qa_id string | scene_id string | viewpoint_id string | subset string | image string | scene_type string | scene_description string | goal dict | question string | question_style string | plan_graph dict | generation_info dict |
|---|---|---|---|---|---|---|---|---|---|---|---|
scene_00001_1753781394_01 | scene_00001 | 1753781394 | real | real_world_data/scene_00001/viewpoints/1753781394/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Retrieve a stored item from the open kitchen cabinet and transfer it into the sideboard, leaving the sideboard door closed and the kitchen cabinet door open.",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Take the item out of the open kitchen cabinet"
},
{
... | What is the correct sequence of steps to retrieve an item from the open kitchen cabinet and store it in the sideboard, ensuring the sideboard is closed and the cabinet remains open? | direct | {
"nodes": [
{
"node_id": "n1",
"object": "kitchen_cabinet",
"object_id": "1753781394_c87_i1",
"action": "take_out",
"category": "Openable Objects",
"initial_state": {
"door": "open"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object"... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 4,
"planner_ops": 4,
"planner_edges": 3,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753781394_02 | scene_00001 | 1753781394 | real | real_world_data/scene_00001/viewpoints/1753781394/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Retrieve a stored item from the closed wardrobe and place it into the open kitchen cabinet, ensuring the wardrobe is closed and the kitchen cabinet remains open.",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Open the wardrobe to access the item"
},
{
"id"... | What steps are required to take an item out of the closed wardrobe and place it into the open kitchen cabinet, ensuring the wardrobe is closed and the cabinet stays open? | direct | {
"nodes": [
{
"node_id": "n1",
"object": "wardrobe",
"object_id": "1753781394_c75_i1",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "wardro... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 4,
"planner_ops": 4,
"planner_edges": 3,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753781439_01 | scene_00001 | 1753781439 | real | real_world_data/scene_00001/viewpoints/1753781439/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Store the item I am carrying in the first visible cabinet and ensure the cabinet is closed",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "open the target cabinet"
},
{
"id": "S2",
"text": "place the carried item inside"
},
{
"id": "S3",... | What sequence of steps is required to place the item I am holding into the first available cabinet and ensure the door is fully closed? | want | {
"nodes": [
{
"node_id": "n1",
"object": "kitchen_cabinet",
"object_id": "1753781439_c87_i1",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": ... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753781439_02 | scene_00001 | 1753781439 | real | real_world_data/scene_00001/viewpoints/1753781439/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Wash the item I am holding at the kitchen sink and ensure the faucet is turned off afterwards",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "turn on the sink faucet"
},
{
"id": "S2",
"text": "wash the held item"
},
{
"id": "S3",
"... | What steps are needed to clean the item I am holding at the sink and leave the water running state turned off? | want | {
"nodes": [
{
"node_id": "n1",
"object": "kitchen_sink",
"object_id": "1753781439_c135",
"action": "turn_on",
"category": "Sanitary Ware",
"initial_state": {
"faucet": "off"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "kitch... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753781487_01 | scene_00001 | 1753781487 | real | real_world_data/scene_00001/viewpoints/1753781487/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Wash a dish using the kitchen sink and store it in the open kitchen cabinet, leaving the cabinet door open",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "wash the dish in the sink"
},
{
"id": "S2",
"text": "store the washed dish in the cabinet"
}... | What sequence of steps is required to wash a dish in the sink and store it in the open cabinet, ensuring the faucet is off? | want | {
"nodes": [
{
"node_id": "n1",
"object": "kitchen_sink",
"object_id": "1753781487_c135",
"action": "turn_on",
"category": "Sanitary Ware",
"initial_state": {
"faucet": "off"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "kitch... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 4,
"planner_edges": 3,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753781487_02 | scene_00001 | 1753781487 | real | real_world_data/scene_00001/viewpoints/1753781487/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Wash a utensil using the kitchen sink and place it in the closed kitchen cabinet, then secure the cabinet",
"difficulty": "hard",
"sub_goals": [
{
"id": "S1",
"text": "wash the utensil in the sink"
},
{
"id": "S2",
"text": "open the closed cabinet"
},
{
... | In what order should I wash a utensil and place it in the cabinet, finishing with the cabinet closed and the water off? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "kitchen_sink",
"object_id": "1753781487_c135",
"action": "turn_on",
"category": "Sanitary Ware",
"initial_state": {
"faucet": "off"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "kitch... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 4,
"planner_ops": 6,
"planner_edges": 5,
"difficulty": "hard",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753781535_02 | scene_00001 | 1753781535 | real | real_world_data/scene_00001/viewpoints/1753781535/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Retrieve the item from the first wardrobe and store it in the tv_cabinet, leaving the tv_cabinet door closed",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "remove the item from the wardrobe"
},
{
"id": "S2",
"text": "place the item into the tv_cabine... | In what sequence should I transfer an item from the first wardrobe to the TV cabinet to ensure the cabinet door is finally closed? | procedural | {
"nodes": [
{
"node_id": "n1",
"object": "wardrobe",
"object_id": "1753781535_c75_i1",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "wardro... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 5,
"planner_edges": 4,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753781575_01 | scene_00001 | 1753781575 | real | real_world_data/scene_00001/viewpoints/1753781575/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Retrieve an item from the first cabinet and store it inside the second cabinet, leaving both cabinet doors closed",
"difficulty": "hard",
"sub_goals": [
{
"id": "S1",
"text": "access the contents of the first cabinet"
},
{
"id": "S2",
"text": "access the contents of ... | I want to transfer an object between the two visible white cabinets; in what order should the actions be performed to keep both secured? | want | {
"nodes": [
{
"node_id": "n1",
"object": "cabinet",
"object_id": "1753781575_c89_i1",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "cabinet... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 4,
"planner_ops": 6,
"planner_edges": 5,
"difficulty": "hard",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753781615_01 | scene_00001 | 1753781615 | real | real_world_data/scene_00001/viewpoints/1753781615/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Retrieve the item I am holding from a closed cabinet and store it in another closed cabinet",
"difficulty": "hard",
"sub_goals": [
{
"id": "S1",
"text": "Retrieve the item from the source cabinet"
},
{
"id": "S2",
"text": "Close the source cabinet"
},
{
... | What steps are required to move an item from one of the closed cabinets to another while ensuring both cabinet doors are shut at the end? | direct | {
"nodes": [
{
"node_id": "n1",
"object": "cabinet",
"object_id": "1753781615_c89_i1",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "cabinet... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 4,
"planner_ops": 6,
"planner_edges": 5,
"difficulty": "hard",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753781673_01 | scene_00001 | 1753781673 | real | real_world_data/scene_00001/viewpoints/1753781673/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Retrieve the item from inside the sideboard and store it securely in the kitchen cabinet",
"difficulty": "hard",
"sub_goals": [
{
"id": "S1",
"text": "Access the sideboard to retrieve the item"
},
{
"id": "S2",
"text": "Store the item in the kitchen cabinet"
},
... | In what order should I access the sideboard and the kitchen cabinet to move the item between them while leaving both storage fixtures secured? | procedural | {
"nodes": [
{
"node_id": "n1",
"object": "sideboard",
"object_id": "1753781673_c85",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "sideboar... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 6,
"planner_edges": 5,
"difficulty": "hard",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753781673_02 | scene_00001 | 1753781673 | real | real_world_data/scene_00001/viewpoints/1753781673/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Move the item from the kitchen cabinet to the sideboard and leave both units closed",
"difficulty": "hard",
"sub_goals": [
{
"id": "S1",
"text": "Access the kitchen cabinet to retrieve the item"
},
{
"id": "S2",
"text": "Store the item in the sideboard"
},
{
... | What steps are required to move the item from the kitchen cabinet to the sideboard, finishing with both units closed and the item stored? | direct | {
"nodes": [
{
"node_id": "n1",
"object": "kitchen_cabinet",
"object_id": "1753781673_c87",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "ki... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 6,
"planner_edges": 5,
"difficulty": "hard",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753781728_01 | scene_00001 | 1753781728 | real | real_world_data/scene_00001/viewpoints/1753781728/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Retrieve an item from the sideboard and store it in the kitchen cabinet, leaving the kitchen cabinet secured and the sideboard open",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Access the sideboard to retrieve an item"
},
{
"id": "S2",
"text": "Tra... | What sequence of steps is required to transfer an object from the sideboard to the kitchen cabinet, ensuring the cabinet is secured when finished? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "sideboard",
"object_id": "1753781728_c85",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "sideboar... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 5,
"planner_edges": 4,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753781728_02 | scene_00001 | 1753781728 | real | real_world_data/scene_00001/viewpoints/1753781728/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Open the kitchen cabinet, remove an item from it, and then place that item inside the sideboard, leaving both the sideboard and the kitchen cabinet secured",
"difficulty": "hard",
"sub_goals": [
{
"id": "S1",
"text": "Access the kitchen cabinet to remove an item"
},
{
"id"... | How should I proceed to relocate an item from the kitchen cabinet to the sideboard, ending with both doors closed? | want | {
"nodes": [
{
"node_id": "n1",
"object": "kitchen_cabinet",
"object_id": "1753781728_c87",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "ki... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 6,
"planner_edges": 5,
"difficulty": "hard",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753781791_01 | scene_00001 | 1753781791 | real | real_world_data/scene_00001/viewpoints/1753781791/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Store the item I am carrying in the first visible wardrobe and leave it secured",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "open the target wardrobe"
},
{
"id": "S2",
"text": "place the carried item inside the wardrobe"
},
{
"id": "S... | In what order should I act to secure the carried item inside the first visible wardrobe with the door shut? | want | {
"nodes": [
{
"node_id": "n1",
"object": "wardrobe",
"object_id": "1753781791_c75_i1",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "wardro... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753781835_01 | scene_00001 | 1753781835 | real | real_world_data/scene_00001/viewpoints/1753781835/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Retrieve the item from the bedside table and store it in the first wardrobe, ensuring both containers are secured at the end.",
"difficulty": "hard",
"sub_goals": [
{
"id": "S1",
"text": "extract the item from the bedside table"
},
{
"id": "S2",
"text": "deposit the ... | What sequence of steps should I take to move the item from the bedside table to the first wardrobe, ensuring both containers are secured at the end? | direct | {
"nodes": [
{
"node_id": "n1",
"object": "bedside_table",
"object_id": "1753781835_c90",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "beds... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 6,
"planner_edges": 5,
"difficulty": "hard",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753781835_02 | scene_00001 | 1753781835 | real | real_world_data/scene_00001/viewpoints/1753781835/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Store the item I am carrying in the second wardrobe and leave the door closed.",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "open the second wardrobe"
},
{
"id": "S2",
"text": "place the carried item inside"
},
{
"id": "S3",
"tex... | In what order should I proceed to place my carried item inside the second wardrobe so that it ends up secured? | procedural | {
"nodes": [
{
"node_id": "n1",
"object": "wardrobe",
"object_id": "1753781835_c75_i2",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "wardro... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753781881_01 | scene_00001 | 1753781881 | real | real_world_data/scene_00001/viewpoints/1753781881/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Wash the item I am holding in the washbasin and then secure the bathroom cabinet door",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Operate the washbasin to wash the item"
},
{
"id": "S2",
"text": "Close the open bathroom cabinet door"
}
],
... | What sequence of steps should I follow to wash the item I am holding in the washbasin, ensuring the fixture is off and the cabinet is secured? | procedural | {
"nodes": [
{
"node_id": "n1",
"object": "washbasin",
"object_id": "1753781881_c134",
"action": "turn_on",
"category": "Sanitary Ware",
"initial_state": {
"faucet": "off"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "washbasi... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 2,
"sub_goal_count": 2,
"planner_ops": 4,
"planner_edges": 3,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753781935_01 | scene_00001 | 1753781935 | real | real_world_data/scene_00001/viewpoints/1753781935/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Rinse the washbasin and then store the item I am carrying in the wardrobe, leaving the wardrobe closed",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "complete the washing cycle at the washbasin"
},
{
"id": "S2",
"text": "place the carried item inside... | What sequence should I follow to complete a rinse at the washbasin and then store my carried item in the wardrobe, leaving it closed? | want | {
"nodes": [
{
"node_id": "n1",
"object": "washbasin",
"object_id": "1753781935_c134",
"action": "turn_on",
"category": "Sanitary Ware",
"initial_state": {
"faucet": "off"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "washbasi... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 5,
"planner_edges": 4,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753781992_01 | scene_00001 | 1753781992 | real | real_world_data/scene_00001/viewpoints/1753781992/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Retrieve the item I am holding from the first bathroom cabinet and store it in the main cabinet, leaving both receptacles closed.",
"difficulty": "hard",
"sub_goals": [
{
"id": "S1",
"text": "Take the item out of the first bathroom cabinet"
},
{
"id": "S2",
"text": "... | What sequence of actions is required to transfer the item I am holding from the first bathroom cabinet to the main cabinet, ensuring both are closed at the end? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "bathroom_cabinet",
"object_id": "1753781992_c88_i1",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object":... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 6,
"planner_edges": 5,
"difficulty": "hard",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753781992_02 | scene_00001 | 1753781992 | real | real_world_data/scene_00001/viewpoints/1753781992/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Clear the second bathroom cabinet by taking out any items and then open the main cabinet to prepare for storage.",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Empty the second bathroom cabinet"
},
{
"id": "S2",
"text": "Open the main cabinet"
}
... | What steps are needed to remove contents from the second bathroom cabinet and then access the main cabinet for storage, with the main cabinet remaining open? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "bathroom_cabinet",
"object_id": "1753781992_c88_i2",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object":... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 2,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753782055_01 | scene_00001 | 1753782055 | real | real_world_data/scene_00001/viewpoints/1753782055/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Retrieve the item I am carrying from the refrigerator and ensure the refrigerator door is securely closed",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Access the refrigerator to retrieve the item"
},
{
"id": "S2",
"text": "Secure the refrigerator a... | What steps should I follow to retrieve the item I am holding from the refrigerator and ensure the appliance is secure? | direct | {
"nodes": [
{
"node_id": "n1",
"object": "refrigerator",
"object_id": "1753782055_c108",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "refr... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 2,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753782055_02 | scene_00001 | 1753782055 | real | real_world_data/scene_00001/viewpoints/1753782055/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Wash the item I am holding at the washbasin and leave the faucet turned off",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Activate the water source"
},
{
"id": "S2",
"text": "Perform the washing action"
},
{
"id": "S3",
"text": "... | How should I use the visible washbasin to clean my item while ensuring the water source is deactivated at the end? | procedural | {
"nodes": [
{
"node_id": "n1",
"object": "washbasin",
"object_id": "1753782055_c134",
"action": "turn_on",
"category": "Sanitary Ware",
"initial_state": {
"faucet": "off"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "washbasi... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753782099_01 | scene_00001 | 1753782099 | real | real_world_data/scene_00001/viewpoints/1753782099/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Retrieve a dish from the hallway cabinet, wash it in the washbasin, and leave the cabinet closed",
"difficulty": "hard",
"sub_goals": [
{
"id": "S1",
"text": "retrieve the dish from the hallway cabinet"
},
{
"id": "S2",
"text": "wash the dish using the washbasin"
... | What sequence of steps is required to retrieve an item from the hallway storage and wash it in the washbasin, ensuring the storage is secured at the end? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "hallway_cabinet",
"object_id": "1753782099_c86",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "ha... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 6,
"planner_edges": 5,
"difficulty": "hard",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753782149_01 | scene_00001 | 1753782149 | real | real_world_data/scene_00001/viewpoints/1753782149/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Rinse a kitchen utensil at the washbasin and store it inside the bathroom cabinet",
"difficulty": "hard",
"sub_goals": [
{
"id": "S1",
"text": "Clean the utensil using the washbasin"
},
{
"id": "S2",
"text": "Place the cleaned utensil into the bathroom cabinet"
}... | What sequence of steps should I follow to clean a utensil at the washbasin and store it in the cabinet, ensuring the faucet is off and the cabinet is closed at the end? | procedural | {
"nodes": [
{
"node_id": "n1",
"object": "washbasin",
"object_id": "1753782149_c134_i1",
"action": "turn_on",
"category": "Sanitary Ware",
"initial_state": {
"faucet": "off"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "washb... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 6,
"planner_edges": 5,
"difficulty": "hard",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753782149_02 | scene_00001 | 1753782149 | real | real_world_data/scene_00001/viewpoints/1753782149/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Retrieve a stored item from the hallway cabinet and rinse it at the second washbasin",
"difficulty": "hard",
"sub_goals": [
{
"id": "S1",
"text": "Access the hallway cabinet"
},
{
"id": "S2",
"text": "Retrieve the item from the hallway cabinet"
},
{
"id... | What steps should I take to retrieve a stored object from the hallway cabinet and clean it at the washbasin, ensuring the fixture is off and the cabinet is shut? | task-oriented | {
"nodes": [
{
"node_id": "n1",
"object": "hallway_cabinet",
"object_id": "1753782149_c86",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "ha... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 6,
"planner_edges": 5,
"difficulty": "hard",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753782208_01 | scene_00001 | 1753782208 | real | real_world_data/scene_00001/viewpoints/1753782208/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Retrieve a utensil from the first visible cabinet and then place a small appliance into the second visible cabinet, leaving both cabinet doors closed",
"difficulty": "hard",
"sub_goals": [
{
"id": "S1",
"text": "access the first cabinet to retrieve an item"
},
{
"id": "S2"... | What sequence of actions is needed to retrieve a utensil from the first visible cabinet and store a small appliance in the second, ensuring both doors are closed? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "cabinet",
"object_id": "1753782208_c89_i1",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "cabinet... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 6,
"planner_edges": 5,
"difficulty": "hard",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753782208_02 | scene_00001 | 1753782208 | real | real_world_data/scene_00001/viewpoints/1753782208/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Store a dish in the second visible cabinet and retrieve a container from the first visible cabinet, ending with both cabinets closed",
"difficulty": "hard",
"sub_goals": [
{
"id": "S1",
"text": "place a dish into the second cabinet"
},
{
"id": "S2",
"text": "remove a... | What sequence of steps should be used to store a dish in the second visible cabinet and retrieve a container from the first visible cabinet, ending with both cabinets closed? | general | {
"nodes": [
{
"node_id": "n1",
"object": "cabinet",
"object_id": "1753782208_c89_i2",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "cabinet... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 6,
"planner_edges": 5,
"difficulty": "hard",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753782270_01 | scene_00001 | 1753782270 | real | real_world_data/scene_00001/viewpoints/1753782270/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Retrieve a container from the refrigerator and place it into the kitchen cabinet, leaving both storage units closed",
"difficulty": "hard",
"sub_goals": [
{
"id": "S1",
"text": "extract an item from the refrigerator"
},
{
"id": "S2",
"text": "store the item in the ki... | What steps are required to move a container from the refrigerator to the kitchen cabinet while ensuring both storage units remain closed at the end? | direct | {
"nodes": [
{
"node_id": "n1",
"object": "refrigerator",
"object_id": "1753782270_c108",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "refr... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 6,
"planner_edges": 5,
"difficulty": "hard",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753782270_02 | scene_00001 | 1753782270 | real | real_world_data/scene_00001/viewpoints/1753782270/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Move an item from the cabinet to the wardrobe and secure the cabinet door",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "take an item out of the cabinet"
},
{
"id": "S2",
"text": "place the item into the wardrobe"
},
{
"id": "S3",
... | How should I proceed to move an object from the cabinet into the wardrobe while ensuring the cabinet is secured once the item is removed? | procedural | {
"nodes": [
{
"node_id": "n1",
"object": "cabinet",
"object_id": "1753782270_c89",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "cabinet",
... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 5,
"planner_edges": 4,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753782316_01 | scene_00001 | 1753782316 | real | real_world_data/scene_00001/viewpoints/1753782316/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Retrieve an item from the cabinet and store it in the wardrobe, ensuring the cabinet is closed and the wardrobe is left open",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Retrieve an item from the cabinet"
},
{
"id": "S2",
"text": "Store the item in... | What is the correct sequence of steps to move an object from the wall cabinet into the wardrobe, ensuring the cabinet is closed while the wardrobe remains open? | procedural | {
"nodes": [
{
"node_id": "n1",
"object": "cabinet",
"object_id": "1753782316_c89",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "cabinet",
... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 5,
"planner_edges": 4,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00001_1753782316_02 | scene_00001 | 1753782316 | real | real_world_data/scene_00001/viewpoints/1753782316/panoImage_1600.jpg | kitchen | A modern, minimalist kitchen with white cabinetry and countertops, featuring a clean and bright atmosphere enhanced by recessed ceiling lights and a large window. | {
"text": "Transfer an item from the first bedside table to the second bedside table, leaving the first table closed and the second table open",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Retrieve an item from the first bedside table"
},
{
"id": "S2",
"text":... | What steps are required to move an item from one bedside table to the other, leaving the first table closed and the second table open? | procedural | {
"nodes": [
{
"node_id": "n1",
"object": "bedside_table",
"object_id": "1753782316_c90_i1",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "b... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 5,
"planner_edges": 4,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00002_1753582725_02 | scene_00002 | 1753582725 | real | real_world_data/scene_00002/viewpoints/1753582725/panoImage_1600.jpg | bathroom | A spacious and luxurious modern bathroom featuring white marble walls, recessed ceiling lighting, a walk-in shower with black fixtures, and a view of greenery through a window. | {
"text": "Place the laundry I am holding into the washing machine and activate the power",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Open the washing machine door"
},
{
"id": "S2",
"text": "Put the laundry inside the machine"
},
{
"id": "S3",
... | What steps are required to load the laundry into the washing machine and leave the power active? | want | {
"nodes": [
{
"node_id": "n1",
"object": "washing_machine",
"object_id": "1753582725_c107",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "w... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 4,
"planner_ops": 4,
"planner_edges": 3,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00002_1753582755_01 | scene_00002 | 1753582755 | real | real_world_data/scene_00002/viewpoints/1753582755/panoImage_1600.jpg | bathroom | A spacious and luxurious modern bathroom featuring white marble walls, recessed ceiling lighting, a walk-in shower with black fixtures, and a view of greenery through a window. | {
"text": "Place the laundry basket into the washing machine cabinet and ensure the cabinet door is closed",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Store the laundry basket inside the cabinet"
},
{
"id": "S2",
"text": "Close the cabinet door"
}
],
... | In what order should I proceed to store the basket in the cabinet by the laundry appliances and ensure the door is fully closed? | procedural | {
"nodes": [
{
"node_id": "n1",
"object": "washing_machine_cabinet",
"object_id": "1753582755_c159",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"obj... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 2,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00002_1753582755_02 | scene_00002 | 1753582755 | real | real_world_data/scene_00002/viewpoints/1753582755/panoImage_1600.jpg | bathroom | A spacious and luxurious modern bathroom featuring white marble walls, recessed ceiling lighting, a walk-in shower with black fixtures, and a view of greenery through a window. | {
"text": "Load the dirty clothes into the washing machine and start the cycle",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Open the washing machine door"
},
{
"id": "S2",
"text": "Place the dirty clothes inside"
},
{
"id": "S3",
"text": "... | What steps are required to load the dirty clothes into the washing machine and start the cycle, ensuring the door is shut? | direct | {
"nodes": [
{
"node_id": "n1",
"object": "washing_machine",
"object_id": "1753582755_c107",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "w... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 4,
"planner_ops": 4,
"planner_edges": 3,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00002_1753582783_01 | scene_00002 | 1753582783 | real | real_world_data/scene_00002/viewpoints/1753582783/panoImage_1600.jpg | bathroom | A spacious and luxurious modern bathroom featuring white marble walls, recessed ceiling lighting, a walk-in shower with black fixtures, and a view of greenery through a window. | {
"text": "Start the washing machine with the item I am carrying inside and ensure the machine door is closed",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "load the carried item"
},
{
"id": "S2",
"text": "secure and power the machine"
}
],
"success_cri... | What sequence of steps should be used to start the washing machine with the item i am carrying inside and ensure the machine door is closed? | general | {
"nodes": [
{
"node_id": "n1",
"object": "washing_machine",
"object_id": "1753582783_c107",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "w... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 2,
"sub_goal_count": 2,
"planner_ops": 4,
"planner_edges": 3,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00002_1753582783_02 | scene_00002 | 1753582783 | real | real_world_data/scene_00002/viewpoints/1753582783/panoImage_1600.jpg | bathroom | A spacious and luxurious modern bathroom featuring white marble walls, recessed ceiling lighting, a walk-in shower with black fixtures, and a view of greenery through a window. | {
"text": "Rinse the washbasin using the faucet and then store the item I am carrying in the bathroom cabinet with the door closed",
"difficulty": "hard",
"sub_goals": [
{
"id": "S1",
"text": "rinse the washbasin"
},
{
"id": "S2",
"text": "store the carried item in the cabinet"... | What sequence of steps should be used to rinse the washbasin using the faucet and then store the item i am carrying in the bathroom cabinet with the door closed? | general | {
"nodes": [
{
"node_id": "n1",
"object": "washbasin",
"object_id": "1753582783_c134",
"action": "turn_on",
"category": "Sanitary Ware",
"initial_state": {
"faucet": "off"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "washbasi... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 2,
"sub_goal_count": 2,
"planner_ops": 6,
"planner_edges": 5,
"difficulty": "hard",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00002_1753582812_01 | scene_00002 | 1753582812 | real | real_world_data/scene_00002/viewpoints/1753582812/panoImage_1600.jpg | bathroom | A spacious and luxurious modern bathroom featuring white marble walls, recessed ceiling lighting, a walk-in shower with black fixtures, and a view of greenery through a window. | {
"text": "Store the item I am carrying in the cabinet and ensure the cabinet door is closed",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "open the cabinet door"
},
{
"id": "S2",
"text": "place the item inside the cabinet"
},
{
"id": "S3",
... | In what order should I perform the steps to place my carried item inside the cabinet and ensure the door ends up in a closed state? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "cabinet",
"object_id": "1753582812_c89",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "cabinet",
... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00002_1753582845_01 | scene_00002 | 1753582845 | real | real_world_data/scene_00002/viewpoints/1753582845/panoImage_1600.jpg | bathroom | A spacious and luxurious modern bathroom featuring white marble walls, recessed ceiling lighting, a walk-in shower with black fixtures, and a view of greenery through a window. | {
"text": "Place the towel I am carrying into the wardrobe and leave the door closed",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "open the wardrobe door"
},
{
"id": "S2",
"text": "put the towel inside"
},
{
"id": "S3",
"text": "close the w... | I am carrying a towel that needs to be put away in the wardrobe visible here. What sequence of steps should I follow to store it and leave the door closed? | want | {
"nodes": [
{
"node_id": "n1",
"object": "wardrobe",
"object_id": "1753582845_c75",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "wardrobe"... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00002_1753582881_01 | scene_00002 | 1753582881 | real | real_world_data/scene_00002/viewpoints/1753582881/panoImage_1600.jpg | bathroom | A spacious and luxurious modern bathroom featuring white marble walls, recessed ceiling lighting, a walk-in shower with black fixtures, and a view of greenery through a window. | {
"text": "Store the item I am carrying in the cabinet and leave it secured",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "open the cabinet"
},
{
"id": "S2",
"text": "place the carried item inside"
},
{
"id": "S3",
"text": "close the cabinet... | What steps should I take to store the item I am holding in the cabinet, ensuring it ends up secured inside? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "cabinet",
"object_id": "1753582881_c89",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "cabinet",
... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00002_1753582881_02 | scene_00002 | 1753582881 | real | real_world_data/scene_00002/viewpoints/1753582881/panoImage_1600.jpg | bathroom | A spacious and luxurious modern bathroom featuring white marble walls, recessed ceiling lighting, a walk-in shower with black fixtures, and a view of greenery through a window. | {
"text": "Load the item I am carrying into the washing machine and start the cycle",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "open the washing machine"
},
{
"id": "S2",
"text": "place the carried item inside"
},
{
"id": "S3",
"text": "c... | In what order should I act to place the item in the washing machine and start the wash process? | want | {
"nodes": [
{
"node_id": "n1",
"object": "washing_machine",
"object_id": "1753582881_c107",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "w... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 4,
"planner_ops": 4,
"planner_edges": 3,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00002_1753582945_01 | scene_00002 | 1753582945 | real | real_world_data/scene_00002/viewpoints/1753582945/panoImage_1600.jpg | bathroom | A spacious and luxurious modern bathroom featuring white marble walls, recessed ceiling lighting, a walk-in shower with black fixtures, and a view of greenery through a window. | {
"text": "Place the laundry basket I am carrying into the washing machine and start the cycle, leaving the machine door closed.",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Open the washing machine"
},
{
"id": "S2",
"text": "Place the laundry basket inside"
... | What sequence of actions is required to load the laundry basket I am carrying into the visible washing machine and start the cycle? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "washing_machine",
"object_id": "1753582945_c107",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "w... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 4,
"planner_ops": 4,
"planner_edges": 3,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00002_1753583016_01 | scene_00002 | 1753583016 | real | real_world_data/scene_00002/viewpoints/1753583016/panoImage_1600.jpg | bathroom | A spacious and luxurious modern bathroom featuring white marble walls, recessed ceiling lighting, a walk-in shower with black fixtures, and a view of greenery through a window. | {
"text": "Store the toiletry item I am holding inside the cabinet and leave the cabinet door closed",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "open the cabinet door"
},
{
"id": "S2",
"text": "place the toiletry item inside the cabinet"
},
{
"... | What is the correct sequence of steps to place the toiletry item inside the cabinet while ensuring the cabinet door is closed at the end? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "cabinet",
"object_id": "1753583016_c89",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "cabinet",
... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00002_1753583016_02 | scene_00002 | 1753583016 | real | real_world_data/scene_00002/viewpoints/1753583016/panoImage_1600.jpg | bathroom | A spacious and luxurious modern bathroom featuring white marble walls, recessed ceiling lighting, a walk-in shower with black fixtures, and a view of greenery through a window. | {
"text": "Retrieve the towel from the kitchen_cabinet and leave the cabinet door closed",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "open the kitchen_cabinet door"
},
{
"id": "S2",
"text": "take the towel out of the kitchen_cabinet"
},
{
"id": ... | In what order should I perform the actions to retrieve the towel from the kitchen_cabinet, ensuring the cabinet door is closed when I am done? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "kitchen_cabinet",
"object_id": "1753583016_c87_i1",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": ... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00002_1753583059_01 | scene_00002 | 1753583059 | real | real_world_data/scene_00002/viewpoints/1753583059/panoImage_1600.jpg | bathroom | A spacious and luxurious modern bathroom featuring white marble walls, recessed ceiling lighting, a walk-in shower with black fixtures, and a view of greenery through a window. | {
"text": "Load the laundry I am holding into the washing machine and secure the appliance",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Place the laundry inside the washing machine"
},
{
"id": "S2",
"text": "Close the washing machine door"
}
],
"succe... | What sequence of actions should I follow to put the laundry I am holding into the washing machine and ensure the appliance is secured? | direct | {
"nodes": [
{
"node_id": "n1",
"object": "washing_machine",
"object_id": "1753583059_c107",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "w... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 2,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00002_1753583094_01 | scene_00002 | 1753583094 | real | real_world_data/scene_00002/viewpoints/1753583094/panoImage_1600.jpg | bathroom | A spacious and luxurious modern bathroom featuring white marble walls, recessed ceiling lighting, a walk-in shower with black fixtures, and a view of greenery through a window. | {
"text": "Fill the sink basin with water and then empty it, leaving the faucet off",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "turn on the faucet"
},
{
"id": "S2",
"text": "fill the sink basin"
},
{
"id": "S3",
"text": "empty the sink ba... | In what sequence should the sink be filled and then emptied to complete the task while leaving the fixture turned off? | want | {
"nodes": [
{
"node_id": "n1",
"object": "kitchen_sink",
"object_id": "1753583094_c135",
"action": "turn_on",
"category": "Sanitary Ware",
"initial_state": {
"faucet": "off"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "kitch... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 4,
"planner_ops": 4,
"planner_edges": 3,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00002_1753583094_02 | scene_00002 | 1753583094 | real | real_world_data/scene_00002/viewpoints/1753583094/panoImage_1600.jpg | bathroom | A spacious and luxurious modern bathroom featuring white marble walls, recessed ceiling lighting, a walk-in shower with black fixtures, and a view of greenery through a window. | {
"text": "Retrieve a towel from the first cabinet and wash it in the sink, leaving the sink dry and the cabinet closed",
"difficulty": "hard",
"sub_goals": [
{
"id": "S1",
"text": "take the towel out of the cabinet"
},
{
"id": "S2",
"text": "wash the towel using the sink"
... | What sequence of steps is required to retrieve a towel from the cabinet and wash it in the sink, ensuring the cabinet is closed and the faucet is off? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "kitchen_cabinet",
"object_id": "1753583094_c87_i1",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": ... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 6,
"planner_edges": 5,
"difficulty": "hard",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00002_1753583127_02 | scene_00002 | 1753583127 | real | real_world_data/scene_00002/viewpoints/1753583127/panoImage_1600.jpg | bathroom | A spacious and luxurious modern bathroom featuring white marble walls, recessed ceiling lighting, a walk-in shower with black fixtures, and a view of greenery through a window. | {
"text": "Wash the item I am holding in the sink and leave the faucet turned off",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "clean the item using water"
},
{
"id": "S2",
"text": "stop the water flow"
}
],
"success_criteria": [
"The item has been... | To wash the object I am holding in the basin, what sequence should I follow to finish with the water flow stopped? | procedural | {
"nodes": [
{
"node_id": "n1",
"object": "kitchen_sink",
"object_id": "1753583127_c135",
"action": "turn_on",
"category": "Sanitary Ware",
"initial_state": {
"faucet": "off"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "kitch... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 2,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00002_1753583161_01 | scene_00002 | 1753583161 | real | real_world_data/scene_00002/viewpoints/1753583161/panoImage_1600.jpg | bathroom | A spacious and luxurious modern bathroom featuring white marble walls, recessed ceiling lighting, a walk-in shower with black fixtures, and a view of greenery through a window. | {
"text": "Store the item I am carrying in the washing machine and start the cycle",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "access the washing machine"
},
{
"id": "S2",
"text": "place the item inside"
},
{
"id": "S3",
"text": "secure t... | I am holding a piece of laundry that needs to be washed. What sequence of steps should I follow to load the visible washing machine and start the cycle? | direct | {
"nodes": [
{
"node_id": "n1",
"object": "washing_machine",
"object_id": "1753583161_c107",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "w... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 4,
"planner_ops": 4,
"planner_edges": 3,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00002_1753583161_02 | scene_00002 | 1753583161 | real | real_world_data/scene_00002/viewpoints/1753583161/panoImage_1600.jpg | bathroom | A spacious and luxurious modern bathroom featuring white marble walls, recessed ceiling lighting, a walk-in shower with black fixtures, and a view of greenery through a window. | {
"text": "Retrieve the item from the open wardrobe and store it in the first visible kitchen cabinet",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "remove the item from the wardrobe"
},
{
"id": "S2",
"text": "access the kitchen cabinet"
},
{
"id"... | I have an item in my hand that needs to be moved from the open wardrobe to the kitchen area. What steps should I take to store it in a kitchen cabinet? | direct | {
"nodes": [
{
"node_id": "n1",
"object": "wardrobe",
"object_id": "1753583161_c75",
"action": "take_out",
"category": "Openable Objects",
"initial_state": {
"door": "open"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "kitchen... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 4,
"planner_ops": 4,
"planner_edges": 3,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00002_1753583191_01 | scene_00002 | 1753583191 | real | real_world_data/scene_00002/viewpoints/1753583191/panoImage_1600.jpg | bathroom | A spacious and luxurious modern bathroom featuring white marble walls, recessed ceiling lighting, a walk-in shower with black fixtures, and a view of greenery through a window. | {
"text": "Retrieve the item from the open cabinet and store it inside the other cabinet, leaving the first cabinet open and the second cabinet closed.",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Extract the item from the cabinet with the open door"
},
{
"id": "S2... | What is the correct sequence of steps to transfer an item from the open cabinet to the closed one, ending with the second cabinet secured? | want | {
"nodes": [
{
"node_id": "n1",
"object": "cabinet",
"object_id": "1753583191_c89_i1",
"action": "take_out",
"category": "Openable Objects",
"initial_state": {
"door": "open"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "cabin... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 4,
"planner_ops": 4,
"planner_edges": 3,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00002_1753583254_01 | scene_00002 | 1753583254 | real | real_world_data/scene_00002/viewpoints/1753583254/panoImage_1600.jpg | bathroom | A spacious and luxurious modern bathroom featuring white marble walls, recessed ceiling lighting, a walk-in shower with black fixtures, and a view of greenery through a window. | {
"text": "Place the item I am carrying into the bedside table and leave it secured",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Open the bedside table"
},
{
"id": "S2",
"text": "Put the item inside"
},
{
"id": "S3",
"text": "Close the bed... | What sequence of steps should I follow to put the item I am holding into the bedside table so that the drawer ends up closed? | procedural | {
"nodes": [
{
"node_id": "n1",
"object": "bedside_table",
"object_id": "1753583254_c90",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "beds... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00002_1753583285_01 | scene_00002 | 1753583285 | real | real_world_data/scene_00002/viewpoints/1753583285/panoImage_1600.jpg | bathroom | A spacious and luxurious modern bathroom featuring white marble walls, recessed ceiling lighting, a walk-in shower with black fixtures, and a view of greenery through a window. | {
"text": "Store the toiletry I am holding inside the wardrobe and ensure the wardrobe door is closed.",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "access the wardrobe interior"
},
{
"id": "S2",
"text": "place the item inside"
},
{
"id": "S3",
... | I am holding a toiletry that needs to be stored in the visible wardrobe. What sequence of steps should I take to put it away and ensure the door is closed? | want | {
"nodes": [
{
"node_id": "n1",
"object": "wardrobe",
"object_id": "1753583285_c75",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "wardrobe"... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00002_1753583285_02 | scene_00002 | 1753583285 | real | real_world_data/scene_00002/viewpoints/1753583285/panoImage_1600.jpg | bathroom | A spacious and luxurious modern bathroom featuring white marble walls, recessed ceiling lighting, a walk-in shower with black fixtures, and a view of greenery through a window. | {
"text": "Retrieve the towel from the open bedside table and store it in the wardrobe, leaving the wardrobe closed.",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "remove the towel from the bedside table"
},
{
"id": "S2",
"text": "open the wardrobe"
},
... | I need to move the towel from the bedside table into the wardrobe. What is the correct sequence of steps to complete this and leave the wardrobe closed? | want | {
"nodes": [
{
"node_id": "n1",
"object": "bedside_table",
"object_id": "1753583285_c90_i2",
"action": "take_out",
"category": "Openable Objects",
"initial_state": {
"door": "open"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": ... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 4,
"planner_ops": 4,
"planner_edges": 3,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00002_1753583315_01 | scene_00002 | 1753583315 | real | real_world_data/scene_00002/viewpoints/1753583315/panoImage_1600.jpg | bathroom | A spacious and luxurious modern bathroom featuring white marble walls, recessed ceiling lighting, a walk-in shower with black fixtures, and a view of greenery through a window. | {
"text": "Store the item I am carrying in the bedside table and leave it secured",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "place the carried item inside the bedside table"
},
{
"id": "S2",
"text": "close the bedside table door"
}
],
"success_crite... | In what order should I proceed to place the carried item inside the bedside table so that the door ends up closed? | procedural | {
"nodes": [
{
"node_id": "n1",
"object": "bedside_table",
"object_id": "1753583315_c90",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "beds... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 2,
"sub_goal_count": 2,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00002_1753583358_01 | scene_00002 | 1753583358 | real | real_world_data/scene_00002/viewpoints/1753583358/panoImage_1600.jpg | bathroom | A spacious and luxurious modern bathroom featuring white marble walls, recessed ceiling lighting, a walk-in shower with black fixtures, and a view of greenery through a window. | {
"text": "Place the item I am carrying into the bedside table and ensure the storage is secured.",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Open the bedside table access point"
},
{
"id": "S2",
"text": "Place the carried item inside the bedside table"
... | In what order should I perform the actions to deposit the carried item into the bedside table and leave the storage secured? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "bedside_table",
"object_id": "1753583358_c90",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "beds... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00003_1761186121_01 | scene_00003 | 1761186121 | real | real_world_data/scene_00003/viewpoints/1761186121/panoImage_1600.jpg | bedroom | A bright, modern bedroom with a minimalist style, featuring a large bed, built-in wardrobes, and a sunlit enclosed balcony area with a window and water heater. | {
"text": "Store the item I am carrying in the hallway cabinet and leave the cabinet door closed",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Open the hallway cabinet"
},
{
"id": "S2",
"text": "Place the carried item inside"
},
{
"id": "S3",
... | In what order should I operate the hallway cabinet to store my item and keep the storage space secured? | feeling | {
"nodes": [
{
"node_id": "n1",
"object": "hallway_cabinet",
"object_id": "1761186121_c86",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "ha... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00003_1761186121_02 | scene_00003 | 1761186121 | real | real_world_data/scene_00003/viewpoints/1761186121/panoImage_1600.jpg | bedroom | A bright, modern bedroom with a minimalist style, featuring a large bed, built-in wardrobes, and a sunlit enclosed balcony area with a window and water heater. | {
"text": "Wash the item I am holding in the kitchen sink and then store it in the open cabinet",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Turn on the kitchen sink faucet"
},
{
"id": "S2",
"text": "Wash the item"
},
{
"id": "S3",
"text":... | What sequence of actions allows me to wash the item in the kitchen sink and store it, leaving the water off? | want | {
"nodes": [
{
"node_id": "n1",
"object": "kitchen_sink",
"object_id": "1761186121_c135",
"action": "turn_on",
"category": "Sanitary Ware",
"initial_state": {
"faucet": "off"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "kitch... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 4,
"sub_goal_count": 4,
"planner_ops": 4,
"planner_edges": 3,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00003_1761186178_01 | scene_00003 | 1761186178 | real | real_world_data/scene_00003/viewpoints/1761186178/panoImage_1600.jpg | bedroom | A bright, modern bedroom with a minimalist style, featuring a large bed, built-in wardrobes, and a sunlit enclosed balcony area with a window and water heater. | {
"text": "Store the item I am carrying in the first visible kitchen cabinet and leave it secured",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Access the storage space"
},
{
"id": "S2",
"text": "Place the carried item inside"
},
{
"id": "S3",
... | What steps are needed to place the item I am holding into one of the visible kitchen cabinets and end with that cabinet door shut? | direct | {
"nodes": [
{
"node_id": "n1",
"object": "kitchen_cabinet",
"object_id": "1761186178_c87_i1",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": ... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00003_1761186221_01 | scene_00003 | 1761186221 | real | real_world_data/scene_00003/viewpoints/1761186221/panoImage_1600.jpg | bedroom | A bright, modern bedroom with a minimalist style, featuring a large bed, built-in wardrobes, and a sunlit enclosed balcony area with a window and water heater. | {
"text": "Retrieve the item from the hallway cabinet and store it in the trash can, leaving the hallway cabinet closed.",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Take the item out of the hallway cabinet"
},
{
"id": "S2",
"text": "Place the item into the t... | What steps should I follow to move the item from the hallway cabinet to the trash can, ensuring the cabinet ends up closed? | direct | {
"nodes": [
{
"node_id": "n1",
"object": "hallway_cabinet",
"object_id": "1761186221_c86",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "ha... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 4,
"planner_edges": 3,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00003_1761186221_02 | scene_00003 | 1761186221 | real | real_world_data/scene_00003/viewpoints/1761186221/panoImage_1600.jpg | bedroom | A bright, modern bedroom with a minimalist style, featuring a large bed, built-in wardrobes, and a sunlit enclosed balcony area with a window and water heater. | {
"text": "Store the item I am carrying in the TV cabinet and ensure the cabinet door is closed.",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Open the TV cabinet"
},
{
"id": "S2",
"text": "Put the item inside the TV cabinet"
},
{
"id": "S3",
... | I am carrying an item that needs to be stored in the TV cabinet; what sequence of actions ensures it is inside and the door is closed? | direct | {
"nodes": [
{
"node_id": "n1",
"object": "tv_cabinet",
"object_id": "1761186221_c84",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "tv_cabi... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00003_1761186277_01 | scene_00003 | 1761186277 | real | real_world_data/scene_00003/viewpoints/1761186277/panoImage_1600.jpg | bedroom | A bright, modern bedroom with a minimalist style, featuring a large bed, built-in wardrobes, and a sunlit enclosed balcony area with a window and water heater. | {
"text": "Store the item I am carrying in the cabinet and leave it secured",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Access the cabinet"
},
{
"id": "S2",
"text": "Place the item inside"
},
{
"id": "S3",
"text": "Secure the cabinet"
... | I need to store the item I am holding in a cabinet in this room. What steps should I take to ensure the cabinet is closed at the end? | want | {
"nodes": [
{
"node_id": "n1",
"object": "cabinet",
"object_id": "1761186277_c89",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "cabinet",
... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00003_1761186320_01 | scene_00003 | 1761186320 | real | real_world_data/scene_00003/viewpoints/1761186320/panoImage_1600.jpg | bedroom | A bright, modern bedroom with a minimalist style, featuring a large bed, built-in wardrobes, and a sunlit enclosed balcony area with a window and water heater. | {
"text": "Retrieve the item I am holding from the hallway cabinet and store it in the sideboard, leaving both receptacles closed",
"difficulty": "hard",
"sub_goals": [
{
"id": "S1",
"text": "access the hallway cabinet"
},
{
"id": "S2",
"text": "remove the carried item from the... | In what order should I transfer the item from the hallway cabinet to the sideboard so that both are left secure at the end? | direct | {
"nodes": [
{
"node_id": "n1",
"object": "hallway_cabinet",
"object_id": "1761186320_c86",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "ha... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 5,
"sub_goal_count": 5,
"planner_ops": 6,
"planner_edges": 5,
"difficulty": "hard",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00003_1761186320_02 | scene_00003 | 1761186320 | real | real_world_data/scene_00003/viewpoints/1761186320/panoImage_1600.jpg | bedroom | A bright, modern bedroom with a minimalist style, featuring a large bed, built-in wardrobes, and a sunlit enclosed balcony area with a window and water heater. | {
"text": "Place the item I am carrying into the tv_cabinet and ensure the tv_cabinet is closed",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "open the tv_cabinet"
},
{
"id": "S2",
"text": "put the item inside"
},
{
"id": "S3",
"text": "clos... | How should I proceed to put the carried item into the tv_cabinet while ensuring the unit is closed upon completion? | direct | {
"nodes": [
{
"node_id": "n1",
"object": "tv_cabinet",
"object_id": "1761186320_c84",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "tv_cabi... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00003_1761186365_01 | scene_00003 | 1761186365 | real | real_world_data/scene_00003/viewpoints/1761186365/panoImage_1600.jpg | bedroom | A bright, modern bedroom with a minimalist style, featuring a large bed, built-in wardrobes, and a sunlit enclosed balcony area with a window and water heater. | {
"text": "Place the item I am carrying into the sideboard and ensure the sideboard is closed",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "access the interior of the sideboard"
},
{
"id": "S2",
"text": "store the carried item inside the sideboard"
},
... | In what order should I act to store my item inside the sideboard and ensure the sideboard is secured at the end? | want | {
"nodes": [
{
"node_id": "n1",
"object": "sideboard",
"object_id": "1761186365_c85",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "sideboar... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00003_1761186416_01 | scene_00003 | 1761186416 | real | real_world_data/scene_00003/viewpoints/1761186416/panoImage_1600.jpg | bedroom | A bright, modern bedroom with a minimalist style, featuring a large bed, built-in wardrobes, and a sunlit enclosed balcony area with a window and water heater. | {
"text": "Place the item I am carrying into the wardrobe and ensure the wardrobe door is closed.",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Open the wardrobe to access the interior"
},
{
"id": "S2",
"text": "Place the carried item inside the wardrobe"
... | I am holding an item to store in the bedroom wardrobe. What sequence of steps is required to place it inside and ensure the wardrobe is secured? | direct | {
"nodes": [
{
"node_id": "n1",
"object": "wardrobe",
"object_id": "1761186416_c75",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "wardrobe"... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00003_1761186416_02 | scene_00003 | 1761186416 | real | real_world_data/scene_00003/viewpoints/1761186416/panoImage_1600.jpg | bedroom | A bright, modern bedroom with a minimalist style, featuring a large bed, built-in wardrobes, and a sunlit enclosed balcony area with a window and water heater. | {
"text": "Retrieve the item I previously stored in the bedside table and leave the bedside table door closed.",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Open the bedside table to access the stored item"
},
{
"id": "S2",
"text": "Take the item out of the be... | What sequence of actions allows me to access the contents of the bedside table and remove my item, ending with the furniture secured? | procedural | {
"nodes": [
{
"node_id": "n1",
"object": "bedside_table",
"object_id": "1761186416_c90",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "beds... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00003_1761186456_01 | scene_00003 | 1761186456 | real | real_world_data/scene_00003/viewpoints/1761186456/panoImage_1600.jpg | bedroom | A bright, modern bedroom with a minimalist style, featuring a large bed, built-in wardrobes, and a sunlit enclosed balcony area with a window and water heater. | {
"text": "Place the item I am carrying into the bedside table and leave the bedside table closed",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Open the bedside table"
},
{
"id": "S2",
"text": "Place the carried item inside the bedside table"
},
{
... | What sequence of steps is required to store the item I am carrying in the bedside table while leaving it closed? | direct | {
"nodes": [
{
"node_id": "n1",
"object": "bedside_table",
"object_id": "1761186456_c90",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "beds... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00003_1761186456_02 | scene_00003 | 1761186456 | real | real_world_data/scene_00003/viewpoints/1761186456/panoImage_1600.jpg | bedroom | A bright, modern bedroom with a minimalist style, featuring a large bed, built-in wardrobes, and a sunlit enclosed balcony area with a window and water heater. | {
"text": "Store the item I am carrying in the wardrobe and ensure the wardrobe is closed",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Open the wardrobe"
},
{
"id": "S2",
"text": "Place the carried item inside the wardrobe"
},
{
"id": "S3",
... | How should I proceed to store the item in the visible wardrobe, ensuring the unit is closed once I am done? | procedural | {
"nodes": [
{
"node_id": "n1",
"object": "wardrobe",
"object_id": "1761186456_c75",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "wardrobe"... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00003_1761186496_01 | scene_00003 | 1761186496 | real | real_world_data/scene_00003/viewpoints/1761186496/panoImage_1600.jpg | bedroom | A bright, modern bedroom with a minimalist style, featuring a large bed, built-in wardrobes, and a sunlit enclosed balcony area with a window and water heater. | {
"text": "Store the item I am carrying inside the visible wardrobe and ensure the door is closed",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Open the wardrobe door"
},
{
"id": "S2",
"text": "Place the carried item inside"
},
{
"id": "S3",
... | In what order should I perform the necessary actions to put my carried item into the wardrobe and leave the door secured? | direct | {
"nodes": [
{
"node_id": "n1",
"object": "wardrobe",
"object_id": "1761186496_c75",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "wardrobe"... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
scene_00003_1761186496_02 | scene_00003 | 1761186496 | real | real_world_data/scene_00003/viewpoints/1761186496/panoImage_1600.jpg | bedroom | A bright, modern bedroom with a minimalist style, featuring a large bed, built-in wardrobes, and a sunlit enclosed balcony area with a window and water heater. | {
"text": "Retrieve the item previously stored inside the visible wardrobe and leave the door closed",
"difficulty": "medium",
"sub_goals": [
{
"id": "S1",
"text": "Open the wardrobe door"
},
{
"id": "S2",
"text": "Take out the item"
},
{
"id": "S3",
"text":... | What sequence of actions is required to retrieve the item stored in the visible wardrobe and ensure the door is left closed? | direct | {
"nodes": [
{
"node_id": "n1",
"object": "wardrobe",
"object_id": "1761186496_c75",
"action": "open",
"category": "Openable Objects",
"initial_state": {
"door": "closed"
},
"state_source": "vlm"
},
{
"node_id": "n2",
"object": "wardrobe"... | {
"pipeline_version": "goal_first_dag_v3_verified_state_objective",
"model": "Qwen/Qwen3.8-27B",
"atomic_need_count": 3,
"sub_goal_count": 3,
"planner_ops": 3,
"planner_edges": 2,
"difficulty": "medium",
"state_validated": true,
"plan_source": "vlm"
} |
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