.",
"Open the oven.",
"Close the cabinet in the lobby.",
"Pick up the vase from the cabinet in the lobby.",
"Fill the vase on the coffee table with water.",
"Take the dirty bowl from the coffee table to the sink.",
"Open the cabinet in the lobby.",
"Clean the bathroom sink.",
"Flush the toilet in bathroom2.",
"Close the microwave after use.",
"Open the refrigerator and check for expired food.",
"Take the empty bowls to the dishwasher.",
"Wipe the chair in the dining room.",
"Clean the kitchen table.",
"Place the vase on the dining table.",
"Clean the desk in bedroom2.",
"Pick up the potted plant from the desk in bedroom2.",
"Fill up the sink in bathroom1 with water.",
"Place the vase back on the bathroom sink.",
"Wash the bowl and place it back in the cabinet.",
"Throw away the trash in the kitchen.",
"Empty the refrigerator.",
"Dust the coffee table in the living room.",
"Pick up the potted plant from bathroom2.",
"Clean the couch in the living room.",
"Pick up any items on the dining table.",
"Bring an apple from the kitchen to someplace in the living room.",
"Put a new vase on the dining table.",
"Fill the kitchen sink with dishes.",
"Clean the chairs in the dining room.",
"Ensure the toilet in bathroom1 is clean.",
"Clean the couch in the living room.",
"Organize the cabinet in the lobby.",
"Open the oven and clean it.",
"Place the dirty dishes in the sink.",
"Organize the dining table.",
"Pick up and dispose of any trash in the house.",
"Replenish the water in the vase in the living room.",
"Open the fridge to pick some drinks.",
"Prepare the dining room for a meal.",
"Take a drink from the refrigerator.",
"Move the bowels from the sink to the cabinet.",
"Clear off the coffee table of unnecessary items.",
"Gather dirty clothes from the bedrooms.",
"Check the toilet in bathroom2 for cleanliness.",
"Throw any leftovers from the dining table into the rubbish.",
"Make the bedroom clean before guests arrive.",
"Ensure there is no dirt on the living room floor.",
"Water the potted plants in the bathroom.",
"Check the kitchen for any spills.",
"Put items back into the refrigerator after use.",
"Make sure all towels in bathroom1 are folded.",
"Move any dish from the dining table into the kitchen.",
"Ensure the microwave is clean after use.",
"Stack the bowls in a neat fashion.",
"Gather empty bottles from the kitchen and living room.",
"Wipe the chairs in the first hallway neatly.",
"Empty the sink of any remaining water.",
"Prepare the kitchen for breakfast."
] |
Markleeville
|
{
"links": [
"Markleeville↔floor_A",
"Markleeville↔floor_B",
"floor_A↔staircase1",
"floor_B↔living_room2",
"corridor1↔chair1",
"chair1↔waste_paper_ball1",
"bathroom1↔sink2",
"bathroom1↔toilet2",
"bathroom1↔toilet4",
"bathroom2↔sink3",
"bathroom2↔toilet1",
"bathroom2↔toilet3",
"sink3↔potted plant10",
"sink3↔cup2",
"bedroom1↔bed1",
"bedroom1↔bench1",
"bedroom1↔chair17",
"bedroom1↔couch3",
"bedroom1↔couch4",
"chair17↔potted plant6",
"chair17↔potted plant7",
"chair17↔potted plant8",
"dining_room1↔chair4",
"dining_room1↔chair5",
"dining_room1↔chair6",
"dining_room1↔chair7",
"dining_room1↔chair8",
"dining_room1↔dining table1",
"home_office1↔chair9",
"home_office1↔chair10",
"home_office1↔chair11",
"home_office1↔chair12",
"home_office1↔chair13",
"chair9↔book2",
"chair9↔potted plant9",
"kitchen1↔counter1",
"kitchen1↔oven1",
"kitchen1↔oven2",
"kitchen1↔sink1",
"kitchen1↔refrigerator1",
"kitchen1↔chair2",
"kitchen1↔chair3",
"kitchen1↔rubbish1",
"sink1↔potted plant4",
"sink1↔potted plant5",
"counter1↔cup1",
"counter1↔milk_carton1",
"refrigerator1↔hamburger1",
"refrigerator1↔pizza1",
"living_room1↔chair16",
"living_room1↔couch1",
"couch1↔book1",
"chair16↔potted plant1",
"living_room2↔chair14",
"living_room2↔chair15",
"living_room2↔couch2",
"living_room2↔coffee_table1",
"coffee_table1↔potted plant2",
"coffee_table1↔potted plant3",
"coffee_table1↔vase1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet4",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, clean",
"id": "toilet1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, clean",
"id": "toilet3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "bench1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair17",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch3",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch4",
"room": "bedroom1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair6",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair7",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair9",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair12",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair13",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "counter1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, off",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, dirty, off",
"id": "oven2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair3",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "corridor1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair16",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair14",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair15",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "living_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair18",
"room": "unknown"
},
{
"affordances": [
"access",
"open",
"close"
],
"attributes": "opened",
"id": "rubbish1",
"room": "kitchen1"
}
],
"building": [
{
"id": "Markleeville"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"pickup"
],
"attributes": "empty",
"id": "milk_carton1",
"parent": "counter1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "cup2",
"parent": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant10",
"parent": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant6",
"parent": "chair17",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "chair17",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "chair17",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "chair9",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant9",
"parent": "chair9",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "cup1",
"parent": "counter1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant5",
"parent": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "couch1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant1",
"parent": "chair16",
"room": "living_room1"
},
{
"affordances": [
"grab",
"eat",
"heat",
"throw away"
],
"attributes": "fresh",
"id": "hamburger1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"grab",
"eat",
"heat",
"throw away"
],
"attributes": "expired",
"id": "pizza1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup"
],
"attributes": "dirty",
"id": "waste_paper_ball1",
"parent": "chair1",
"room": "corridor1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bedroom1"
},
{
"id": "corridor1"
},
{
"id": "dining_room1"
},
{
"id": "empty_room1"
},
{
"id": "empty_room2"
},
{
"id": "empty_room3"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "staircase1"
},
{
"id": "storage_room1"
}
]
}
}
|
[
"Go to bathroom1 and clean the sink.",
"Open toilet2 in bathroom1.",
"Flush toilet4 in bathroom1.",
"Water the potted plant10 on sink3 in bathroom2.",
"Grab the cup2 from sink3.",
"Clean the bedroom1 bench.",
"Make the bed1 in bedroom1.",
"Place the potted plant6 on chair17 in bedroom1.",
"Put the book2 on chair9 in home_office1.",
"Remove the potted plant9 from chair9 in bedroom1.",
"Open the kitchen1 refrigerator.",
"Grab the hamburger1 from the refrigerator.",
"Heat the pizza1 from the refrigerator.",
"Add water to the potted plant4 on chair2 in kitchen1.",
"Remove the potted plant5 from chair2 in kitchen1.",
"Put the cup1 on sink1 in kitchen1.",
"Close the oven1 in kitchen1.",
"Clean the coffee_table1 in living_room2.",
"Wipe chair14 in living_room2 and the items on the chair.",
"Release the potted plant1 from chair16 in living_room1.",
"Grab the book1 from couch1 in living_room1.",
"Water the potted plant2 on coffee_table1 in living_room2.",
"Place the vase1 on coffee_table1 in living_room2.",
"Grab the potted plant3 from coffee_table1 in living_room2.",
"Clean all chairs in dining_room1.",
"Clean the dining table1 for dinner in dining_room1.",
"Clean chair4 in dining_room1 and all items on the chair.",
"Clean the couch3 in bedroom1.",
"Check for any dirty dishes in kitchen1.",
"Move to bathroom2 and clean sink3.",
"Flush toilet1 in bathroom2.",
"Close toilet3 in bathroom2.",
"Go to the staircase1 and ensure it's clutter-free.",
"Throw away any rubbish found in corridor1.",
"Water the potted plant10 on sink3.",
"Prepare an area to eat in dining_room1.",
"Place the cup1 on the dining table1.",
"Bring a snack from the refrigerator to living_room1.",
"Open the refrigerator and check for expired items.",
"Wash the dirty dishes in sink1.",
"Check if the sink2 is clean in bathroom1.",
"Grab the potted plant7 from chair17 in bedroom1.",
"Wipe the couch4 in bedroom1.",
"Wipe the chair9 in home_office1.",
"Clean chair10 in home_office1.",
"Clean couch1 in living_room1.",
"Clean all chairs in home_office1.",
"Place any found dishes in the dishwasher.",
"Open the closet in bedroom1 for inventory.",
"Grab any book on the couch.",
"Grab plant sources from kitchen1 and organize them.",
"Water for potted plant3 on coffee_table1 in living_room2.",
"Bring a drink to the living room for entertainment.",
"Water potted plants found in the home_office1.",
"Organize living_room2 coffee_table1 for better access.",
"Clean up crumbs around the dining table1.",
"Put the empty milk carton in the rubbish.",
"Organize the couch in living_room1.",
"Check for trash in the empty rooms.",
"Pick up any tools found in storage_room1.",
"Pick up any clothes left around the living rooms.",
"Wipe all chairs in living_room1.",
"Organize the area around sink1.",
"Open the oven2 and clean it.",
"Place all dirty utensils in the dishwasher.",
"Clean up and remove anything from the corridor1.",
"Dispose of any clutter found in the empty rooms.",
"Check for anything left on table after dining.",
"Clean all chairs in dining_room1 and all items on the chairs.",
"Tidy kitchen1 up after preparing meals.",
"Make sure all plants are well-watered."
] |
Benevolence
|
{
"links": [
"Benevolence↔floor_A",
"Benevolence↔floor_B",
"Benevolence↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔corridor3",
"bathroom1↔sink5",
"bathroom1↔toilet2",
"bathroom1↔window sill2",
"window sill2↔potted plant3",
"kitchen1↔microwave1",
"kitchen1↔oven1",
"kitchen1↔sink1",
"kitchen1↔refrigerator1",
"kitchen1↔dish_cabinet1",
"refrigerator1↔potato1",
"dish_cabinet1↔bowl1",
"dish_cabinet1↔bowl2",
"dish_cabinet1↔dish1",
"dish_cabinet1↔dish2",
"dish_cabinet1↔dish3",
"bathroom2↔sink2",
"bathroom2↔toilet1",
"bathroom3↔sink3",
"bathroom3↔sink4",
"bathroom3↔toilet3",
"bedroom1↔chair5",
"bedroom1↔bed3",
"bedroom1↔bookcase1",
"bedroom1↔window sill1",
"bookcase1↔book2",
"window sill1↔vase1",
"bedroom2↔bed1",
"bedroom2↔bed2",
"bedroom2↔tv1",
"bedroom2↔bookcase2",
"bedroom2↔desk1",
"bookcase2↔book1",
"desk1↔bottle3",
"bed1↔teddy bear1",
"corridor2↔chair4",
"chair4↔potted plant1",
"chair4↔potted plant2",
"dining_room1↔chair1",
"dining_room1↔chair2",
"dining_room1↔chair3",
"dining_room1↔dining table1",
"dining_room1↔dining table2",
"dining_room1↔dining table3",
"dining_room1↔dining table4",
"dining table1↔bowl3",
"dining table1↔bottle1",
"dining table1↔bottle2",
"living_room1↔couch1",
"living_room1↔tv2",
"living_room1↔tv3",
"couch1↔teddy bear2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed,clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "window sill2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed,clean",
"id": "toilet1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed,clean",
"id": "toilet3",
"room": "bathroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "bedroom1"
},
{
"affordances": [
"access",
"organize",
"clean"
],
"attributes": "",
"id": "bookcase1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "window sill1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"organize",
"clean"
],
"attributes": "",
"id": "bookcase2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair4",
"room": "corridor2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining table3",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table4",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "dining_room1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "opened, off",
"id": "microwave1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, clean, off",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"organize"
],
"attributes": "opened, mess",
"id": "dish_cabinet1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv2",
"room": "living_room1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv3",
"room": "living_room1"
}
],
"building": [
{
"id": "Benevolence"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_C"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "window sill2",
"room": "bathroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "bookcase1",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "window sill1",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "bookcase2",
"room": "bedroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"hug",
"pick up",
"set"
],
"attributes": "",
"id": "teddy bear1",
"parent": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "chair4",
"room": "corridor2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "chair4",
"room": "corridor2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl3",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl1",
"parent": "dish_cabinet1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl2",
"parent": "dish_cabinet1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "dish1",
"parent": "dish_cabinet1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "dish2",
"parent": "dish_cabinet1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "dish3",
"parent": "dish_cabinet1",
"room": "kitchen1"
},
{
"affordances": [
"hug",
"pick up",
"set"
],
"attributes": "",
"id": "teddy bear2",
"parent": "couch1",
"room": "living_room1"
},
{
"affordances": [
"clean",
"pickup",
"cook"
],
"attributes": "",
"id": "potato1",
"parent": "refrigerator1",
"room": "kitchen1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "dining_room1"
},
{
"id": "empty_room1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "utility_room1"
}
]
}
}
|
[
"Wash the sink in bathroom 1.",
"Flush the toilet in bathroom 2.",
"Water the potted plant on the window sill in bathroom 1.",
"Make the bed in bedroom 1.",
"Clean the chair in bedroom 1.",
"Turn on the TV in bedroom 2.",
"Organize the bookcase in bedroom 2.",
"Grab the bottle from the desk in bedroom 2 and drink from it.",
"Hug the teddy bear in bedroom 2.",
"Water the potted plant in the corridor 2.",
"Pick up the vase from the window sill in bedroom 1 and clean it.",
"Set the bowl on the dining table.",
"Open the microwave in the kitchen 1.",
"Turn on the oven in the kitchen 1.",
"Wash the sink in the kitchen 1.",
"Open the refrigerator and grab the bottle inside.",
"Get the bowl from the dish cabinet for cleaning.",
"Clean the dining table in the dining room 1 for dinner.",
"Clean the couch in the living room 1.",
"Adjust the volume on TV 2 in the living room 1.",
"Switch on the teddy bear in the living room 1.",
"Organize the dish cabinet in kitchen 1.",
"Wipe the chairs in the dining room 1.",
"Place all dirty dishes in the sink in the kitchen 1.",
"Pick up the bowl from the dining table and clean it.",
"Make the bed in bedroom 2.",
"Move the potted plants in corridor 2 to dining table1.",
"Close the door to bedroom 1 after cleaning.",
"Turn off the microwave in the kitchen 1.",
"Clean the couches in the living room 1.",
"Water all potted plants in the house.",
"Gather all toys from around the living room and put them back in place.",
"Pick up the teddy bear from the bed and place it on the couch.",
"Fill the bowl with water for the dining room 1.",
"Open the kitchen sink for washing utensils.",
"Tidy up the living room by organizing TV remotes.",
"Clean the dining table 1 in the dining room.",
"Check the status of the toilet paper in bathroom 1.",
"Arrange the books on the bookcase in bedroom 1.",
"Water the plants on the window sills in the bathrooms.",
"Bring the empty bowl from the dining table back to the kitchen.",
"Clear the dining table of all items and clean the surface.",
"Confirm that all kitchen appliances are off.",
"Organize the kitchen cabinet.",
"Bring the bottle to the dining table.",
"Adjust the lighting in the living room to make it cozier.",
"Make sure all beds are nicely made in the bedrooms.",
"Wipe down surfaces in bathrooms to maintain cleanliness.",
"Put the remaining items in dishwasher for cleaning.",
"Tidy the hallway by organizing shoes and bags.",
"Ensure the laundry is moved to and from the utility room.",
"Visit the empty room and ensure it is ready for use when needed.",
"Water the potted plant on chair 4 and clean the chair.",
"Make sure both bathrooms are stocked with fresh towels.",
"Adjust the volume on TV 3 in the living room as needed.",
"Fill the vase in bedroom 1 with water.",
"Take the teddy bear back to the bed in bedroom 1.",
"Make sure the microwave has no items left inside.",
"Gather all used plates from the dining room for washing.",
"Check the bottle supply in the refrigerator and refill if necessary.",
"Make a cozy reading spot in bedroom 1 for relaxation.",
"Organize the cutlery in the kitchen drawers.",
"Get the children's toys and set them in the living room corner.",
"Rearrange the furniture in living room 1 for better flow.",
"Check the supplies stored in utility room 1 for freshness.",
"Ensure no broken items are left on any surfaces.",
"Check if the stove is clean after use.",
"Clean the dining table.",
"Ensure laundry is completed and neatly folded.",
"Have the teddy bears arranged for children's playtime.",
"Organize the couch in living room 1.",
"Make the dining room ready for the next meal.",
"Ensure all chairs in the house are clean.",
"Gather any stray items and return them to their rightful places.",
"Pick up any litter found throughout the house.",
"Dust the surfaces of the furniture in the living room.",
"Take out the trash from the kitchen and check the bins.",
"Check that the bathroom functions are all in good working order."
] |
Forkland
|
{
"links": [
"Forkland↔floor_A",
"Forkland↔floor_B",
"Forkland↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔corridor3",
"bathroom1↔sink4",
"sink4↔bottle11",
"sink4↔toilet2",
"bathroom2↔sink5",
"sink5↔bottle12",
"sink5↔toilet3",
"bathroom3↔sink2",
"sink2↔bottle1",
"sink2↔toilet1",
"bedroom1↔desk1",
"bedroom1↔bed3",
"desk1↔vase5",
"desk1↔vase6",
"bedroom2↔bed2",
"bedroom2↔bookcase1",
"bookcase1↔book1",
"childs_room1↔chair8",
"childs_room1↔bed1",
"childs_room1↔bed4",
"childs_room1↔desk2",
"desk2↔bottle9",
"childs_room2↔bed5",
"childs_room2↔desk3",
"desk3↔book3",
"closet1↔handbag2",
"handbag2↔book5",
"closet2↔handbag1",
"dining_room1↔chair1",
"dining_room1↔chair2",
"dining_room1↔chair3",
"dining_room1↔chair4",
"dining_room1↔chair9",
"dining_room1↔dining table1",
"dining table1↔bottle7",
"dining table1↔bottle8",
"dining table1↔book4",
"dining table1↔bottle10",
"dining table1↔vase9",
"dining table1↔potted plant2",
"kitchen1↔microwave1",
"kitchen1↔oven1",
"kitchen1↔sink1",
"kitchen1↔refrigerator1",
"kitchen1↔window_sill1",
"refrigerator1↔banana1",
"refrigerator1↔egg1",
"refrigerator1↔cole1",
"refrigerator1↔steak1",
"window_sill1↔potted plant1",
"window_sill1↔potted plant7",
"living_room1↔couch2",
"living_room1↔tv1",
"living_room2↔chair7",
"living_room2↔couch1",
"living_room2↔coffee_table1",
"coffee_table1↔potted plant10",
"coffee_table1↔book2",
"coffee_table1↔vase12",
"coffee_table1↔potted plant3",
"coffee_table1↔potted plant4",
"coffee_table1↔vase1",
"living_room3↔chair5",
"living_room3↔chair6",
"living_room3↔coffee_table2",
"coffee_table2↔vase2",
"coffee_table2↔vase3",
"coffee_table2↔vase4",
"coffee_table2↔vase7",
"coffee_table2↔vase8",
"coffee_table2↔vase10",
"coffee_table2↔vase11",
"coffee_table2↔potted plant8",
"coffee_table2↔potted plant9",
"coffee_table2↔clock1",
"coffee_table2↔bowl1",
"lobby1↔table1",
"table1↔potted plant5",
"table1↔potted plant6",
"utility_room1↔sink3",
"sink3↔bottle2",
"sink3↔bottle3",
"sink3↔bottle4",
"sink3↔bottle5",
"sink3↔bottle6"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, clean",
"id": "toilet3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink5",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet1",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "desk1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"organize",
"clean"
],
"attributes": "",
"id": "bookcase1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "childs_room1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "childs_room1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed4",
"room": "childs_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "desk2",
"room": "childs_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "desk3",
"room": "childs_room1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed5",
"room": "childs_room2"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "handbag2",
"room": "closet1"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "handbag1",
"room": "closet2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, dirty, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "opened, off",
"id": "microwave1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, dirty, on",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "",
"id": "tv1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair7",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch1",
"room": "living_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair6",
"room": "living_room3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "table1",
"room": "lobby1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "utility_room1"
}
],
"building": [
{
"id": "Forkland"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
}
],
"object": [
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle11",
"parent": "sink4",
"room": "bathroom1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle12",
"parent": "sink5",
"room": "bathroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "desk1",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase6",
"parent": "desk1",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "bookcase1",
"room": "bedroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle9",
"parent": "desk2",
"room": "childs_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book3",
"parent": "desk3",
"room": "childs_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book5",
"parent": "handbag2",
"room": "closet1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle7",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle8",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle10",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase9",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "window_sill1",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "couch1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase12",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant3",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant4",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant10",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase7",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase8",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase10",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase11",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock1",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "bowl1",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant8",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant9",
"parent": "coffee_table2",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant5",
"parent": "table1",
"room": "lobby1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "table1",
"room": "lobby1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "sink3",
"room": "utility_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "sink3",
"room": "utility_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle4",
"parent": "sink3",
"room": "utility_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle5",
"parent": "sink3",
"room": "utility_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle6",
"parent": "sink3",
"room": "utility_room1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "banana1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "egg1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "cole1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "expired",
"id": "steak1",
"parent": "refrigerator1",
"room": "kitchen1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "childs_room1"
},
{
"id": "childs_room2"
},
{
"id": "closet1"
},
{
"id": "closet2"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "dining_room1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "living_room3"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "storage_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
[
"Open the door of bathroom1.",
"Flush the toilet in bathroom1.",
"Clean the sink in bathroom1.",
"Make the bed in bedroom1.",
"Organize the desk in bedroom1.",
"Make the bed in bedroom2.",
"Organize the bookcase in bedroom2.",
"Clean the chair in childs_room1.",
"Make the bed in childs_room1.",
"Make the bed in childs_room2.",
"Open closet1 and check the contents.",
"Close handbag2 in closet1.",
"Open closet2 and check the contents.",
"Close handbag1 in closet2.",
"Place a bottle on the dining table.",
"Wipe the chairs in dinning room.",
"Organize the dining table1.",
"Open the refrigerator in kitchen1.",
"Close the refrigerator in kitchen1.",
"Turn on the microwave in kitchen1.",
"Clean the sink in kitchen1.",
"Organize the window sill in kitchen1.",
"Water the potted plants on the window sill.",
"Adjust the TV in living_room1.",
"Turn on the TV in living_room1.",
"Clean the couch in living_room1.",
"Water the potted plants in living_room2.",
"Organize the coffee_table1 in living_room2.",
"Clean the chairs in living_room2.",
"Wipe the chairs in living_room3.",
"Organize the coffee_table2 in living_room3.",
"Clean bowl on coffee_table2.",
"Water the potted plants on coffee_table2.",
"Hang the clock in living_room3.",
"Empty garbage in utility_room1.",
"Open sink3 in utility_room1.",
"Organize the bottles in utility_room1.",
"Fill a vase in bedroom1.",
"Clean up the clutter in dining_room1.",
"Open the book in bedroom2.",
"Check if any plants need water in childs_room1.",
"Clean the empty coffee_table1.",
"Prepare a snack on dining table1.",
"Water the plants at table1 in lobby1.",
"Check if hand washer in bathroom2 is functional.",
"Open the microwave after cooking.",
"Prepare a meal in kitchen1 using ingredients from refrigerator.",
"Organize the dining table for dinner.",
"Turn off all appliances in kitchen1.",
"Inspect the sink in utility_room1 for leaks.",
"Gather all dirty dishes from living_room1.",
"Check the cleanliness of all bathrooms.",
"Clean the bottles in bathroom1.",
"Organize the toys in childs_room2.",
"Gather all unmade beds.",
"Take note of all books that need to be returned in bedroom2.",
"Clean all chairs in dining_room1.",
"Organize cloths in closet1.",
"Close all cabinets in the house.",
"Prepare the living_room2 for a gathering.",
"Turn off the lights in corridor1.",
"Make all beds on the second floor.",
"Clean up spills on the kitchen floor.",
"Check the cleanliness of the kitchen sink.",
"Organize the storage_room1.",
"Arrange all handbags in closet2 for easy access.",
"Take out the trash from utility_room1.",
"Inspect the cleanliness of the staircase2.",
"Water all plants in dining_room1.",
"Open the door of bedroom2.",
"Organize the closet in childs_room1.",
"Clean the dust from furniture in living_room1.",
"Ensure the hallway remains tidy.",
"Check lights batteries in living_room3.",
"Turn off all electronics before leaving the house.",
"Organize the utility_room1 for easier access.",
"Store unused items in storage_room1.",
"Disinfect bathroom sinks after usage.",
"Organize the dining table.",
"Bring a bottle of water to the living_room1.",
"Clean up any toys left on the floor of childs_room1.",
"Collect books left around the house.",
"Inspect the cleanliness of all floors.",
"Go to living_room2 and ensure everything is tidy.",
"Adjust the curtains in living_room1 as needed.",
"Organize the drawers in kitchen1.",
"Wipe the surfaces in dining_room1 clean.",
"Check the condition of all kitchen appliances.",
"Remove expired items from the refrigerator.",
"Ensure that all doors are locked before nightfall.",
"Prepare the guest room for visitors."
] |
Ihlen
|
{
"links": [
"Ihlen↔floor_A",
"Ihlen↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor2",
"bathroom1↔sink3",
"bathroom1↔toilet2",
"bathroom2↔sink1",
"bathroom2↔toilet1",
"bedroom1↔bed1",
"bedroom1↔chair5",
"bedroom2↔chair12",
"bedroom2↔bed3",
"chair12↔book1",
"bedroom3↔chair17",
"bedroom3↔bed2",
"chair17↔cup1",
"dining_room1↔chair1",
"dining_room1↔chair2",
"dining_room1↔chair3",
"dining_room1↔chair4",
"dining_room1↔dining table1",
"dining table1↔potted plant2",
"dining_room2↔chair8",
"dining_room2↔chair9",
"dining_room2↔chair10",
"dining_room2↔chair11",
"dining_room2↔dining table2",
"dining_room2↔dining table3",
"dining_room2↔dining table4",
"kitchen1↔oven1",
"kitchen1↔sink2",
"kitchen1↔refrigerator1",
"sink2↔potted plant3",
"living_room1↔chair6",
"living_room1↔chair7",
"living_room1↔chair16",
"chair6↔vase1",
"chair6↔potted plant1",
"living_room2↔chair13",
"living_room2↔chair14",
"living_room2↔chair15",
"living_room2↔couch1",
"storage_room1↔bench1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, clean",
"id": "toilet1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair12",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair17",
"room": "bedroom3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair4",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table2",
"room": "dining_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining table3",
"room": "dining_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table4",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "dining_room2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, on",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair7",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair16",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair13",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair14",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair15",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch1",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "bench1",
"room": "storage_room1"
}
],
"building": [
{
"id": "Ihlen"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "chair12",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "cup1",
"parent": "chair17",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair6",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant1",
"parent": "chair6",
"room": "living_room1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "garage1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "staircase1"
},
{
"id": "storage_room1"
},
{
"id": "storage_room2"
}
]
}
}
|
[
"Open the toilet in bathroom 1.",
"Clean the sink in bathroom 1.",
"Flush the toilet in bathroom 2.",
"Wash hands in bathroom 2.",
"Make the bed in bedroom 1.",
"Wipe the chair in bedroom 1.",
"Make the bed in bedroom 2.",
"Clean the chair in bedroom 2.",
"Make the bed in bedroom 3.",
"Wipe the chair in bedroom 3.",
"Clean the dining table in dining room 1.",
"Clean the chair in dining room 1.",
"Clean the dining table in dining room 2.",
"Clean the chair in dining room 2.",
"Open the oven in kitchen 1.",
"Wash the sink in kitchen 1.",
"Open the refrigerator in kitchen 1.",
"Clean the chair in living room 1.",
"Clean the chair in living room 2.",
"Water the potted plant in dining room 1.",
"Move the potted plant in kitchen 1 to dining table2.",
"Fill the vase in living room 1.",
"Water the potted plant in living room 1.",
"Organize the dining table in dining room 1.",
"Organize the dining tables in dining room 2.",
"Clean the chair in bedroom 1.",
"Clean the chair in bedroom 2.",
"Wipe the chair in bedroom 3.",
"Wipe the chair in living room 1.",
"Clean the chair in living room 2.",
"Clean the couch in living room 2.",
"Walk through staircase 1.",
"Open all cabinets in the kitchen.",
"Open all cabinets in the dining rooms.",
"Open the refrigerator and check for food.",
"Clean and close the oven.",
"Wash the dirty dishes in kitchen 1.",
"Take out the trash from the bathroom.",
"Clean the living room chairs.",
"Clear the dining table.",
"Read the book in bedroom 2.",
"Grab the cup in bedroom 3 and take it to the kitchen.",
"Ensure the toilet in bathroom 1 is clean.",
"Check if the sink in bathroom 1 is clogged.",
"Fill the water pitcher in the sink of kitchen 1.",
"Clean the couch in living room 2.",
"Wipe the chairs around dining table 1 in dining room 1.",
"Organize the dining table for guests in dining room 2.",
"Put away the potted plant in storage room 1.",
"Organize the storage room's bench.",
"Clean the cupboard in the kitchen.",
"Wipe down the kitchen sink.",
"Water the potted plant in kitchen 1.",
"Get rid of old fruit in the refrigerator.",
"Check the cleanliness of all bedrooms.",
"Ensure all dining tables are ready for meals.",
"Check for any spills in the living room.",
"Clean the chairs in living room 1.",
"Wipe the couch in living room 2.",
"Ensure all bathrooms are stocked with supplies.",
"Vacuum the hallway in corridors 1 and 2.",
"Water all potted plants in living room1.",
"Ensure all surfaces in kitchen 1 are clean.",
"Clean the dining table in dining room 1."
] |
Newfields
|
{
"links": [
"Newfields↔floor_C1",
"Newfields↔floor_A",
"Newfields↔floor_C",
"Newfields↔floor_B",
"floor_B↔bathroom1",
"floor_C↔bathroom2",
"floor_C↔bathroom3",
"floor_B↔bedroom1",
"floor_C↔bedroom2",
"floor_C↔bedroom3",
"floor_C↔bedroom4",
"floor_C↔closet1",
"floor_A↔corridor1",
"floor_B↔corridor2",
"floor_B↔corridor3",
"floor_C↔corridor4",
"floor_C1↔empty_room1",
"floor_B↔exercise_room1",
"floor_A↔home_office1",
"floor_B↔kitchen1",
"floor_A↔living_room1",
"floor_B↔lobby1",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔utility_room1",
"home_office1↔keyboard1",
"kitchen1↔microwave1",
"kitchen1↔oven1",
"bathroom3↔sink1",
"bathroom3↔sink2",
"kitchen1↔sink3",
"bathroom2↔sink4",
"bathroom2↔sink5",
"bathroom1↔sink6",
"kitchen1↔refrigerator1",
"closet1↔handbag1",
"exercise_room1↔clock1",
"living_room1↔clock2",
"bathroom2↔vase1",
"bathroom3↔bottle1",
"utility_room1↔bottle2",
"utility_room1↔bottle3",
"bathroom2↔bottle4",
"empty_room1↔book1",
"closet1↔suitcase1",
"closet1↔suitcase2",
"bathroom3↔toilet1",
"bathroom2↔toilet2",
"bathroom1↔toilet3",
"kitchen1↔chair1",
"kitchen1↔chair2",
"corridor1↔chair3",
"corridor3↔chair4",
"bedroom3↔chair5",
"home_office1↔chair6",
"living_room1↔couch1",
"living_room1↔couch2",
"staircase1↔potted plant1",
"staircase1↔potted plant2",
"exercise_room1↔potted plant3",
"exercise_room1↔potted plant4",
"exercise_room1↔potted plant5",
"corridor3↔potted plant6",
"corridor3↔potted plant7",
"corridor3↔potted plant8",
"corridor3↔potted plant9",
"bathroom1↔potted plant10",
"bathroom1↔potted plant11",
"bedroom2↔bed1",
"bedroom3↔bed2",
"bedroom1↔bed3",
"living_room1↔tv1",
"home_office1↔tv2",
"home_office1↔tv3",
"bathroom1↔sink6",
"bathroom1↔toilet3",
"sink6↔potted plant10",
"sink6↔potted plant11",
"bathroom2↔sink4",
"bathroom2↔sink5",
"bathroom2↔toilet2",
"sink4↔vase1",
"sink4↔bottle4",
"bathroom3↔sink1",
"bathroom3↔sink2",
"bathroom3↔toilet1",
"sink1↔bottle1",
"bedroom1↔bed3",
"bedroom2↔bed1",
"bedroom3↔bed2",
"closet1↔handbag1",
"closet1↔suitcase1",
"closet1↔suitcase2",
"corridor1↔chair3",
"corridor3↔chair4",
"chair4↔potted plant6",
"chair4↔potted plant7",
"chair4↔potted plant8",
"chair4↔potted plant9",
"empty_room1↔chair30",
"chair30↔book1",
"exercise_room1↔clock1",
"exercise_room1↔chair31",
"chair31↔potted plant3",
"chair31↔potted plant4",
"chair31↔potted plant5",
"home_office1↔chair6",
"home_office1↔tv2",
"home_office1↔tv3",
"chair6↔keyboard1",
"kitchen1↔microwave1",
"kitchen1↔oven1",
"kitchen1↔sink3",
"kitchen1↔refrigerator1",
"kitchen1↔chair1",
"kitchen1↔chair2",
"living_room1↔couch1",
"living_room1↔couch2",
"living_room1↔tv1",
"tv1↔clock2",
"staircase1↔chair35",
"chair35↔potted plant1",
"chair35↔potted plant2",
"utility_room1↝rawer1",
"drawer1↔bottle2",
"drawer1↔bottle3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed, dirty",
"id": "toilet3",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink6",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink4",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink5",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed, dirty",
"id": "toilet1",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "bedroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "",
"id": "suitcase1",
"room": "closet1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "",
"id": "suitcase2",
"room": "closet1"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "handbag1",
"room": "closet1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair3",
"room": "corridor1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair4",
"room": "corridor3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair30",
"room": "empty_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair31",
"room": "exercise_room1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv1",
"room": "home_office1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv3",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair6",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "closed, on",
"id": "microwave1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, off",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair35",
"room": "staircase1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "",
"id": "drawer1",
"room": "utility_room1"
}
],
"building": [
{
"id": "Newfields"
}
],
"floor": [
{
"id": "floor_B"
},
{
"id": "floor_C"
},
{
"id": "floor_A"
},
{
"id": "floor_C1"
}
],
"object": [
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant10",
"parent": "sink6",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant11",
"parent": "sink6",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "sink4",
"room": "bathroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle4",
"parent": "sink4",
"room": "bathroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink1",
"room": "bathroom3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "chair30",
"room": "empty_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "chair31",
"room": "exercise_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "chair31",
"room": "exercise_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant5",
"parent": "chair31",
"room": "exercise_room1"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock1",
"parent": "chair31",
"room": "exercise_room1"
},
{
"affordances": [
"touch",
"press",
"move",
"pick up",
"clean"
],
"attributes": "",
"id": "keyboard1",
"parent": "chair6",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "chair4",
"room": "corridor3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant7",
"parent": "chair4",
"room": "corridor3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant8",
"parent": "chair4",
"room": "corridor3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant9",
"parent": "chair4",
"room": "corridor3"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock2",
"parent": "tv1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "chair35",
"room": "staircase1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "chair35",
"room": "staircase1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "drawer1",
"room": "utility_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "drawer1",
"room": "utility_room1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "closet1"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "corridor4"
},
{
"id": "empty_room1"
},
{
"id": "exercise_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "utility_room1"
}
]
}
}
|
[
"Flush the toilet in bathroom 1.",
"Water the potted plant in the bathroom1.",
"Close the opened sink in bathroom 1.",
"Clean the opened sink in bathroom 2.",
"Check if the toilet in bathroom 2 needs cleaning.",
"Grab the bottle from the sink in bathroom 2.",
"Water the potted plants in bathroom 2.",
"Open the closed toilet in bathroom 3.",
"Clean the opened sink in bathroom 3.",
"Water the potted plants in bathroom 3.",
"Clean the chair in bedroom 3.",
"Clean the opened suitcase in closet 1.",
"Wipe the chair in corridor 3.",
"Turn on the TV in the living room.",
"Open the closed microwave in kitchen 1.",
"Open the closed oven in kitchen 1.",
"Retrieve the bottle in utility room 1.",
"Flush the toilet in bathroom 3.",
"Clean the opened sink in kitchen 1.",
"Water the potted plant in staircase 1.",
"Move the potted plant3 in exercise room 1 to sink3.",
"Access the opened book in empty room 1.",
"Look at the clock in exercise room 1.",
"Clean the opened keyboard in home office 1.",
"Power on the TV in home office 1.",
"Power on the second TV in home office 1.",
"Clean the chair in home office 1.",
"Look at the clock in living room 1.",
"Water the potted plant in exercise room 1.",
"Wipe the chair in corridor 1.",
"Check if the opened drawer in utility room requires cleaning.",
"Close the opened suitcase in closet 1.",
"Check the status of the plants in bathroom1.",
"Water the plants in bathroom2.",
"Close the opened sink in bathroom 2.",
"Water the plants in bathroom3.",
"Water the potted plant in living room 1.",
"Set the clock in exercise room 1.",
"Water the plants in kitchen 1.",
"Clean the chair in kitchen 1 for dirtiness.",
"Turn off the sink in bathroom1.",
"Retrieve bottle 2 from utility room.",
"Retrieve bottle 3 from utility room.",
"Pick up the potted plant in bathroom1.",
"Wipe the chair in bedroom 4.",
"Turn on the opened sink in bathroom 3.",
"Turn off the opened sink in bathroom 2.",
"Close the opened toilet in bathroom 2.",
"Look for any dirty items in the closet.",
"Retrieve any clothes from the suitcase in closet 1.",
"Clean the chair in bedroom 1.",
"Wipe the couch in living room 1.",
"Clean the clock in exercise room 1.",
"Turn off all TVs in home office.",
"Check if the kitchen sink requires cleaning.",
"Close the opened refrigerator if forgotten.",
"Water any known plants on the staircase.",
"Close the opened microwave in kitchen 1.",
"Look at the status of the clock in living room.",
"Open the drawer in utility room for cleaning supplies.",
"Clean all the chairs in the corridor."
] |
Pomaria
|
{
"links": [
"Pomaria↔floor_C",
"Pomaria↔floor_B",
"Pomaria↔floor_A",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔corridor3",
"television_room1↔chair1",
"living_room1↔chair2",
"living_room1↔chair3",
"bedroom3↔chair4",
"bedroom3↔chair5",
"kitchen1↔chair6",
"kitchen1↔chair7",
"home_office1↔chair8",
"home_office1↔chair9",
"television_room1↔couch1",
"staircase2↔chair13",
"bedroom2↔bed1",
"bedroom3↔bed2",
"bedroom1↔bed3",
"bathroom3↔toilet1",
"bathroom1↔toilet2",
"television_room1↔tv1",
"home_office1↔tv2",
"home_office1↔tv3",
"bedroom3↔tv4",
"utility_room1↔sink1",
"bathroom1↔sink3",
"pantry_room1↔refrigerator1",
"bathroom1↔sink3",
"bathroom1↔toilet2",
"bathroom2↔sink11",
"sink11↔clock1",
"sink11↔clock2",
"bathroom3↔toilet1",
"bedroom1↔bed3",
"bedroom2↔bed1",
"bedroom3↔bed2",
"bedroom3↔chair4",
"bedroom3↔chair5",
"bedroom3↔tv4",
"chair4↔vase1",
"chair4↔vase2",
"corridor2↔chair15",
"chair15↔potted plant1",
"chair15↔potted plant11",
"chair15↔vase4",
"chair15↔vase5",
"corridor3↔chair16",
"chair16↔potted plant2",
"chair16↔potted plant3",
"chair16↔potted plant4",
"chair8↔book19",
"chair8↔book20",
"chair8↔book21",
"chair8↔book22",
"chair8↔book23",
"chair8↔book50",
"chair8↔keyboard1",
"kitchen1↔oven1",
"kitchen1↔sink2",
"kitchen1↔refrigerator2",
"refrigerator2↔banana1",
"refrigerator2↔egg1",
"refrigerator2↔cole1",
"refrigerator2↔steak1",
"sink2↔potted plant5",
"sink2↔potted plant6",
"sink2↔potted plant7",
"sink2↔potted plant8",
"chair2↔vase3",
"chair13↔potted plant9",
"chair13↔potted plant10",
"couch1↔laptop1",
"couch1↔book1",
"couch1↔book2",
"couch1↔book3",
"couch1↔book4",
"utility_room1↔sink1"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink11",
"room": "bathroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom3"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv4",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair4",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair15",
"room": "corridor2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair16",
"room": "corridor2"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv2",
"room": "home_office1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv3",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair8",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "home_office1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, clean, on",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, dirty, on",
"id": "refrigerator2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair7",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair13",
"room": "staircase2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "pantry_room1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv1",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch1",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink1",
"room": "utility_room1"
}
],
"building": [
{
"id": "Pomaria"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
}
],
"object": [
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock1",
"parent": "sink11",
"room": "bathroom2"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock2",
"parent": "sink11",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair4",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "chair4",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant1",
"parent": "chair15",
"room": "corridor2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "chair15",
"room": "corridor2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "chair15",
"room": "corridor2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant11",
"parent": "chair15",
"room": "corridor2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "chair16",
"room": "corridor3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant3",
"parent": "chair16",
"room": "corridor3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant4",
"parent": "chair16",
"room": "corridor3"
},
{
"affordances": [
"touch",
"press",
"move",
"pick up",
"clean"
],
"attributes": "",
"id": "keyboard1",
"parent": "chair8",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book19",
"parent": "chair8",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book20",
"parent": "chair8",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book21",
"parent": "chair8",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book22",
"parent": "chair8",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book23",
"parent": "chair8",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book50",
"parent": "chair8",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant5",
"parent": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant6",
"parent": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant8",
"parent": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "chair2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant9",
"parent": "chair13",
"room": "staircase2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant10",
"parent": "chair13",
"room": "staircase2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book3",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"open",
"close",
"turn on",
"turn off",
"pick up",
"move",
"work on",
"look at"
],
"attributes": "",
"id": "laptop1",
"parent": "couch1",
"room": "television_room1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "apple1",
"parent": "refrigerator2",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "egg1",
"parent": "refrigerator2",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "soda1",
"parent": "refrigerator2",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "expired",
"id": "pizza1",
"parent": "refrigerato2",
"room": "kitchen1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "pantry_room1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "television_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
[
"Clean the sink in bathroom 1.",
"Flush the toilet in bathroom 1.",
"Wipe the chairs in the corridor 2.",
"Water the potted plants in corridor 2.",
"Open the refrigerator in kitchen 1.",
"Place the clock from bathroom 2 back on the sink.",
"Move the laptop from the couch in the television room to the home office.",
"Turn on the TV in home office 1.",
"Take out the trash from the utility room.",
"Water the plants in the kitchen.",
"Clean the sink in the utility room.",
"Make sure the oven in kitchen 1 is closed.",
"Turn off the TV in bedroom 3.",
"Organize the books in the television room.",
"Pick up the vase from bedroom 3 and clean it.",
"Check if the sink in bathroom 1 is still opened.",
"Place the vase back on the chair in bedroom 3.",
"Open the cabinet in kitchen 1.",
"Fill the vase in bedroom 3 with fresh water.",
"Place the keys on the table in the living room.",
"Turn off the lights in the corridor before leaving.",
"Clean the chairs in the living room.",
"Water the potted plants in corridor 2.",
"Check the clock time in bathroom 2.",
"Turn on the lights in the lobby.",
"Collect the dishes from kitchen 1 and put them in the dishwasher.",
"Pick up the book lying on the floor in the television room.",
"Make the bed in bedroom 1.",
"Water the plants in the staircase area.",
"Clean the clock in bathroom 2.",
"Put away the books not on the shelves in the television room.",
"Open the blinds in living room 1.",
"Turn off the radiator in the utility room.",
"Organize couch in television room 1.",
"Make sure the oven is not on.",
"Check for any trash in the living room.",
"Organize the toys lying on the floor in living room 1.",
"Put away the remote control on the table in television room.",
"Wipe the chairs in home office 1.",
"Close the door to the bathroom 1.",
"Empty the vacuum cleaner into the trash.",
"Return any misplaced items to their original locations.",
"Dig out the car keys from the drawer in the kitchen.",
"Clean the chair in the pantry room.",
"Clean the floor in bathroom 1.",
"Ensure the toilet lid in bathroom 1 is closed.",
"Refill the hand soap in bathroom 1.",
"Check if all the laundry is done.",
"Clean up any spills in kitchen 1.",
"Turn off any unnecessary electronic devices.",
"Pick up any dirty clothes in bedroom 1.",
"Water potted plants in kitchen.",
"Clear the dinning table in living room 1.",
"Check the fridge for expired food.",
"Organize the bookshelves in the television room.",
"Scan the living room for any misplaced items.",
"Place any dirty dishes inside the sink.",
"Move the potted plant11 to sink2.",
"Turn down the volume of the TV in bedroom 3.",
"Ensure the door to the pantry room is closed.",
"Recycle any paper waste in the utility room.",
"Organize the pantry room items.",
"Check the food items in refrigerator 1.",
"Dust the shelves in the home office.",
"Replace used water in the vase in bedroom 3.",
"Recycle the plastic bottles in kitchen 1.",
"Flushing the toilet in bathroom 2.",
"Turn off unnecessary lights in bedroom 1.",
"Take any empty bottles to the recycling bin.",
"Open any blinds or curtains for natural light.",
"Ensure the refrigerator in kitchen 1 is closed.",
"Inspect the utility sink for any clogs.",
"Wipe the chairs in bedroom 3.",
"Clean the chairs in hallway 1 and 2.",
"Hold onto items until they can be organized.",
"Check the wifi router in home office 1.",
"Turn on any fans if it's too hot.",
"Organize the paperwork in the utility room.",
"Place any shoes left at the entryway back.",
"Fetch any packages left at the lobby.",
"Check the kitchen for any dirty dish towels to wash.",
"Close and secure any doors that are left ajar.",
"Check for any pet supplies in the pantry.",
"Ensure that clocks are set to the correct time.",
"Put away any toys lying around.",
"Look for laundry baskets needing to be emptied."
] |
Lakeville
|
{
"links": [
"Lakeville↔floor_A",
"Lakeville↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor3",
"bathroom1↔toilet1",
"bathroom2↔window_sill1",
"window_sill1↔vase10",
"bathroom3↔window_sill2",
"window_sill2↔vase2",
"window_sill2↔vase3",
"window_sill2↔potted plant1",
"bedroom1↔bed4",
"bedroom2↔chair13",
"bedroom2↔chair14",
"bedroom2↔bed1",
"bedroom2↔desk1",
"desk1↔book22",
"desk1↔vase8",
"bedroom3↔chair15",
"bedroom3↔bed3",
"chair15↔vase7",
"bedroom4↔couch1",
"bedroom4↔bed2",
"bedroom4↔desk2",
"desk2↔vase5",
"dining_room1↔chair16",
"dining_room1↔chair17",
"dining_room1↔dining table3",
"dining table3↔book23",
"dining table3↔book24",
"dining table3↔book35",
"dining table3↔bowl2",
"dining table3↔vase9",
"dining_room2↔chair1",
"dining_room2↔chair4",
"dining_room2↔chair6",
"dining_room2↔chair11",
"dining_room2↔chair12",
"dining_room2↔dining table1",
"dining table1↔vase6",
"exercise_room1↔chair30",
"chair30↔book16",
"chair30↔book17",
"chair30↔book18",
"chair30↔book19",
"chair30↔book20",
"chair30↔book21",
"chair30↔book25",
"chair30↔book26",
"chair30↔book27",
"chair30↔book28",
"chair30↔cup1",
"home_office1↔bookcase2",
"bookcase2↔book1",
"bookcase2↔book2",
"bookcase2↔book3",
"kitchen1↔oven1",
"kitchen1↔toaster1",
"kitchen1↔sink1",
"kitchen1↔refrigerator1",
"sink1↔bowl1",
"living_room1↔couch2",
"living_room1↔tv1",
"couch2↔book4",
"couch2↔book5",
"couch2↔book6",
"couch2↔book7",
"couch2↔book8",
"couch2↔book9",
"couch2↔book10",
"couch2↔book11",
"couch2↔book12",
"couch2↔book13",
"couch2↔book14",
"couch2↔book15",
"couch2↔book29",
"couch2↔book30",
"couch2↔book31",
"couch2↔book32",
"couch2↔book33",
"couch2↔book34",
"tv1↔vase1",
"living_room2↔chair9",
"living_room2↔chair10",
"living_room2↔couch3",
"chair9↔vase4",
"dining_room3↔chair2",
"dining_room3↔chair3",
"dining_room3↔chair5",
"dining_room3↔chair7",
"dining_room3↔chair8",
"dining_room3↔chair18",
"dining_room3↔dining table2",
"dining table2↔oranges"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet1",
"room": "bathroom1"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed4",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "window_sill1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "window_sill2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair13",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair14",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed3",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair15",
"room": "bedroom3"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed2",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch1",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "desk2",
"room": "bedroom4"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining table3",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair16",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair17",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table1",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair12",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair30",
"room": "exercise_room1"
},
{
"affordances": [
"access",
"organize",
"clean"
],
"attributes": "",
"id": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, dirty, off",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "",
"id": "toaster1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, dirty, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch3",
"room": "living_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining table2",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair7",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair8",
"room": "dining_room3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair18",
"room": "dining_room3"
}
],
"building": [
{
"id": "Lakeville"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase10",
"parent": "window_sill1",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "window_sill2",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "window_sill2",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "window_sill2",
"room": "bathroom3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book22",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase8",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase7",
"parent": "chair15",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "desk2",
"room": "bedroom4"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book23",
"parent": "dining table3",
"room": "dining_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book24",
"parent": "dining table3",
"room": "dining_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book35",
"parent": "dining table3",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase9",
"parent": "dining table3",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "bowl2",
"parent": "dining table3",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase6",
"parent": "dining table1",
"room": "dining_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book16",
"parent": "chair30",
"room": "exercise_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book17",
"parent": "chair30",
"room": "exercise_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book18",
"parent": "chair30",
"room": "exercise_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book19",
"parent": "chair30",
"room": "exercise_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book20",
"parent": "chair30",
"room": "exercise_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book21",
"parent": "chair30",
"room": "exercise_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book25",
"parent": "chair30",
"room": "exercise_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book26",
"parent": "chair30",
"room": "exercise_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book27",
"parent": "chair30",
"room": "exercise_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book28",
"parent": "chair30",
"room": "exercise_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "cup1",
"parent": "chair30",
"room": "exercise_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book3",
"parent": "bookcase2",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl1",
"parent": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book5",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book6",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book7",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book8",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book9",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book10",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book11",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book12",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book13",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book14",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book15",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book29",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book30",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book31",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book32",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book33",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book34",
"parent": "couch2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "tv1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "chair9",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"wash"
],
"attributes": "",
"id": "oranges",
"parent": "dining table2",
"room": "dining_room3"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "dining_room3"
},
{
"id": "exercise_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "staircase1"
}
]
}
}
|
[
"Open the refrigerator in the kitchen.",
"Clean the window sill in bathroom 2.",
"Flush the toilet in bathroom 1.",
"Water the potted plant on the window sill in bathroom 3.",
"Take the vase from bathroom 2 and fill it with water.",
"Pick up the book on the desk in bedroom 2.",
"Organize the books in the home office.",
"Clean the sink in the kitchen.",
"Organize the table for dinner in dining room 1.",
"Place the vase on the dining table in dining room 1.",
"Pick up the dirty cup from the kitchen sink and wash it.",
"Make the bed in bedroom 1.",
"Fill the vase on the window sill in bathroom 3 with water.",
"Clean and turn on the oven in the kitchen.",
"Place a clean bowl on the dining table.",
"Organize the couch in living room 1.",
"Open the curtains in bedroom 4.",
"Turn off the toaster in the kitchen.",
"Take out the trash from the kitchen and dispose of it.",
"Place the book back on the shelf in living room 1.",
"Fill the bowl in the dining room with fruit.",
"Pick up the dirt from the floor in corridor 1.",
"Wipe chair 15 in bedroom 3.",
"Pick up the book from chair 30 in exercise room 1.",
"Remove the dishes from the dining table and clean the surface.",
"Put away the clothes lying on the floor in bedroom 1.",
"Set the exercise equipment in exercise room 1 for use.",
"Clean the surfaces in home office 1.",
"Make sure the beds in the bedrooms are tidy.",
"Take the trash out from all bathrooms.",
"Wipe down the dining table.",
"Gather all the dirty clothes and place them in the laundry basket.",
"Pick up any toys from the living room floor.",
"Check for any books left out of place in living room 1.",
"Clean the chair at the dining table.",
"Wipe the chairs in dining room 2.",
"Open the door to the hallway when someone arrives.",
"Make a smoothie and put it into a cup in the kitchen.",
"Set books on the coffee table in living room 1.",
"Bring a potted plant from the kitchen to the living room.",
"Place a new book on the desk in bedroom 2.",
"Turn on the television in living room 1.",
"Turn off the lights in the kitchen after use.",
"Wipe the table in dining room 1.",
"Pick up the discarded papers from the floor in the home office.",
"Rearrange the furniture in living room 2.",
"Place the empty bowl back in the kitchen sink.",
"Sort the magazines in the exercise room.",
"Clear the table in dining room 3 before setting it.",
"Put the vase on the shelf in dining room 2.",
"Pick up on the couch in living room 1.",
"Turn off, clean and close the oven.",
"Organize the pantry in the kitchen.",
"Collect all the informational pamphlets in the home office.",
"Fill the vase in dining room 1 with water.",
"Shut the refrigerator door after getting items.",
"Check for any items in the bookshelf that need returning.",
"Clean the chairs in dining room.",
"Wipe the chairs in dining room.",
"Place all bottles and cans in the recycling bin in the kitchen.",
"Organize on the desk in home office 1.",
"Close the curtains in bedroom 1 for privacy.",
"Ensure the exercise equipment is stowed properly after use.",
"Dismantle any remaining decorations from the floor.",
"Flush the toilet in bathroom 2.",
"Serve drinks at the dining table.",
"Wrap up any uneaten food from dinner and place it in the refrigerator.",
"Restock any supplies needed in the kitchen after cooking.",
"Make sure there are enough cups available in the kitchen.",
"Check if the exercise room is tidy after workouts.",
"Place the board games on the shelf in the living room.",
"Restock any napkins or utensils in the dining rooms.",
"Clean out the trash can in the bathroom.",
"Make sure to water the plants regularly in the house.",
"Check the batteries of any remote controls in the living room.",
"Ensure that the carpet is vacuumed periodically.",
"Make sure the bathroom mirrors are spotless.",
"Check the shaving kit for empty products in bathroom 1.",
"Collect the mail from the table in the hallway."
] |
Corozal
|
{
"links": [
"Corozal↔floor_A",
"Corozal↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor2",
"bathroom1↔toilet2",
"bathroom1↔toilet4",
"bathroom1↔sink10",
"sink2↔potted plant9",
"bathroom2↔sink1",
"sink1↔bottle1",
"sink1↔bottle8",
"bathroom3↔toilet1",
"bathroom3↔sink11",
"bathroom3↔chair30",
"sink11↔bottle4",
"chair30↔book2",
"bathroom4↔sink4",
"bathroom4↔sink5",
"sink4↔bottle2",
"sink4↔bottle3",
"sink4↔bottle7",
"bathroom5↔toilet3",
"bathroom6↔toilet5",
"bathroom6↔sink3",
"bedroom1↔bed2",
"bedroom1↔tv4",
"bedroom2↔bed3",
"bedroom2↔tv1",
"bedroom2↔tv2",
"bedroom3↔bed4",
"bedroom3↔chair34",
"chair34↔vase1",
"chair34↔vase2",
"bedroom4↔chair6",
"bedroom4↔bed1",
"chair6↔book1",
"dining_room1↔chair2",
"dining_room1↔dining table2",
"dining table2↔potted plant6",
"home_office1↔tv6",
"home_office1↔chair5",
"chair5↔keyboard1",
"chair5↔clock2",
"chair5↔bottle5",
"chair5↔bottle6",
"chair5↔cup2",
"chair5↔cup3",
"chair5↔cup4",
"chair5↔cup5",
"chair5↔cup6",
"kitchen1↔microwave1",
"kitchen1↔oven1",
"kitchen1↔sink2",
"kitchen1↔refrigerator1",
"refrigerator1↔milk1",
"refrigerator1↔bread1",
"refrigerator1↔ice_cream1",
"refrigerator1↔orange1",
"sink2↔potted plant7",
"sink2↔potted plant8",
"living_room1↔couch1",
"living_room1↔couch2",
"living_room1↔tv5",
"lobby1↔chair31",
"chair31↔potted plant1",
"chair31↔potted plant2",
"television_room1↔bench1",
"television_room1↔chair4",
"television_room1↔couch3",
"television_room1↔tv3",
"couch3↔remote1",
"utility_room1↔chair33",
"chair33↔bowl1",
"chair33↔bowl2",
"chair33↔vase3"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet4",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink10",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet1",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink11",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair30",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "bathroom4"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet3",
"room": "bathroom5"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet5",
"room": "bathroom6"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "bathroom6"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv4",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom2"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed4",
"room": "bedroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair34",
"room": "bedroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "bedroom4"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "bench1",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch3",
"room": "television_room1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv3",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "living_room1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv5",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "home_office1"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv6",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "closed, off",
"id": "microwave1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, dirty, on",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, dirty, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair31",
"room": "lobby1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair32",
"room": "television_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair33",
"room": "utility_room1"
}
],
"building": [
{
"id": "Corozal"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant9",
"parent": "sink10",
"room": "bathroom1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle8",
"parent": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle4",
"parent": "sink11",
"room": "bathroom3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "chair30",
"room": "bathroom3"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle7",
"parent": "sink4",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair34",
"room": "bedroom3"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "chair34",
"room": "bedroom3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "chair6",
"room": "bedroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant6",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle5",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle6",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "cup2",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "cup3",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "cup4",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "cup5",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "cup6",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"touch",
"press",
"move",
"pick up",
"clean"
],
"attributes": "",
"id": "keyboard1",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock2",
"parent": "chair5",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant7",
"parent": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant1",
"parent": "chair31",
"room": "lobby1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant2",
"parent": "chair31",
"room": "lobby1"
},
{
"affordances": [
"press",
"pick up",
"move",
"look for"
],
"attributes": "",
"id": "remote1",
"parent": "couch3",
"room": "television_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl1",
"parent": "chair33",
"room": "utility_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl2",
"parent": "chair33",
"room": "utility_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "chair33",
"room": "utility_room1"
},
{
"affordances": [
"pickup"
],
"attributes": "expired",
"id": "milk1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "bread1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "ice_cream1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "expired",
"id": "orange1",
"parent": "refrigerato1",
"room": "kitchen1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bathroom5"
},
{
"id": "bathroom6"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "dining_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "television_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
[
"Flush the toilet in bathroom 1.",
"Clean the sink in bathroom 2.",
"Make the bed in bedroom 1.",
"Turn on the TV in bedroom 2.",
"Grab a bottle from bathroom 4 and drink from it.",
"Water the potted plant in bathroom 1.",
"Organize the dining table in dining room 1.",
"Turn off the TV in living room 1.",
"Open the refrigerator in kitchen 1.",
"Close the microwave in kitchen 1.",
"Wash the dirty cup in home office 1.",
"Place the book from chair 30 in bathroom 3.",
"Fill the vase in bedroom 3 with water.",
"Adjust the volume of the TV in the television room.",
"Pick up the potted plant in the dining room and move it to the lobby.",
"Get a drink from the bottle located in bathroom 2.",
"Clean the chair in dining room 1.",
"Fill the bowl located in the utility room with water.",
"Make the bed in bedroom 4.",
"Turn on the microwave in kitchen 1 to heat food.",
"Water the potted plant in lobby 1.",
"Check the sink in bathroom 6 for cleanliness.",
"Change the TV channel in the television room.",
"Adjust the volume of the TV in bedroom 2.",
"Grab a bottle from the sink in bathroom 4 and drink from it.",
"Open the oven in kitchen 1.",
"Place the keyboard on the desk in home office 1.",
"Turn off the TV in bedroom 3.",
"Wipe the couch in living room 1.",
"Pick up the chair from corridor 1 and put it in the living room.",
"Locate and water the plants in the utility room.",
"Grab the clock from home office 1 and adjust the time.",
"Organize the contents of the refrigerator in kitchen 1.",
"Clean the chair in bedroom 2.",
"Make sure the sink in bathroom 5 is clean.",
"Check if there are any dirty dishes in the kitchen sink.",
"Close the blinds in the living room.",
"Take the book from bedroom 4 and place it in the living room.",
"Clean the couch in the television room.",
"Organize the couch in living room 1.",
"Remove any trash from the bathrooms.",
"Dust off the surfaces in the home office.",
"Check the pantry in the kitchen for expired items.",
"Water the potted plants in the kitchen.",
"Clean the dining table after a meal.",
"Pick up the bowls on the chair in utility room 1.",
"Make sure all televisions are turned off at bedtime.",
"Clean up any spills or stains in the dining room.",
"Organize the remote control in the television room.",
"Ensure all potted plants have sufficient water.",
"Place the old bottles in the recycling bin.",
"Clean the dirty dishes from the dining table.",
"Hide the clock, so it doesn't disturb anyone.",
"Clean the mirrors in the bathrooms.",
"Close the curtains in bedroom 1 for privacy.",
"Bring the dirty laundry from bedrooms to the utility room.",
"Check for any leaks under the sinks.",
"Organize the utensils in the kitchen.",
"Open and inspect the microwave for cleanliness.",
"Ensure that the garbage bins in each room are empty.",
"Perform a general tidy-up in the living room.",
"Ensure that all beds are made in the bedrooms.",
"Pick up stray objects and return them to their proper places.",
"Check if the fresh flowers in the lobby need watering.",
"Ensure that all doors are securely closed before sleeping.",
"Confirm that all light switches are turned off before leaving.",
"Have a waste removal scheduled for the week.",
"Clean the vents in the utility room.",
"Place a new bag in the trash can of the bathrooms.",
"Check that the remote control is functioning properly.",
"Inspect the microwave for any food inside.",
"Check the living area for any misplaced items.",
"Inspect the kitchen area for any unwanted pests.",
"Remove any cobwebs in hallway areas.",
"Ensure that there are no noisy appliances left on.",
"Organize the pantry once every week.",
"Make sure that the bedroom floors are free of clutter.",
"Recycle any plastic bottles that are found.",
"Watch out for spills and clean them up promptly.",
"Distribute clean towels in each bathroom."
] |
Coffeen
|
{
"links": [
"Coffeen↔floor_A",
"Coffeen↔floor_B",
"Coffeen↔floor_C",
"Coffeen↔floor_D",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔staircase3",
"floor_D↔staircase4",
"bathroom1↔toilet1",
"bathroom1↔sink6",
"bathroom1↔window_sill1",
"window_sill1↔vase5",
"window_sill1↔potted plant18",
"bathroom2↔toilet3",
"bathroom2↔sink1",
"bathroom2↔window_sill2",
"window_sill2↔potted plant2",
"bathroom3↔sink3",
"bathroom3↔sink4",
"bathroom3↔window_sill3",
"window_sill3↔vase6",
"bathroom4↔toilet2",
"bedroom1↔chair2",
"bedroom1↔bed1",
"bedroom2↔chair12",
"bedroom2↔chair13",
"bedroom2↔desk1",
"bedroom2↔bed2",
"bedroom2↔tv2",
"desk1↔potted plant14",
"desk1↔potted plant15",
"corridor2↔chair14",
"chair14↔potted plant1",
"dining_room1↔chair6",
"dining_room1↔chair7",
"dining_room1↔chair8",
"dining_room1↔chair9",
"dining_room1↔chair10",
"dining_room1↔dining table1",
"dining table1↔vase3",
"dining table1↔vase4",
"dining table1↔wine glass6",
"dining table1↔potted plant10",
"home_office1↔chair3",
"home_office1↔chair4",
"home_office1↔bookcase1",
"bookcase1↔book1",
"bookcase1↔book2",
"kitchen1↔sink2",
"kitchen1↔dish_cabinet1",
"kitchen1↔window_sill4",
"dish_cabinet1↔bottle1",
"dish_cabinet1↔bottle2",
"dish_cabinet1↔bottle4",
"dish_cabinet1↔dish1",
"dish_cabinet1↔dish2",
"dish_cabinet1↔dish3",
"window_sill4↔potted plant7",
"kitchen2↔microwave1",
"kitchen2↔oven1",
"kitchen2↔sink5",
"kitchen2↔refrigerator1",
"kitchen2↔window_sill5",
"kitchen2↔dish_cabinet2",
"dish_cabinet2↔wine glass1",
"dish_cabinet2↔wine glass2",
"dish_cabinet2↔wine glass3",
"dish_cabinet2↔wine glass4",
"dish_cabinet2↔wine glass5",
"dish_cabinet2↔bowl2",
"dish_cabinet2↔bowl3",
"dish_cabinet2↔bowl4",
"dish_cabinet2↔bowl5",
"refrigerator1↔apple1",
"refrigerator1↔potato1",
"window_sill5↔potted plant11",
"living_room1↔chair5",
"living_room1↔couch1",
"living_room1↔coffee_table1",
"coffee_table1↔bowl1",
"coffee_table1↔potted plant3",
"coffee_table1↔potted plant4",
"coffee_table1↔potted plant5",
"coffee_table1↔potted plant6",
"coffee_table1↔potted plant8",
"coffee_table1↔potted plant9",
"coffee_table1↔potted plant16",
"coffee_table1↔potted plant17",
"coffee_table1↔clock1",
"living_room2↔chair11",
"living_room2↔couch2",
"living_room2↔tv1",
"living_room2↔coffee_table2",
"coffee_table2↔potted plant12",
"coffee_table2↔potted plant13",
"coffee_table2↔vase1",
"coffee_table2↔vase2",
"utility_room1↔sink7",
"utility_room1↔chair1",
"utility_room1↔backpack1",
"sink7↔bottle3",
"sink7↔bottle5",
"sink7↔bottle6",
"sink7↔bottle7",
"sink7↔cup1",
"sink7↔cup2",
"chair1↔potted plant19",
"chair1↔potted plant20",
"chair1↔potted plant21",
"chair1↔potted plant22"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet1",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink6",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "window_sill1",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "window_sill2",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "window_sill3",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet2",
"room": "bathroom4"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair12",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair13",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair14",
"room": "corridor2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair7",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair8",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair9",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair4",
"room": "home_office1"
},
{
"affordances": [
"access",
"organize",
"clean"
],
"attributes": "",
"id": "bookcase1",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink2",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"organize"
],
"attributes": "closed, tidy",
"id": "dish_cabinet1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "window_sill4",
"room": "kitchen1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "opened, on",
"id": "microwave1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, clean, off",
"id": "oven1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"organize"
],
"attributes": "opened, tidy",
"id": "dish_cabinet2",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "window_sill5",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair11",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch2",
"room": "living_room2"
},
{
"affordances": [
"access",
"adjust volume"
],
"attributes": "",
"id": "tv1",
"room": "living_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"close",
"access",
"open"
],
"attributes": "",
"id": "backpack1",
"room": "utility_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "utility_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink7",
"room": "utility_room1"
}
],
"building": [
{
"id": "Coffeen"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
},
{
"id": "floor_D"
}
],
"object": [
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant18",
"parent": "window_sill1",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "window_sill1",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "window_sill2",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase6",
"parent": "window_sill3",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant14",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant15",
"parent": "desk1",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant1",
"parent": "chair14",
"room": "corridor2"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine glass6",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant10",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "bookcase1",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "bookcase1",
"room": "home_office1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "dish_cabinet1",
"room": "kitchen1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "dish_cabinet1",
"room": "kitchen1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle4",
"parent": "dish_cabinet1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "dish1",
"parent": "dish_cabinet1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "dish2",
"parent": "dish_cabinet1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "dish3",
"parent": "dish_cabinet1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "window_sill4",
"room": "kitchen1"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine glass1",
"parent": "dish_cabinet2",
"room": "kitchen2"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine glass2",
"parent": "dish_cabinet2",
"room": "kitchen2"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine glass3",
"parent": "dish_cabinet2",
"room": "kitchen2"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine glass4",
"parent": "dish_cabinet2",
"room": "kitchen2"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine glass5",
"parent": "dish_cabinet2",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl2",
"parent": "dish_cabinet2",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "bowl3",
"parent": "dish_cabinet2",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl4",
"parent": "dish_cabinet2",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl5",
"parent": "dish_cabinet2",
"room": "kitchen2"
},
{
"affordances": [
"eat",
"grab",
"peel",
"hold",
"through away",
"pick up",
"bite"
],
"attributes": "",
"id": "apple1",
"parent": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"grab",
"pick up"
],
"attributes": "",
"id": "potato1",
"parent": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant11",
"parent": "window_sill5",
"room": "kitchen2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl1",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant4",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant5",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant6",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant9",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant16",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant17",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock1",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant12",
"parent": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant13",
"parent": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "sink7",
"room": "utility_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle5",
"parent": "sink7",
"room": "utility_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle6",
"parent": "sink7",
"room": "utility_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle7",
"parent": "sink7",
"room": "utility_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "cup1",
"parent": "sink7",
"room": "utility_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "cup2",
"parent": "sink7",
"room": "utility_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant19",
"parent": "chair1",
"room": "utility_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant20",
"parent": "chair1",
"room": "utility_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant21",
"parent": "chair1",
"room": "utility_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant22",
"parent": "chair1",
"room": "utility_room1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "dining_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "kitchen2"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "staircase3"
},
{
"id": "staircase4"
},
{
"id": "utility_room1"
}
]
}
}
|
[
"Turn on the microwave in kitchen2.",
"Clean the sink in bathroom2.",
"Flush the toilet in bathroom4.",
"Organize the bookcase in home_office1.",
"Water the potted plant on the window sill in bathroom1.",
"Take out the trash from the utility room.",
"Close the door to the bathroom3.",
"Make the bed in bedroom1.",
"Set the dining table1 for dinner.",
"Pick up the potted plant in corridor2.",
"Restore the television in bedroom2.",
"Water the potted plants in the living room1.",
"Clean the coffee table1 in living_room1.",
"Empty the refrigerator in kitchen2.",
"Adjust the volume of the TV in living_room2.",
"Clean the couch in living_room1.",
"Place the clean cups back on the utility room sink7.",
"Clean the dining room chairs.",
"Fill the wine glass on dining table1.",
"Check if the sink in kitchen1 is leaking.",
"Pick up the bowl in living_room1.",
"Open the dish cabinet in kitchen1.",
"Move the vase from window sill2 to dining table1.",
"Get rid of the dust on the desk1 in bedroom2.",
"Fill and place the vase in kitchen2.",
"Organize the backpack in utility room1.",
"Water the potted plants in the kitchen1.",
"Turn off the lights in bedroom1.",
"Organize the coffee table2 in living_room2.",
"Empty the wine glass6 and place it in the sink.",
"Wipe chairs in dining room.",
"Clean the sink in utility_room1.",
"Sweep the corridor2 clean.",
"Turn on the dinner prep in kitchen2.",
"Organize window_sill3 in bathroom3.",
"Water the potted plants in the living_room2.",
"Pick up the clock1 on the coffee_table1.",
"Fill the refrigerator with apples.",
"Catch a mouse if any is seen in kitchen2.",
"Check the water supply for the sink7 in utility_room1.",
"Store any empty bottles in the cupboard in kitchen1.",
"Organize and clean the desk1 in bedroom2.",
"Pick the dish cabinet items.",
"Pick some vegetables from the refrigerator.",
"Tidy up the unmade bed in bedroom1.",
"Pick up outdated magazines on the coffee table1.",
"Clear the dining table of unnecessary items.",
"Turn off kitchen appliances after use.",
"Clean all chairs in floor A.",
"Ensure all potted plants are watered.",
"Reorganize the hallway for neatness.",
"Throw away empty containers in the trash.",
"Wipe the couch1.",
"Pick up fallen objects from living_room1 floor.",
"Guide a guest to the bathroom nearest to the dining room.",
"Ensure the kitchen is stocked with cleaning supplies.",
"Charge any electronics left in the living_room.",
"Sweep or vacuum the living rooms regularly.",
"Backup important documents in home_office1.",
"Check all bathroom sinks for cleanliness.",
"Dust off all surfaces in the home_office1.",
"Open cupboard2 in kitchen2 to access dishware.",
"Place a plant back on the kitchen windowsill.",
"Put used dishes in the sink after meals.",
"Check if the clock in the living room is ticking.",
"Review all kitchen ingredients for freshness.",
"Locate and charge any battery-powered items.",
"Place wine glasses back in the cabinet.",
"Wipe the chairs in dining_room1.",
"Pick up the coffee_table2 of magazines and books.",
"Turn on lights in kitchen1 for better visibility.",
"Organize utensils in kitchen2.",
"Open storage in utility room1 for easy access.",
"Make fresh juice using fruits in refrigerator.",
"Turn off all microwaves in the house.",
"Put cleaning supplies back in their designated areas.",
"Organize the couch2.",
"Close the window_sill2 to maintain temperature.",
"Wipe all chair in dining room.",
"Plug in any electronics in need of recharging."
] |
Tolstoy
|
{
"links": [
"Tolstoy↔floor_A",
"Tolstoy↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor4",
"corridor1↔cupboard1",
"corridor2↔cupboard2",
"bathroom1↔sink4",
"bathroom1↔toilet2",
"bathroom2↔toilet1",
"bathroom2↔sink2",
"bathroom2↔sink3",
"bathroom2↔sink5",
"bathroom3↔toilet3",
"bathroom3↔sink6",
"bathroom3↔sink7",
"bedroom1↔chair13",
"bedroom1↔bed5",
"bedroom1↔desk1",
"bedroom2↔bed4",
"bedroom2↔tv2",
"bedroom2↔TV_cabinet2",
"childs_room1↔bed3",
"childs_room1↔table2",
"childs_room2↔bed1",
"childs_room2↔bed2",
"closet1↔backpack1",
"closet1↔suitcase1",
"utility_room1↔table1",
"dining_room2↔chair1",
"dining_room2↔chair2",
"dining_room2↔chair3",
"dining_room2↔dining_table1",
"dining_room1↔chair7",
"dining_room1↔chair8",
"dining_room1↔chair9",
"dining_room1↔chair10",
"dining_room1↔dining_table2",
"home_office1↔chair5",
"home_office1↔chair6",
"home_office1↔dining_table3",
"home_office1↔bookcase3",
"kitchen1↔chair4",
"kitchen1↔oven1",
"kitchen1↔toaster1",
"kitchen1↔sink1",
"kitchen1↔refrigerator1",
"refrigerator1↔pizza1",
"refrigerator1↔juice1",
"refrigerator1↔apple1",
"refrigerator1↔egg1",
"living_room1↔couch1",
"living_room1↔tv1",
"living_room1↔coffee_table2",
"living_room1↔bookcase2",
"living_room1↔TV_cabinet1",
"living_room2↔chair11",
"living_room2↔chair12",
"living_room2↔coffee_table1",
"living_room2↔bookcase1",
"living_room2↔couch2",
"suitcase1↔tie1",
"table1↔bottle1",
"table1↔bottle2",
"sink2↔bottle3",
"sink2↔bottle4",
"cupboard1↔bottle5",
"cupboard1↔bottle6",
"cupboard1↔bottle7",
"cupboard1↔bottle8",
"sink6↔bottle10",
"sink6↔potted_plant10",
"cupboard1↔wine_glass1",
"cupboard1↔wine_glass2",
"cupboard1↔wine_glass3",
"cupboard1↔wine_glass4",
"cupboard1↔wine_glass5",
"cupboard1↔wine_glass6",
"sink1↔vase2",
"sink1↔bowl1",
"cupboard2↔bowl2",
"cupboard2↔bowl3",
"coffee_table1↔bowl4",
"coffee_table1↔bowl5",
"coffee_table1↔potted_plant11",
"bookcase1↔book5",
"bookcase1↔book6",
"bookcase1↔book7",
"bookcase1↔book8",
"bookcase1↔book9",
"coffee_table2↔potted_plant1",
"coffee_table2↔potted_plant2",
"bookcase2↔potted_plant3",
"bookcase2↔potted_plant4",
"TV_cabinet1↔potted_plant13",
"bookcase2↔book10",
"bookcase2↔book11",
"bookcase2↔book12",
"TV_cabinet1↔vase4",
"dining_table3↔potted_plant5",
"dining_table3↔vase9",
"dining_table3↔vase10",
"bookcase3↔book1",
"bookcase3↔book2",
"bookcase3↔book3",
"bookcase3↔book4",
"sink3↔potted_plant6",
"sink3↔potted_plant7",
"sink5↔vase5",
"sink5↔vase6",
"sink4↔vase7",
"sink4↔vase8",
"sink4↔potted_plant8",
"sink4↔potted_plant9",
"TV_cabinet2↔potted_plant12",
"desk1↔potted_plant14",
"desk1↔laptop1",
"table2↔vase1",
"cupboard2↔vase3",
"dining_table1↔bottle9"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"close",
"access",
"open"
],
"attributes": "",
"id": "backpack1",
"room": "closet1"
},
{
"affordances": [
"close",
"access",
"open"
],
"attributes": "",
"id": "suitcase1",
"room": "closet1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair2",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair4",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair7",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair10",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair12",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair13",
"room": "bedroom1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "coffee_table2",
"room": "living_room1"
},
{
"affordances": [
"access",
"organize",
"clean"
],
"attributes": "",
"id": "bookcase1",
"room": "living_room2"
},
{
"affordances": [
"access",
"organize",
"clean"
],
"attributes": "",
"id": "bookcase2",
"room": "living_room1"
},
{
"affordances": [
"access",
"organize",
"clean"
],
"attributes": "",
"id": "bookcase3",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch2",
"room": "living_room2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "childs_room2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "childs_room2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "childs_room1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed4",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed5",
"room": "bedroom1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining_table1",
"room": "dining_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining_table2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining_table3",
"room": "home_office1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, clean",
"id": "toilet1",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed,clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, dirty",
"id": "toilet3",
"room": "bathroom3"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv1",
"room": "living_room1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"open",
"close",
"organize"
],
"attributes": "closed, mess",
"id": "TV_cabinet2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, clean, off",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"wash",
"clean"
],
"attributes": "",
"id": "toaster1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink4",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink5",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink6",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink7",
"room": "bathroom3"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, dirty, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "table1",
"room": "utility_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "table2",
"room": "childs_room1"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"close",
"access",
"open",
"clean"
],
"attributes": "",
"id": "cupboard2",
"room": "corridor2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "desk1",
"room": "bedroom1"
},
{
"affordances": [
"access",
"open",
"close",
"organize"
],
"attributes": "closed, tidy",
"id": "TV_cabinet1",
"room": "living_room1"
}
],
"building": [
{
"id": "Tolstoy"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"wear",
"pick up",
"tie"
],
"attributes": "",
"id": "tie1",
"parent": "suitcase1",
"room": "closet1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "table1",
"room": "utility_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "table1",
"room": "utility_room1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle3",
"parent": "sink2",
"room": "bathroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle4",
"parent": "sink2",
"room": "bathroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle5",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle6",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle7",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle8",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle9",
"parent": "dining_table1",
"room": "dining_room2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle10",
"parent": "sink6",
"room": "bathroom3"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine_glass1",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine_glass2",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine_glass3",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine_glass4",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine_glass5",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine_glass6",
"parent": "cupboard1",
"room": "corridor1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "bowl1",
"parent": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "bowl2",
"parent": "cupboard2",
"room": "corridor2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl3",
"parent": "cupboard2",
"room": "corridor2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl4",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "bowl5",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted_plant1",
"parent": "coffee_table2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted_plant2",
"parent": "coffee_table2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted_plant3",
"parent": "bookcase2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted_plant4",
"parent": "bookcase2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted_plant5",
"parent": "dining_table3",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted_plant6",
"parent": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted_plant7",
"parent": "sink3",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted_plant8",
"parent": "sink4",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted_plant9",
"parent": "sink4",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted_plant10",
"parent": "sink6",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted_plant11",
"parent": "coffee_table1",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted_plant12",
"parent": "TV_cabinet2",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted_plant13",
"parent": "TV_cabinet1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted_plant14",
"parent": "desk1",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"turn on",
"turn off",
"pick up",
"move",
"work on",
"look at"
],
"attributes": "",
"id": "laptop1",
"parent": "desk1",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "bookcase3",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "bookcase3",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book3",
"parent": "bookcase3",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book4",
"parent": "bookcase3",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book5",
"parent": "bookcase1",
"room": "living_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book6",
"parent": "bookcase1",
"room": "living_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book7",
"parent": "bookcase1",
"room": "living_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book8",
"parent": "bookcase1",
"room": "living_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book9",
"parent": "bookcase1",
"room": "living_room2"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book10",
"parent": "bookcase2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book11",
"parent": "bookcase2",
"room": "living_room1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book12",
"parent": "bookcase2",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "table2",
"room": "childs_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "sink1",
"room": "kitchen1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "cupboard2",
"room": "corridor2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "TV_cabinet1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "sink5",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase6",
"parent": "sink5",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase7",
"parent": "sink4",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase8",
"parent": "sink4",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase9",
"parent": "dining_table3",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase10",
"parent": "dining_table3",
"room": "home_office1"
},
{
"affordances": [
"pickup"
],
"attributes": "expired",
"id": "juice1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "apple1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "expired",
"id": "pizza1",
"parent": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"pickup"
],
"attributes": "fresh",
"id": "egg1",
"parent": "refrigerato1",
"room": "kitchen1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "childs_room1"
},
{
"id": "childs_room2"
},
{
"id": "closet1"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "corridor4"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "staircase1"
},
{
"id": "utility_room1"
}
]
}
}
|
[
"Open the closet1 to access the suitcase1.",
"Close the bathroom2's toilet1.",
"Take the empty bottle from sink2 in bathroom2 and dispose of it.",
"Access the kitchen1 and make sure the toaster1 is clean.",
"Place the unmade bed1 in childs_room2 neatly.",
"Clean the coffee_table1 in living_room2.",
"Make the bed2 in childs_room2.",
"Water the potted_plant5 on dining_table3.",
"Check if the laptop1 on desk1 in bedroom1 is turned off, turn off if it's on.",
"Retrieve and wash the bowl1 on sink1 in kitchen1.",
"Open and clean bookcase3 in home_office1.",
"Bring the bottle1 from utility_room1 to the dining_room2.",
"Clean all chairs in dining_room1.",
"Organize the books in bookcase1 in living_room2.",
"Ensure the TV1 in living_room1 is turned off.",
"Toilet2 in bathroom1 is closed. Open it.",
"Make sure sink4 in bathroom1 is clean.",
"Clean the coffee_table2 in living_room1.",
"Check the state of bed3 in childs_room1, and make it if it's unmade.",
"Empty all cupboards in corridor1.",
"Place the potted_plant1 on coffee_table2 in living_room1.",
"Organize the dining_table2 in dining_room1.",
"Access the children's rooms and check for cleanliness.",
"Open the cabinet1 in corridor1 and take out the wine_glass5.",
"Wipe all the chairs in dining_room2.",
"Remove the vase4 from TV_cabinet1 in living_room1 and clean it.",
"Make sure the dining_table3 in home_office1 is clean.",
"Pick up and dispose of the empty wine_glass from cupboard1.",
"Clean the sink1 in kitchen1 after washing the bowl1.",
"Fill the vase1 in childs_room1 with fresh water.",
"Place the unmade bed4 in bedroom2 neatly.",
"Take the bottle9 from the dining_table1 in dining_room2.",
"Open cupboard2 in corridor2 for access.",
"Make the unmade bed5 in bedroom1.",
"Clean the oven1 in kitchen1.",
"Locate and water the potted_plant9 on sink4 in bathroom1.",
"Make sure sink3 in bathroom2 is clean.",
"Wipe chair6 in home_office1.",
"Organize items in bookcase2 in living_room1.",
"Retrieve book12 from bookcase2 in living_room1 and put it back.",
"Move the pillow from the unmade bed in childs_room1 to the closet1.",
"Clean the chair5 in home_office1.",
"Wash the sink2 in bathroom2 after use.",
"Clean the bowl3 inside cupboard2 in corridor2.",
"Wipe chair1 in dining_room2.",
"Open the closet1 to access the backpack1.",
"Open the fridge1 and check for expired items.",
"Make the bed3 in childs_room1.",
"Depose of unwanted waste from sink6 in bathroom3.",
"Clean the bookcase1 in living_room2.",
"Fill and place the vase3 inside cupboard2 in corridor2.",
"Clean chair4 in kitchen1.",
"Check the utility_room1 for any clutter.",
"Open the sink4 in bathroom1 for cleaning.",
"Ensure all potted plants in living_room1 are watered.",
"Open and check the suitcases in closet1.",
"Take the water bottles out of cupboard1 in corridor1.",
"Monitor the cleanliness of sink5 in bathroom2.",
"Clean the chair9 in dining_room1.",
"Turn on the TV2 in bedroom2 for a while.",
"Turn off the refrigerator1 before cleaning.",
"Clean and organize the contents of the bookcase3 in home_office1.",
"Collect the empty bottles around the home and dispose of them.",
"Take care of the messy dining_table1 in dining_room2.",
"Check for and clean all vases in the household.",
"Verify the cleanliness of the bathroom sinks.",
"Turn off the laptop1 in bedroom1.",
"Wipe chairs in dining_room2.",
"Organize books on children's bedroom shelves."
] |
Wainscott
|
{
"links": [
"Wainscott↔floor_A",
"Wainscott↔floor_B",
"floor_A↔staircase1",
"floor_B↔corridor3",
"bathroom1↔sink3",
"bathroom1↔toilet1",
"bathroom2↔toilet2",
"bathroom2↔sink10",
"sink10↔bottle2",
"bathroom3↔sink2",
"bathroom3↔chair10",
"chair10↔potted plant11",
"chair10↔potted plant12",
"chair10↔potted plant20",
"bedroom1↔chair4",
"bedroom1↔chair5",
"chair4↔potted plant21",
"chair4↔book1",
"bedroom2↔bed1",
"bedroom2↔chair2",
"bedroom2↔chair3",
"chair2↔book2",
"chair2↔clock1",
"chair2↔potted plant7",
"chair2↔potted plant19",
"bedroom3↔bed3",
"bedroom4↔bed2",
"dining_room1↔oven1",
"dining_room1↔oven2",
"dining_room1↔sink1",
"dining_room1↔chair1",
"dining_room1↔dining table1",
"dining table1↔potted plant10",
"dining table1↔bottle1",
"dining table1↔vase1",
"dining_room2↔dining table3",
"dining_room2↔chair12",
"dining_room2↔chair13",
"dining_room2↔chair14",
"dining_room2↔chair15",
"dining table3↔potted plant14",
"dining table3↔potted plant15",
"dining table3↔potted plant16",
"dining table3↔cup1",
"living_room1↔coffee_table1",
"coffee_table1↔vase2",
"coffee_table1↔potted plant22",
"living_room2↔couch1",
"living_room2↔couch2",
"living_room2↔couch3",
"living_room2↔coffee_table2",
"coffee_table2↔potted plant2",
"coffee_table2↔potted plant4",
"coffee_table2↔potted plant6",
"living_room3↔couch5",
"living_room3↔chair11",
"chair11↔potted plant1",
"chair11↔potted plant3",
"chair11↔potted plant5",
"chair11↔potted plant13",
"playroom1↔chair6",
"playroom1↔chair7",
"playroom1↔chair8",
"playroom1↔chair9",
"playroom1↔dining table2",
"playroom1↔dining table4",
"playroom1↔tv1",
"dining table2↔clock2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, clean",
"id": "toilet1",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, flushed, clean",
"id": "toilet2",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink10",
"room": "bathroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair4",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair5",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair3",
"room": "bedroom2"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed3",
"room": "bedroom3"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom4"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, dirty, on",
"id": "refrigerator1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "opened, dirty, off",
"id": "oven1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, dirty, on",
"id": "oven2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining table3",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair12",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair13",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair14",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair15",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch4",
"room": "living_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch1",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch2",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch3",
"room": "living_room2"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "coffee_table2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "living_room3"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch5",
"room": "living_room3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining table2",
"room": "playroom1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, mess",
"id": "dining table4",
"room": "playroom1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv1",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair7",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair8",
"room": "playroom1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair9",
"room": "playroom1"
}
],
"building": [
{
"id": "Wainscott"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle2",
"parent": "sink10",
"room": "bathroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant11",
"parent": "chair10",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant12",
"parent": "chair10",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant20",
"parent": "chair10",
"room": "bathroom3"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "chair4",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant21",
"parent": "chair4",
"room": "bedroom1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book2",
"parent": "chair2",
"room": "bedroom2"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock1",
"parent": "chair2",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant7",
"parent": "chair2",
"room": "bedroom2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant19",
"parent": "chair2",
"room": "bedroom2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant10",
"parent": "dining table1",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, dirty",
"id": "cup1",
"parent": "dining table3",
"room": "dining_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant14",
"parent": "dining table3",
"room": "dining_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant15",
"parent": "dining table3",
"room": "dining_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant16",
"parent": "dining table3",
"room": "dining_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant22",
"parent": "coffee_table1",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "coffee_table2",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant1",
"parent": "chair11",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "chair11",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant5",
"parent": "chair11",
"room": "living_room3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant13",
"parent": "chair11",
"room": "living_room3"
},
{
"affordances": [
"look at",
"set",
"hang",
"place"
],
"attributes": "",
"id": "clock2",
"parent": "dining table2",
"room": "playroom1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "exercise_room1"
},
{
"id": "home_office1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "living_room3"
},
{
"id": "lobby1"
},
{
"id": "playroom1"
},
{
"id": "staircase1"
},
{
"id": "utility_room1"
}
]
}
}
|
[
"Go to bathroom1 and check if the toilet is clean.",
"Flush the toilet in bathroom1.",
"Wash hands in the sink in bathroom1.",
"Clean the sink in bathroom1.",
"Open the sink in bathroom2 and check for cleanliness.",
"Flush the toilet in bathroom2.",
"Open the sink in bathroom3 and clean it.",
"Clean the chair in bathroom3.",
"Water the potted plants on chair10 in bathroom3.",
"Check the beds in bedroom2 and bedroom3 for unmade beds.",
"Remove any trash from the bedroom1 chairs.",
"Check if the dining room1 refrigerator is closed.",
"Open the refrigerator in dining room1.",
"Pour a drink from the bottle on dining table1.",
"Clean the vase on dining table1 in dining room1.",
"Wipe all chairs in dining room2.",
"Open the sink in dining room1 and clean it.",
"Set the table for lunch in dining room1 using dining table1.",
"Make sure that all potted plants on dining table1 are watered.",
"Wipe chairs in dining room2.",
"Clean the couch in living room1.",
"Clean the coffee tables in living room1 and living room2.",
"Water the potted plants on coffee_table1 in living room1.",
"Turn on the TV in playroom1.",
"Clean the chair11 in living room3.",
"Open the door to utility_room1 and check for any cleaning supplies.",
"Locate and bring a book from bedroom1 to the living room.",
"Wipe the chair15 in dining_room2.",
"Wipe the chair12 in dining room2.",
"Flush and clean the toilet in bathroom2.",
"Check if the sink in bathroom2 has running water.",
"Water the potted plants on dining room2.",
"Clean all chairs in dining room2.",
"Rearrange the furniture in living room2 for better space utilization.",
"Open all cabinets in the dining room.",
"Clean and close the oven1 in dining room1.",
"Clean all the chairs in dining room2.",
"Check if all potted plants in living room1 and water them.",
"Grab the clock1 in bedroom2 and set it to the correct time.",
"Clean the sink1 in dining_room1.",
"Check the chairs in bedroom3 for cleanliness.",
"Clean the coffee_table2 in living room2.",
"Water the potted plants on coffee_table2 in living room2.",
"Wipe all couches in living room1.",
"Tidy up the dining table4 in playroom1.",
"Ensure the living room3 is clutter-free.",
"Check if the cupboards in living room1 are stocked with supplies.",
"Clean coffee_table1 in living room1.",
"Wipe all the chairs in playroom1.",
"Inspect bathroom4 for cleanliness.",
"Bring all dirty cups from playroom1 to the kitchen sink.",
"Ensure that the clock2 in playroom1 is functioning.",
"Check for leaks in the sink on dining_table3 in dining room2.",
"Check the status of TV1 before cleaning the playroom.",
"Pick up items on the coffee_table1 and place them in their respective rooms.",
"Organize the couch5 in living room3.",
"Clean the coffee_table1 in living room1.",
"End of the day: check if all rooms including bathrooms are clean."
] |
Wiconisco
|
{
"links": [
"Wiconisco↔floor_A",
"Wiconisco↔floor_B",
"Wiconisco↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔corridor5",
"bathroom1↔sink1",
"bathroom1↔toilet2",
"sink1↔potted plant14",
"bathroom2↔toilet3",
"bathroom3↔toilet1",
"bathroom3↔sink10",
"sink10↔potted plant2",
"sink10↔potted plant3",
"sink10↔potted plant12",
"bathroom4↔toilet4",
"bathroom4↔toilet5",
"bathroom4↔sink2",
"sink2↔vase4",
"sink2↔potted plant8",
"bedroom1↔bed2",
"bedroom1↔sink11",
"sink11↔potted plant11",
"childs_room1↔bed1",
"childs_room1↔bench1",
"bench1↔potted plant13",
"dining_room1↔chair1",
"dining_room1↔chair2",
"dining_room1↔chair3",
"dining_room1↔chair4",
"dining_room1↔dining table2",
"dining table2↔wine glass1",
"dining table2↔wine glass2",
"dining table2↔bowl1",
"dining table2↔bowl3",
"dining table2↔potted plant7",
"dining table2↔vase1",
"dining table2↔vase2",
"dining table2↔vase3",
"dining_room2↔chair6",
"dining_room2↔chair8",
"dining_room2↔chair10",
"dining_room2↔chair11",
"dining_room2↔chair12",
"dining_room2↔dining table1",
"home_office1↔chair13",
"chair13↔keyboard1",
"chair13↔book1",
"kitchen1↔tv1",
"kitchen2↔chair7",
"kitchen2↔oven1",
"kitchen2↔sink4",
"kitchen2↔refrigerator1",
"kitchen2↔refrigerator2",
"sink4↔bottle1",
"sink4↔bowl2",
"kitchen3↔sink3",
"living_room1↔chair5",
"living_room1↔couch1",
"living_room1↔tv2",
"chair5↔potted plant1",
"chair5↔potted plant4",
"chair5↔potted plant5",
"chair5↔potted plant6",
"chair5↔potted plant9",
"chair5↔potted plant10",
"chair5↔vase5",
"corridor3↔chair30",
"chair30↔vase6"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink1",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, unflushed,clean",
"id": "toilet3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet1",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink10",
"room": "bathroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink2",
"room": "bathroom4"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, clean",
"id": "toilet4",
"room": "bathroom4"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet5",
"room": "bathroom4"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink11",
"room": "bedroom1"
},
{
"affordances": [
"access",
"make"
],
"attributes": "",
"id": "bed1",
"room": "childs_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "bench1",
"room": "childs_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair30",
"room": "corridor3"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair3",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, mess",
"id": "dining table1",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair6",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair10",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair12",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair13",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair14",
"room": "home_office1"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, dirty, off",
"id": "oven1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink4",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, dirty, on",
"id": "refrigerator1",
"room": "kitchen2"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator2",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair7",
"room": "kitchen2"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "clean",
"id": "sink3",
"room": "kitchen3"
},
{
"affordances": [
"access"
],
"attributes": "",
"id": "tv2",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair9",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch1",
"room": "living_room1"
}
],
"building": [
{
"id": "Wiconisco"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_C"
},
{
"id": "floor_B"
}
],
"object": [
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant14",
"parent": "sink1",
"room": "bathroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "sink10",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant3",
"parent": "sink10",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant12",
"parent": "sink10",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant8",
"parent": "sink2",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "sink2",
"room": "bathroom4"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant11",
"parent": "sink11",
"room": "bedroom1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant13",
"parent": "bench1",
"room": "childs_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase6",
"parent": "chair30",
"room": "corridor3"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine glass1",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"grab",
"drink from",
"hold",
"clean",
"pour in",
"set on"
],
"attributes": "",
"id": "wine glass2",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "empty, clean",
"id": "bowl1",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, clean",
"id": "bowl3",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "full, dirty",
"id": "bowl2",
"parent": "sink4",
"room": "kitchen2"
},
{
"affordances": [
"grab",
"open",
"hold",
"drink from"
],
"attributes": "",
"id": "bottle1",
"parent": "sink4",
"room": "kitchen2"
},
{
"affordances": [
"touch",
"press",
"move",
"pick up",
"clean"
],
"attributes": "",
"id": "keyboard1",
"parent": "chair13",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"read",
"borrow",
"lend"
],
"attributes": "",
"id": "book1",
"parent": "chair13",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant1",
"parent": "chair15",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant4",
"parent": "chair15",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant5",
"parent": "chair15",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant6",
"parent": "chair15",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant9",
"parent": "chair15",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant10",
"parent": "chair15",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "chair15",
"room": "living_room1"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bedroom1"
},
{
"id": "childs_room1"
},
{
"id": "closet1"
},
{
"id": "closet2"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "corridor4"
},
{
"id": "corridor5"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "empty_room1"
},
{
"id": "empty_room2"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "kitchen2"
},
{
"id": "kitchen3"
},
{
"id": "living_room1"
},
{
"id": "playroom1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
}
]
}
}
|
[
"Water the potted plant in bathroom 1.",
"Flush the toilet in bathroom 3.",
"Pick up the potted plant in the child's room.",
"Clean the sink in bathroom 4.",
"Water the potted plant in bedroom 1.",
"Check if there is any dirty laundry in the bedroom.",
"Access the sink in kitchen 2 for washing dishes.",
"Make sure the refrigerator in kitchen 2 is closed.",
"Water the potted plants in living room 1.",
"Pick up the vase in corridor 3 and place it in the living room.",
"Clean the dining table in dining room 1.",
"Place the wine glasses on the dining table after washing them.",
"Pick the bowl out of the sink in kitchen 2.",
"Clean the sink in kitchen 3.",
"Open and turn on the oven in kitchen 2.",
"Organize the items on the dining table in dining room 1.",
"Check if there's anything in the empty room 1.",
"Check if the TV in kitchen 1 is working.",
"Close the sink in bathroom 1 after usage.",
"Wash your hands in sink 1 in bathroom 1.",
"Flush the toilet in bathroom 4.",
"Clean the chair in the living room.",
"Wipe all the chairs in dining room 2.",
"Pick up any drinks in kitchen 2's refrigerator.",
"Open the refrigerator in kitchen 2 to see what is inside.",
"Make sure the dining table is clear.",
"Pick up any items on the chair in corridor 3.",
"Ensure the bed in child's room is made.",
"Close the sink in bathroom 4 after use.",
"Water the potted plant in bedroom 1.",
"Fill the vase in bathroom 4 with water.",
"Wipe all chairs in dining room 2.",
"Check if there’s soap available in bathroom 1.",
"Move any potted plants from corridor 3 to living room.",
"Empty the trash can in bathroom 1.",
"Inspect all beds in bedroom to check their condition.",
"Wipe the couch in living room.",
"Pick up the wine glasses on dining table 1.",
"Put vase 2 back on the dining table in dining room 1.",
"Ensure the living room's TV is off.",
"Clean vase 1 that is on dining table 2.",
"Pick up all the broken items on the kitchen bench.",
"Flush the toilet in bathroom 2.",
"Put clean dishes away in the sink of kitchen 2.",
"Turn off the TV in living room after use.",
"Clean the dining table.",
"Make sure there are no dirty dishes in the living room.",
"Check for any clutter in dining room 1.",
"Pick the potted plant from kitchen 2.",
"Check for towels in bathroom 3.",
"Make sure the fridge in kitchen 2 is stocked.",
"Rearrange the kitchen layout if items are out of place.",
"Water the plants in the living room carefully.",
"Clean the sink in kitchen 1.",
"Restock the wine glasses in kitchen if empty.",
"Put dirty plates in the kitchen sink.",
"Clean all the chairs in the dining.",
"Ensure the stove in kitchen 3 works properly.",
"Organize the dining equipment in dining room 2.",
"Place the books from the home office onto the desk.",
"Pick up and clean all spilled items on kitchen surfaces.",
"Turn off the lights upon leaving any room.",
"Ensure that all the toilets are closed.",
"Check the cleanliness of carpet in living room 1.",
"Sort out any misplaced items in corridor 4.",
"Disinfect the kitchen surfaces.",
"Check if the door of the closet in bedroom 1 is closed.",
"Inspect for any damages in children's room.",
"Take out all the recyclable items from kitchen.",
"Clean all the chairs in dining room 1.",
"Open the cabinet door in kitchen 2 to organize items.",
"Place a vase back on the dining table after cleaning.",
"Make sure the sink in bathroom 4 is clean.",
"Wipe living room couch.",
"Confirm that all plants have enough water.",
"Pick up any trash in the child's room."
] |
Marstons
|
{
"links": [
"Marstons↔floor_A",
"Marstons↔floor_B",
"Marstons↔floor_C",
"floor_A↔staircase1",
"floor_B↔staircase2",
"floor_C↔staircase3",
"bathroom1↔toilet1",
"bathroom2↔toilet3",
"bathroom3↔toilet2",
"bathroom3↔sink10",
"sink10↔potted plant9",
"bedroom1↔bed2",
"bedroom1↔couch3",
"bedroom2↔couch5",
"bedroom2↔bed1",
"corridor1↔chair1",
"corridor1↔couch7",
"chair1↔potted plant1",
"dining_room1↔chair2",
"dining_room1↔chair3",
"dining_room1↔chair4",
"dining_room1↔chair5",
"dining_room1↔dining table2",
"dining table2↔potted plant3",
"dining_room2↔dining table1",
"home_office1↔chair10",
"home_office1↔chair11",
"home_office1↔chair12",
"chair10↔potted plant4",
"kitchen1↔microwave1",
"kitchen1↔oven1",
"kitchen1↔refrigerator1",
"living_room1↔chair6",
"living_room1↔chair7",
"living_room1↔chair8",
"living_room1↔chair9",
"living_room1↔couch4",
"living_room1↔couch6",
"chair6↔potted plant7",
"chair6↔vase2",
"chair6↔vase3",
"chair6↔vase5",
"living_room2↔chair13",
"living_room2↔chair14",
"living_room2↔couch1",
"chair13↔potted plant8",
"chair13↔vase1",
"chair13↔vase4",
"chair13↔potted plant2"
],
"nodes": {
"agent": [
{
"id": "agent",
"location": "bathroom1"
}
],
"asset": [
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, dirty",
"id": "toilet1",
"room": "bathroom1"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "closed, flushed, dirty",
"id": "toilet3",
"room": "bathroom2"
},
{
"affordances": [
"access",
"open",
"close",
"flush",
"clean"
],
"attributes": "opened, unflushed, clean",
"id": "toilet2",
"room": "bathroom3"
},
{
"affordances": [
"access",
"clean"
],
"attributes": "dirty",
"id": "sink10",
"room": "bathroom3"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed2",
"room": "bedroom1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch3",
"room": "bedroom1"
},
{
"affordances": [
"access",
"made"
],
"attributes": "",
"id": "bed1",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch5",
"room": "bedroom2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair1",
"room": "corridor1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, mess",
"id": "couch7",
"room": "corridor1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "dirty, tidy",
"id": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair2",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair3",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair4",
"room": "dining_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair5",
"room": "dining_room1"
},
{
"affordances": [
"access",
"organize",
"clean",
"wipe"
],
"attributes": "clean, tidy",
"id": "dining table1",
"room": "dining_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair10",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair11",
"room": "home_office1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair12",
"room": "home_office1"
},
{
"affordances": [
"open",
"close",
"turn_on",
"turn_off",
"access",
"clean"
],
"attributes": "opened, off",
"id": "microwave1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"clean"
],
"attributes": "closed, clean, off",
"id": "oven1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"open",
"close",
"turn_on",
"turn_off",
"organize",
"clean"
],
"attributes": "opened, clean, on",
"id": "refrigerator1",
"room": "kitchen1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair6",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair7",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch4",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, tidy",
"id": "couch6",
"room": "living_room1"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair13",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair14",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "dirty, tidy",
"id": "couch1",
"room": "living_room2"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "dirty",
"id": "chair8",
"room": "unknown"
},
{
"affordances": [
"access",
"clean",
"wipe"
],
"attributes": "clean",
"id": "chair9",
"room": "unknown"
},
{
"affordances": [
"access",
"clean",
"wipe",
"organize"
],
"attributes": "clean, mess",
"id": "couch2",
"room": "unknown"
}
],
"building": [
{
"id": "Marstons"
}
],
"floor": [
{
"id": "floor_A"
},
{
"id": "floor_B"
},
{
"id": "floor_C"
}
],
"object": [
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant9",
"parent": "sink10",
"room": "bathroom3"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant1",
"parent": "chair1",
"room": "corridor1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant3",
"parent": "dining table2",
"room": "dining_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant4",
"parent": "chair10",
"room": "home_office1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase2",
"parent": "chair6",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase3",
"parent": "chair6",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase5",
"parent": "chair6",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant7",
"parent": "chair6",
"room": "living_room1"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase1",
"parent": "chair13",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"fill",
"clean"
],
"attributes": "",
"id": "vase4",
"parent": "chair13",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "dry",
"id": "potted plant8",
"parent": "chair13",
"room": "living_room2"
},
{
"affordances": [
"pickup",
"water"
],
"attributes": "watered",
"id": "potted plant2",
"parent": "chair13",
"room": "living_room2"
}
],
"room": [
{
"id": "bathroom1"
},
{
"id": "bathroom2"
},
{
"id": "bathroom3"
},
{
"id": "bathroom4"
},
{
"id": "bathroom5"
},
{
"id": "bedroom1"
},
{
"id": "bedroom2"
},
{
"id": "bedroom3"
},
{
"id": "bedroom4"
},
{
"id": "bedroom5"
},
{
"id": "closet1"
},
{
"id": "closet2"
},
{
"id": "corridor1"
},
{
"id": "corridor2"
},
{
"id": "corridor3"
},
{
"id": "corridor4"
},
{
"id": "corridor5"
},
{
"id": "dining_room1"
},
{
"id": "dining_room2"
},
{
"id": "exercise_room1"
},
{
"id": "home_office1"
},
{
"id": "kitchen1"
},
{
"id": "living_room1"
},
{
"id": "living_room2"
},
{
"id": "living_room3"
},
{
"id": "lobby1"
},
{
"id": "staircase1"
},
{
"id": "staircase2"
},
{
"id": "staircase3"
},
{
"id": "storage_room1"
},
{
"id": "utility_room1"
}
]
}
}
|
[
"Open the refrigerator in the kitchen.",
"Flush the toilet in bathroom 1.",
"Wash hands in the sink located in bathroom 3.",
"Close the door to the bathroom 2.",
"Clean the couch in bedroom 1.",
"Organize the dining table in dining room 2.",
"Move the potted plant from the sink in bathroom 3 to the bathroom 1.",
"Clean the microwave in the kitchen.",
"Water the potted plant located in the corridor.",
"Wipe all the chairs in the dining room 1.",
"Make sure all bathrooms have clean sinks.",
"Turn off and close the oven in the kitchen.",
"Open the closet door in bedroom 4.",
"Pick up any trash in the living room 2.",
"Clean the chairs in the corridor.",
"Change the light bulb in the closet 2.",
"Wipe down the couch in living room 1.",
"Organize the kitchen items inside the refrigerator.",
"Ensure the toilet in bathroom 5 is closed.",
"Water the potted plant on the chair in living room 1.",
"Check for any leaks around the sink in bathroom 3 and report.",
"Collect all used utensils from dining room 1 and wash them.",
"Heat up some food in the microwave and place them on the dining table 1.",
"Bring the fresh towels from storage room 1 to bathroom 1.",
"Close the bathroom doors after use to maintain privacy.",
"Take out the garbage from the kitchen utility room and replace the bag.",
"Sort out any dirty laundry in bedroom 3.",
"Clean all the chairs in living room 1.",
"Pick up the potted plant from the sink in bathroom 3 for watering.",
"Ensure all furniture in bedroom 5 is in its rightful place.",
"Take care of the dirty dishes in the kitchen sink.",
"Clean the couch in bedroom 2.",
"Wipe all chairs the dining room.",
"Look for any clutter in the utility room and organize.",
"Water the potted plant in living room 2.",
"Open and tunr off the oven in kitchen to let it cool down.",
"Make sure the storage room is neat and organized.",
"Pick up any fallen objects in the living room 2.",
"Clean the dining table in dining room.",
"Close all the cabinets in the kitchen.",
"Organize couch in living room 1.",
"Pick up any items on the dining table 2.",
"Ensure the access to the staircases is clear.",
"Move the potted plant near chair 6 to the dining room 1.",
"Separate the recycling items from the rubbish in the kitchen.",
"Clean the chairs in bedroom 4.",
"Gather any misplaced items from corridor 4.",
"Make sure the living room 2 has enough seating for guests.",
"Ensure that any clothes hanging in bedroom 5 are neatly organized.",
"Dust the surfaces of furniture in the living room 1.",
"Water the plants around the dining table in dining room 1.",
"Make sure all kitchen appliances are turned off before leaving.",
"Wipe all chairs in the dining room.",
"Collect any papers or items left on the floor in the home office.",
"Make sure the toilet is always nice and clean in bathroom 3.",
"Clean the couch in living room 2.",
"Return any misplaced items in the corridor to their rooms.",
"Make a note of any items that need cleaning in the exercise room.",
"Empty the laundry basket in bedroom 1.",
"Ensure there is no clutter in the hallway.",
"Clean the couch.",
"Move items from the dining table to the kitchen.",
"Ensure fresh towels are placed in every bathroom.",
"Inspect the condition of the sink in bathroom 1.",
"Make the bed in bedroom 4.",
"Confirm that the living room furniture arrangement is cozy.",
"Wipe all chairs in home office 1.",
"Clean the vase in living room 1 after filling it with water."
] |
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