scene_graph: hssd↔floor_A floor_A↔bedroom_1 bedroom_1↔bed_14 bedroom_1↔chair_6 bedroom_1↔chest_of_drawers_19 bedroom_1↔chest_of_drawers_20 bedroom_1↔chest_of_drawers_22 bedroom_1↔floor_bedroom_1 bedroom_1↔table_23 dining_booth_1↔floor_dining_booth_1 dining_booth_1↔table_13 dining_booth_1↔washer_dryer_8 kitchen_1↔cabinet_17 kitchen_1↔cabinet_21 kitchen_1↔cabinet_24 kitchen_1↔cabinet_25 kitchen_1↔cabinet_26 kitchen_1↔cabinet_27 kitchen_1↔cabinet_28 kitchen_1↔cabinet_29 kitchen_1↔floor_kitchen_1 kitchen_1↔fridge_30 kitchen_1↔stool_10 kitchen_1↔stool_11 kitchen_1↔stool_12 kitchen_1↔unknown_18 living_room_1↔couch_16 living_room_1↔counter_31 living_room_1↔counter_33 living_room_1↔floor_living_room_1 living_room_1↔shelves_7 living_room_1↔table_9 porch_1↔counter_32 porch_1↔floor_porch_1 toilet_1↔floor_toilet_1 toilet_1↔toilet_15 table_13↔picture_frame_1 table_13↔handbag_1 chest_of_drawers_22↔cushion_1 counter_32↔toy_airplane_1 table_23↔book_1 unknown_18↔cushion_2 couch_16↔clock_1 chest_of_drawers_19↔screwdriver_1 chest_of_drawers_19↔laptop_cover_1 cabinet_25↔cellphone_1 stool_10↔box_1 stool_11↔picture_frame_2 table_13↔box_2 table_9↔phone_stand_1 table_9↔monitor_stand_1 table_13↔cup_1 cabinet_25↔soap_dish_1 counter_31↔casserole_1 couch_16↔picture_frame_3 couch_16↔soap_dispenser_1 counter_32↔helmet_1 table_23↔lamp_1 couch_16↔stuffed_toy_1 bed_14↔vase_1 stool_10↔cellphone_2 cabinet_28↔box_3
scene_graph: agent
scene_graph: bedroom_1
scene_graph: place
scene_graph: bed_14
scene_graph: bedroom_1
scene_graph: place
scene_graph: chair_6
scene_graph: bedroom_1
scene_graph: place
scene_graph: chest_of_drawers_19
scene_graph: bedroom_1
scene_graph: place
scene_graph: chest_of_drawers_20
scene_graph: bedroom_1
scene_graph: place
scene_graph: chest_of_drawers_22
scene_graph: bedroom_1
scene_graph: place
scene_graph: floor_bedroom_1
scene_graph: bedroom_1
scene_graph: place
scene_graph: table_23
scene_graph: bedroom_1
scene_graph: place
scene_graph: floor_dining_booth_1
scene_graph: dining_booth_1
scene_graph: place
scene_graph: table_13
scene_graph: dining_booth_1
scene_graph: place
scene_graph: washer_dryer_8
scene_graph: dining_booth_1
scene_graph: place
scene_graph: cabinet_17
scene_graph: kitchen_1
scene_graph: place
scene_graph: cabinet_21
scene_graph: kitchen_1
scene_graph: place
scene_graph: cabinet_24
scene_graph: kitchen_1
scene_graph: place
scene_graph: cabinet_25
scene_graph: kitchen_1
scene_graph: place
scene_graph: cabinet_26
scene_graph: kitchen_1
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scene_graph: cabinet_27
scene_graph: kitchen_1
scene_graph: place
scene_graph: cabinet_28
scene_graph: kitchen_1
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scene_graph: cabinet_29
scene_graph: kitchen_1
scene_graph: place
scene_graph: floor_kitchen_1
scene_graph: kitchen_1
scene_graph: place
scene_graph: fridge_30
scene_graph: kitchen_1
scene_graph: place
scene_graph: stool_10
scene_graph: kitchen_1
scene_graph: place
scene_graph: stool_11
scene_graph: kitchen_1
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scene_graph: stool_12
scene_graph: kitchen_1
scene_graph: place
scene_graph: unknown_18
scene_graph: kitchen_1
scene_graph: place
scene_graph: couch_16
scene_graph: living_room_1
scene_graph: place
scene_graph: counter_31
scene_graph: living_room_1
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scene_graph: counter_33
scene_graph: living_room_1
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scene_graph: floor_living_room_1
scene_graph: living_room_1
scene_graph: place
scene_graph: shelves_7
scene_graph: living_room_1
scene_graph: place
scene_graph: table_9
scene_graph: living_room_1
scene_graph: place
scene_graph: counter_32
scene_graph: porch_1
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scene_graph: floor_porch_1
scene_graph: porch_1
scene_graph: place
scene_graph: floor_toilet_1
scene_graph: toilet_1
scene_graph: place
scene_graph: toilet_15
scene_graph: toilet_1
scene_graph: hssd
scene_graph: floor_A
scene_graph: pickup release
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scene_graph: table_13
scene_graph: dining_booth_1
scene_graph: picture_frame
scene_graph: pickup release
scene_graph: handbag_1
scene_graph: table_13
scene_graph: dining_booth_1
scene_graph: handbag
scene_graph: pickup release
scene_graph: cushion_1
scene_graph: chest_of_drawers_22
scene_graph: bedroom_1
scene_graph: cushion
scene_graph: pickup release
scene_graph: toy_airplane_1
scene_graph: counter_32
scene_graph: porch_1
scene_graph: toy_airplane
scene_graph: pickup release
scene_graph: book_1
scene_graph: table_23
scene_graph: bedroom_1
scene_graph: book
scene_graph: pickup release
scene_graph: cushion_2
scene_graph: unknown_18
scene_graph: kitchen_1
scene_graph: cushion
scene_graph: pickup release
scene_graph: clock_1
scene_graph: couch_16
scene_graph: living_room_1
scene_graph: clock
scene_graph: pickup release
scene_graph: screwdriver_1
scene_graph: chest_of_drawers_19
scene_graph: bedroom_1
scene_graph: screwdriver
scene_graph: pickup release
scene_graph: laptop_cover_1
scene_graph: chest_of_drawers_19
scene_graph: bedroom_1
scene_graph: laptop_cover
scene_graph: pickup release
scene_graph: cellphone_1
scene_graph: cabinet_25
scene_graph: kitchen_1
scene_graph: cellphone
scene_graph: pickup release
scene_graph: box_1
scene_graph: stool_10
scene_graph: kitchen_1
scene_graph: box
scene_graph: pickup release
scene_graph: picture_frame_2
scene_graph: stool_11
scene_graph: kitchen_1
scene_graph: picture_frame
scene_graph: pickup release
scene_graph: box_2
scene_graph: table_13
scene_graph: dining_booth_1
scene_graph: box
scene_graph: pickup release
scene_graph: phone_stand_1
scene_graph: table_9
scene_graph: living_room_1
scene_graph: phone_stand
scene_graph: pickup release
scene_graph: monitor_stand_1
scene_graph: table_9
scene_graph: living_room_1
scene_graph: monitor_stand
scene_graph: pickup release
scene_graph: cup_1
scene_graph: table_13
scene_graph: dining_booth_1
scene_graph: cup
scene_graph: pickup release
scene_graph: soap_dish_1
scene_graph: cabinet_25
scene_graph: kitchen_1
scene_graph: soap_dish
scene_graph: pickup release
scene_graph: casserole_1
scene_graph: counter_31
scene_graph: living_room_1
scene_graph: casserole
scene_graph: pickup release
scene_graph: picture_frame_3
scene_graph: couch_16
scene_graph: living_room_1
scene_graph: picture_frame
scene_graph: pickup release
scene_graph: soap_dispenser_1
scene_graph: couch_16
scene_graph: living_room_1
scene_graph: soap_dispenser
scene_graph: pickup release
scene_graph: helmet_1
scene_graph: counter_32
scene_graph: porch_1
scene_graph: helmet
scene_graph: pickup release
scene_graph: lamp_1
scene_graph: table_23
scene_graph: bedroom_1
scene_graph: lamp
scene_graph: pickup release
scene_graph: stuffed_toy_1
scene_graph: couch_16
scene_graph: living_room_1
scene_graph: stuffed_toy
scene_graph: pickup release
scene_graph: vase_1
scene_graph: bed_14
scene_graph: bedroom_1
scene_graph: vase
scene_graph: pickup release
scene_graph: cellphone_2
scene_graph: stool_10
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scene_graph: cellphone
scene_graph: pickup release
scene_graph: box_3
scene_graph: cabinet_28
scene_graph: kitchen_1
scene_graph: box
scene_graph: bedroom_1
scene_graph: dining_booth_1
scene_graph: kitchen_1
scene_graph: living_room_1
scene_graph: porch_1
scene_graph: toilet_1
scene_graph: unknown_room
task: Move the toy airplane from the porch to the living room and place it on the couch. Then, move the book from the bedroom to the living room and place it on the table. Finally, clean the couch.
searched_sg: hssd↔floor_A floor_A↔bedroom_1 bedroom_1↔bed_14 bedroom_1↔chair_6 bedroom_1↔chest_of_drawers_19 bedroom_1↔chest_of_drawers_20 bedroom_1↔chest_of_drawers_22 bedroom_1↔floor_bedroom_1 bedroom_1↔table_23 living_room_1↔couch_16 living_room_1↔counter_31 living_room_1↔counter_33 living_room_1↔floor_living_room_1 living_room_1↔shelves_7 living_room_1↔table_9 porch_1↔counter_32 porch_1↔floor_porch_1 bedroom_1↔agent counter_32↔toy_airplane_1 counter_32↔helmet_1 couch_16↔clock_1 couch_16↔picture_frame_3 couch_16↔soap_dispenser_1 couch_16↔stuffed_toy_1 counter_31↔casserole_1 table_9↔phone_stand_1 table_9↔monitor_stand_1 bed_14↔vase_1 chest_of_drawers_19↔screwdriver_1 chest_of_drawers_19↔laptop_cover_1 chest_of_drawers_22↔cushion_1 table_23↔book_1 table_23↔lamp_1
searched_sg: agent
searched_sg: bedroom_1
searched_sg: place
searched_sg: counter_32
searched_sg: porch_1
searched_sg: place
searched_sg: floor_porch_1
searched_sg: porch_1
searched_sg: place
searched_sg: couch_16
searched_sg: living_room_1
searched_sg: place
searched_sg: counter_31
searched_sg: living_room_1
searched_sg: place
searched_sg: counter_33
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searched_sg: place
searched_sg: floor_living_room_1
searched_sg: living_room_1
searched_sg: place
searched_sg: shelves_7
searched_sg: living_room_1
searched_sg: place
searched_sg: table_9
searched_sg: living_room_1
searched_sg: place
searched_sg: bed_14
searched_sg: bedroom_1
searched_sg: place
searched_sg: chair_6
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searched_sg: bedroom_1
searched_sg: place
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searched_sg: place
searched_sg: chest_of_drawers_22
searched_sg: bedroom_1
searched_sg: place
searched_sg: floor_bedroom_1
searched_sg: bedroom_1
searched_sg: place
searched_sg: table_23
searched_sg: bedroom_1
searched_sg: hssd
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searched_sg: pickup release
searched_sg: toy_airplane_1
searched_sg: counter_32
searched_sg: porch_1
searched_sg: toy_airplane
searched_sg: pickup release
searched_sg: helmet_1
searched_sg: counter_32
searched_sg: porch_1
searched_sg: helmet
searched_sg: pickup release
searched_sg: clock_1
searched_sg: couch_16
searched_sg: living_room_1
searched_sg: clock
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searched_sg: living_room_1
searched_sg: picture_frame
searched_sg: pickup release
searched_sg: soap_dispenser_1
searched_sg: couch_16
searched_sg: living_room_1
searched_sg: soap_dispenser
searched_sg: pickup release
searched_sg: stuffed_toy_1
searched_sg: couch_16
searched_sg: living_room_1
searched_sg: stuffed_toy
searched_sg: pickup release
searched_sg: casserole_1
searched_sg: counter_31
searched_sg: living_room_1
searched_sg: casserole
searched_sg: pickup release
searched_sg: phone_stand_1
searched_sg: table_9
searched_sg: living_room_1
searched_sg: phone_stand
searched_sg: pickup release
searched_sg: monitor_stand_1
searched_sg: table_9
searched_sg: living_room_1
searched_sg: monitor_stand
searched_sg: pickup release
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searched_sg: bed_14
searched_sg: bedroom_1
searched_sg: vase
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searched_sg: chest_of_drawers_19
searched_sg: bedroom_1
searched_sg: screwdriver
searched_sg: pickup release
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searched_sg: bedroom_1
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searched_sg: bedroom_1
searched_sg: cushion
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searched_sg: book_1
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searched_sg: bedroom_1
searched_sg: book
searched_sg: pickup release
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searched_sg: bedroom_1
searched_sg: lamp
searched_sg: bedroom_1
searched_sg: dining_booth_1
searched_sg: kitchen_1
searched_sg: living_room_1
searched_sg: porch_1
searched_sg: toilet_1
searched_sg: unknown_room