episode_id stringlengths 1 4 | scene_id stringclasses 10
values | instruction stringlengths 21 268 | start_position listlengths 3 3 | start_rotation listlengths 4 4 | goal_position listlengths 3 3 | geodesic_distance float64 3.88 17 | gt_locations listlengths 4 7 |
|---|---|---|---|---|---|---|---|
1 | zsNo4HB9uLZ | Enter the dining room and pick up the objects on the table | [
1.3952200412750244,
0.298550009727478,
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] | [
0,
0.36728903273227553,
0,
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] | [
14.051600456237793,
0.31247997283935547,
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] | 13.36872 | [
[
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[
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],
[
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0.31029999256134033,
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]... |
2 | zsNo4HB9uLZ | go to the dining room and pickup all the objects on the table inside and bring them to me | [
1.3952200412750244,
0.298550009727478,
-4.8761701583862305
] | [
0,
0.36728903273227553,
0,
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0.31247997283935547,
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] | 13.36872 | [
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[
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],
[
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],
[
7.576839923858643,
0.31029999256134033,
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]... |
3 | zsNo4HB9uLZ | Rearrange the objects on the dining room table | [
1.3952200412750244,
0.298550009727478,
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] | [
0,
0.36728903273227553,
0,
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] | [
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] | 13.36872 | [
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[
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],
[
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],
[
7.576839923858643,
0.31029999256134033,
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]... |
4 | zsNo4HB9uLZ | Go to the living room and wipe down the end table | [
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] | [
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0,
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] | [
6.924980163574219,
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] | 9.986727 | [
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],
[
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... |
5 | zsNo4HB9uLZ | Go to the living room and clean the table next to the couch | [
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0.30549001693725586,
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] | [
0,
0.318834920599939,
0,
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] | 9.986727 | [
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],
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... |
6 | zsNo4HB9uLZ | Go to the living room and clean the top of the side table next to the small couch | [
9.91016960144043,
0.30549001693725586,
-2.424109935760498
] | [
0,
0.318834920599939,
0,
-0.9478102623447536
] | [
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0.30034005641937256,
1.1728399991989136
] | 9.986727 | [
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],
[
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],
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],
[
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... |
7 | zsNo4HB9uLZ | Go to the kitchen and use the sink that is located on your right | [
7.710249900817871,
0.30296003818511963,
-4.81318998336792
] | [
0,
0.42955505455702564,
0,
-0.903040671899395
] | [
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0.3068200349807739,
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] | 5.88438 | [
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[
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],
[
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0.31140995025634766,
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],... |
8 | zsNo4HB9uLZ | Go to the kitchen and turn on the sink next to the scale | [
7.710249900817871,
0.30296003818511963,
-4.81318998336792
] | [
0,
0.42955505455702564,
0,
-0.903040671899395
] | [
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0.3068200349807739,
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] | 5.88438 | [
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[
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],
[
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],... |
9 | zsNo4HB9uLZ | Clean the large mirror located in the entryway | [
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0.31029999256134033,
-2.444770097732544
] | [
0,
0.1785376292212308,
0,
-0.9839330845906455
] | [
1.9288300275802612,
0.30929994583129883,
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] | 6.530592 | [
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[
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-0.24373500049114227... |
10 | zsNo4HB9uLZ | Go to the lobby and clean the frame of the mirror on the wall | [
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0.31029999256134033,
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] | [
0,
0.1785376292212308,
0,
-0.9839330845906455
] | [
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0.30929994583129883,
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] | 6.530592 | [
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],
[
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0.3027600049972534,
-0.24373500049114227... |
11 | zsNo4HB9uLZ | Go to the entryway and clean the picture that is across from the table | [
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0.31029999256134033,
-2.444770097732544
] | [
0,
0.1785376292212308,
0,
-0.9839330845906455
] | [
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0.30929994583129883,
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] | 6.530592 | [
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],
[
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0.3027600049972534,
-0.24373500049114227... |
12 | zsNo4HB9uLZ | Go to the kitchen and pick up the scale on the counter | [
12.857000350952148,
0.31252002716064453,
-0.06946899741888046
] | [
0,
0.024997395914712367,
0,
-0.9996875162757026
] | [
5.932779788970947,
0.3068200349807739,
-2.3794898986816406
] | 8.091175 | [
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],
[
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0.31029999256134033,
-2.444770097732544... |
13 | zsNo4HB9uLZ | Go into the kitchen and bring me the scale | [
12.857000350952148,
0.31252002716064453,
-0.06946899741888046
] | [
0,
0.024997395914712367,
0,
-0.9996875162757026
] | [
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0.3068200349807739,
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] | 8.091175 | [
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],
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],
[
7.576839923858643,
0.31029999256134033,
-2.444770097732544... |
14 | zsNo4HB9uLZ | Go to the kitchen and clean the scales | [
12.857000350952148,
0.31252002716064453,
-0.06946899741888046
] | [
0,
0.024997395914712367,
0,
-0.9996875162757026
] | [
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0.3068200349807739,
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] | 8.091175 | [
[
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],
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],
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],
[
7.576839923858643,
0.31029999256134033,
-2.444770097732544... |
15 | zsNo4HB9uLZ | go to kitchen and lick the kitchen counter with the scales on it | [
12.857000350952148,
0.31252002716064453,
-0.06946899741888046
] | [
0,
0.024997395914712367,
0,
-0.9996875162757026
] | [
5.932779788970947,
0.3068200349807739,
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] | 8.091175 | [
[
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],
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],
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],
[
7.576839923858643,
0.31029999256134033,
-2.444770097732544... |
16 | zsNo4HB9uLZ | Go to the kitchen and wipe off the kitchen counter that the scale is sitting on | [
12.857000350952148,
0.31252002716064453,
-0.06946899741888046
] | [
0,
0.024997395914712367,
0,
-0.9996875162757026
] | [
5.932779788970947,
0.3068200349807739,
-2.3794898986816406
] | 8.091175 | [
[
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],
[
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],
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],
[
7.576839923858643,
0.31029999256134033,
-2.444770097732544... |
17 | zsNo4HB9uLZ | Go to the kitchen and clean the counter with the scales on it | [
12.857000350952148,
0.31252002716064453,
-0.06946899741888046
] | [
0,
0.024997395914712367,
0,
-0.9996875162757026
] | [
5.932779788970947,
0.3068200349807739,
-2.3794898986816406
] | 8.091175 | [
[
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],
[
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],
[
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],
[
7.576839923858643,
0.31029999256134033,
-2.444770097732544... |
18 | zsNo4HB9uLZ | Go to the laundry room and dust the picture farthest from the sliding door | [
1.3952200412750244,
0.298550009727478,
-4.8761701583862305
] | [
0,
0.36728903273227553,
0,
0.9301068575355143
] | [
11.279899597167969,
0.3203599452972412,
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] | 14.294447 | [
[
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],
[
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],
[
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0.31029999256134033,
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]... |
19 | zsNo4HB9uLZ | go to laundryroom and pick up first picture on the right and place on countertop | [
1.3952200412750244,
0.298550009727478,
-4.8761701583862305
] | [
0,
0.36728903273227553,
0,
0.9301068575355143
] | [
11.279899597167969,
0.3203599452972412,
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] | 14.294447 | [
[
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],
[
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],
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],
[
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0.31029999256134033,
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]... |
20 | zsNo4HB9uLZ | Go to the laundry room and dust off the picture that is furthest from the glass doors | [
1.3952200412750244,
0.298550009727478,
-4.8761701583862305
] | [
0,
0.36728903273227553,
0,
0.9301068575355143
] | [
11.279899597167969,
0.3203599452972412,
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] | 14.294447 | [
[
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],
[
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0.3038100004196167,
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],
[
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],
[
7.576839923858643,
0.31029999256134033,
-2.444770097732544
]... |
21 | zsNo4HB9uLZ | Go to the kitchen and clean the counter with the scales | [
7.860569953918457,
0.31106996536254883,
-0.23864400386810303
] | [
0,
0.2562035957106394,
0,
0.9666228414148609
] | [
5.932779788970947,
0.3068200349807739,
-2.3794898986816406
] | 6.36102 | [
[
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0.31106996536254883,
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],
[
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0.3048100471496582,
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],
[
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0.31140995025634766,
-2.1764400005340... |
22 | zsNo4HB9uLZ | Go to the kitchen sink and wipe down the counter around the sink | [
7.860569953918457,
0.31106996536254883,
-0.23864400386810303
] | [
0,
0.2562035957106394,
0,
0.9666228414148609
] | [
5.932779788970947,
0.3068200349807739,
-2.3794898986816406
] | 6.36102 | [
[
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[
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[
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],
[
3.9526500701904297,
0.31140995025634766,
-2.1764400005340... |
23 | zsNo4HB9uLZ | Go to the kitchen and wipe off the counter that the scale is sitting on | [
7.860569953918457,
0.31106996536254883,
-0.23864400386810303
] | [
0,
0.2562035957106394,
0,
0.9666228414148609
] | [
5.932779788970947,
0.3068200349807739,
-2.3794898986816406
] | 6.36102 | [
[
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[
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[
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],
[
3.9526500701904297,
0.31140995025634766,
-2.1764400005340... |
24 | zsNo4HB9uLZ | Go to the office and move the sofa bed away from the window | [
10.112000465393066,
0.30522000789642334,
-0.19209399819374084
] | [
0,
0.14161498664754202,
0,
0.989921812850296
] | [
3.3425300121307373,
0.303879976272583,
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] | 11.147316 | [
[
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[
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[
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],
[
3.9934399127960205,
0.3027600049972534,
-0.2437350004911... |
25 | zsNo4HB9uLZ | Go to the office and move the brown chair next to the lamp in the office | [
10.112000465393066,
0.30522000789642334,
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] | [
0,
0.14161498664754202,
0,
0.989921812850296
] | [
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0.303879976272583,
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] | 11.147316 | [
[
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[
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],
[
3.9934399127960205,
0.3027600049972534,
-0.2437350004911... |
26 | zsNo4HB9uLZ | Go to the office and sit in the chair | [
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0.30522000789642334,
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] | [
0,
0.14161498664754202,
0,
0.989921812850296
] | [
3.3425300121307373,
0.303879976272583,
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] | 11.147316 | [
[
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[
3.9934399127960205,
0.3027600049972534,
-0.2437350004911... |
27 | zsNo4HB9uLZ | Go into the foyer and remove the picture from the wall that is positioned behind the long plant | [
6.0364298820495605,
0.304110050201416,
-6.801159858703613
] | [
0,
0.7100012609802879,
0,
-0.7042004042929833
] | [
1.9288300275802612,
0.30929994583129883,
-0.08426710218191147
] | 8.389729 | [
[
6.0364298820495605,
0.304110050201416,
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],
[
5.669280052185059,
0.3119699954986572,
-4.211060047149658
],
[
3.887209892272949,
0.3095599412918091,
-4.108749866485596
],
[
3.9526500701904297,
0.31140995025634766,
-2.1764400005340576
],... |
28 | zsNo4HB9uLZ | Go to the foyer and level the picture furthest from the door | [
6.0364298820495605,
0.304110050201416,
-6.801159858703613
] | [
0,
0.7100012609802879,
0,
-0.7042004042929833
] | [
1.9288300275802612,
0.30929994583129883,
-0.08426710218191147
] | 8.389729 | [
[
6.0364298820495605,
0.304110050201416,
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],
[
5.669280052185059,
0.3119699954986572,
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],
[
3.887209892272949,
0.3095599412918091,
-4.108749866485596
],
[
3.9526500701904297,
0.31140995025634766,
-2.1764400005340576
],... |
29 | zsNo4HB9uLZ | Go to the entryway and bring me the picture on the right side of the wall that's furthest from the true entryway to the room | [
6.0364298820495605,
0.304110050201416,
-6.801159858703613
] | [
0,
0.7100012609802879,
0,
-0.7042004042929833
] | [
1.9288300275802612,
0.30929994583129883,
-0.08426710218191147
] | 8.389729 | [
[
6.0364298820495605,
0.304110050201416,
-6.801159858703613
],
[
5.669280052185059,
0.3119699954986572,
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],
[
3.887209892272949,
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-4.108749866485596
],
[
3.9526500701904297,
0.31140995025634766,
-2.1764400005340576
],... |
30 | zsNo4HB9uLZ | Go to the living room and empty the bookshelf | [
3.3425300121307373,
0.303879976272583,
-6.042230129241943
] | [
0,
0.9988384278894108,
0,
0.04818500774525608
] | [
6.924980163574219,
0.30034005641937256,
1.1728399991989136
] | 8.565334 | [
[
3.3425300121307373,
0.303879976272583,
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],
[
3.887209892272949,
0.3095599412918091,
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],
[
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-2.1764400005340576
],
[
3.9934399127960205,
0.3027600049972534,
-0.24373500049114227
... |
31 | zsNo4HB9uLZ | Go to the living room and dust the bookshelf | [
3.3425300121307373,
0.303879976272583,
-6.042230129241943
] | [
0,
0.9988384278894108,
0,
0.04818500774525608
] | [
6.924980163574219,
0.30034005641937256,
1.1728399991989136
] | 8.565334 | [
[
3.3425300121307373,
0.303879976272583,
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],
[
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0.3095599412918091,
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],
[
3.9526500701904297,
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-2.1764400005340576
],
[
3.9934399127960205,
0.3027600049972534,
-0.24373500049114227
... |
32 | zsNo4HB9uLZ | Go to the living room and clean the book shelf | [
3.3425300121307373,
0.303879976272583,
-6.042230129241943
] | [
0,
0.9988384278894108,
0,
0.04818500774525608
] | [
6.924980163574219,
0.30034005641937256,
1.1728399991989136
] | 8.565334 | [
[
3.3425300121307373,
0.303879976272583,
-6.042230129241943
],
[
3.887209892272949,
0.3095599412918091,
-4.108749866485596
],
[
3.9526500701904297,
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-2.1764400005340576
],
[
3.9934399127960205,
0.3027600049972534,
-0.24373500049114227
... |
33 | zsNo4HB9uLZ | Go to the laundry and straighten the picture on the wall nearest the light switches | [
4.955780029296875,
0.29756999015808105,
3.92221999168396
] | [
0,
0.9274369173848678,
0,
-0.3739796308245331
] | [
11.279899597167969,
0.3203599452972412,
-5.680339813232422
] | 14.453794 | [
[
4.955780029296875,
0.29756999015808105,
3.92221999168396
],
[
6.924980163574219,
0.30034005641937256,
1.1728399991989136
],
[
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-0.23864400386810303
],
[
10.112000465393066,
0.30522000789642334,
-0.19209399819374084
... |
34 | zsNo4HB9uLZ | Go into the mudroom and straighten the rightmost picture | [
4.955780029296875,
0.29756999015808105,
3.92221999168396
] | [
0,
0.9274369173848678,
0,
-0.3739796308245331
] | [
11.279899597167969,
0.3203599452972412,
-5.680339813232422
] | 14.453794 | [
[
4.955780029296875,
0.29756999015808105,
3.92221999168396
],
[
6.924980163574219,
0.30034005641937256,
1.1728399991989136
],
[
7.860569953918457,
0.31106996536254883,
-0.23864400386810303
],
[
10.112000465393066,
0.30522000789642334,
-0.19209399819374084
... |
35 | zsNo4HB9uLZ | Go to the mudroom and clean the picture further away from the door leading out | [
4.955780029296875,
0.29756999015808105,
3.92221999168396
] | [
0,
0.9274369173848678,
0,
-0.3739796308245331
] | [
11.279899597167969,
0.3203599452972412,
-5.680339813232422
] | 14.453794 | [
[
4.955780029296875,
0.29756999015808105,
3.92221999168396
],
[
6.924980163574219,
0.30034005641937256,
1.1728399991989136
],
[
7.860569953918457,
0.31106996536254883,
-0.23864400386810303
],
[
10.112000465393066,
0.30522000789642334,
-0.19209399819374084
... |
36 | zsNo4HB9uLZ | Walk to the laundry room and bring me the picture closest to the window | [
15.119999885559082,
0.30427002906799316,
-5.83774995803833
] | [
0,
0.438647099098633,
0,
0.8986594029176761
] | [
11.279899597167969,
0.3203599452972412,
-5.680339813232422
] | 5.117025 | [
[
15.119999885559082,
0.30427002906799316,
-5.83774995803833
],
[
15.068599700927734,
0.2897700071334839,
-4.4848198890686035
],
[
13.649399757385254,
0.3002500534057617,
-4.241700172424316
],
[
12.57610034942627,
0.30497002601623535,
-4.270150184631348
... |
37 | zsNo4HB9uLZ | Go to the laundry room and grab the picture closest to the outside door | [
15.119999885559082,
0.30427002906799316,
-5.83774995803833
] | [
0,
0.438647099098633,
0,
0.8986594029176761
] | [
11.279899597167969,
0.3203599452972412,
-5.680339813232422
] | 5.117025 | [
[
15.119999885559082,
0.30427002906799316,
-5.83774995803833
],
[
15.068599700927734,
0.2897700071334839,
-4.4848198890686035
],
[
13.649399757385254,
0.3002500534057617,
-4.241700172424316
],
[
12.57610034942627,
0.30497002601623535,
-4.270150184631348
... |
38 | zsNo4HB9uLZ | Go to the laundry room and level the picture furthest from the door | [
15.119999885559082,
0.30427002906799316,
-5.83774995803833
] | [
0,
0.438647099098633,
0,
0.8986594029176761
] | [
11.279899597167969,
0.3203599452972412,
-5.680339813232422
] | 5.117025 | [
[
15.119999885559082,
0.30427002906799316,
-5.83774995803833
],
[
15.068599700927734,
0.2897700071334839,
-4.4848198890686035
],
[
13.649399757385254,
0.3002500534057617,
-4.241700172424316
],
[
12.57610034942627,
0.30497002601623535,
-4.270150184631348
... |
39 | zsNo4HB9uLZ | Go to the laundry room and open the bath cabinet under the sink | [
3.022160053253174,
0.3048900365829468,
-2.33309006690979
] | [
0,
0.8186176388147626,
0,
-0.5743388907442565
] | [
11.279899597167969,
0.3203599452972412,
-5.680339813232422
] | 11.995519 | [
[
3.022160053253174,
0.3048900365829468,
-2.33309006690979
],
[
3.9526500701904297,
0.31140995025634766,
-2.1764400005340576
],
[
5.932779788970947,
0.3068200349807739,
-2.3794898986816406
],
[
7.576839923858643,
0.31029999256134033,
-2.444770097732544
]... |
40 | zsNo4HB9uLZ | Go to the entryway and dust off the left picture above the table | [
7.576839923858643,
0.31029999256134033,
-2.444770097732544
] | [
0,
0.1785376292212308,
0,
-0.9839330845906455
] | [
1.9288300275802612,
0.30929994583129883,
-0.08426710218191147
] | 6.530592 | [
[
7.576839923858643,
0.31029999256134033,
-2.444770097732544
],
[
5.932779788970947,
0.3068200349807739,
-2.3794898986816406
],
[
3.9526500701904297,
0.31140995025634766,
-2.1764400005340576
],
[
3.9934399127960205,
0.3027600049972534,
-0.24373500049114227... |
41 | zsNo4HB9uLZ | Go to the foyer and clean the glass of the picture above the table on the right | [
7.576839923858643,
0.31029999256134033,
-2.444770097732544
] | [
0,
0.1785376292212308,
0,
-0.9839330845906455
] | [
1.9288300275802612,
0.30929994583129883,
-0.08426710218191147
] | 6.530592 | [
[
7.576839923858643,
0.31029999256134033,
-2.444770097732544
],
[
5.932779788970947,
0.3068200349807739,
-2.3794898986816406
],
[
3.9526500701904297,
0.31140995025634766,
-2.1764400005340576
],
[
3.9934399127960205,
0.3027600049972534,
-0.24373500049114227... |
42 | zsNo4HB9uLZ | Go to the entryway on level 1 and straighten the edges of the picture on the right-side wall further toward the room's exit | [
7.576839923858643,
0.31029999256134033,
-2.444770097732544
] | [
0,
0.1785376292212308,
0,
-0.9839330845906455
] | [
1.9288300275802612,
0.30929994583129883,
-0.08426710218191147
] | 6.530592 | [
[
7.576839923858643,
0.31029999256134033,
-2.444770097732544
],
[
5.932779788970947,
0.3068200349807739,
-2.3794898986816406
],
[
3.9526500701904297,
0.31140995025634766,
-2.1764400005340576
],
[
3.9934399127960205,
0.3027600049972534,
-0.24373500049114227... |
43 | zsNo4HB9uLZ | Clean the bookshelf is on the centre unit in the living room | [
12.461600303649902,
0.30894994735717773,
-2.3902199268341064
] | [
0,
0.2735603634520428,
0,
0.9618548370455836
] | [
6.924980163574219,
0.30034005641937256,
1.1728399991989136
] | 7.31477 | [
[
12.461600303649902,
0.30894994735717773,
-2.3902199268341064
],
[
12.857000350952148,
0.31252002716064453,
-0.06946899741888046
],
[
10.112000465393066,
0.30522000789642334,
-0.19209399819374084
],
[
7.860569953918457,
0.31106996536254883,
-0.23864400386... |
44 | zsNo4HB9uLZ | Go to the living room and bring me the picture from the coffee table | [
12.461600303649902,
0.30894994735717773,
-2.3902199268341064
] | [
0,
0.2735603634520428,
0,
0.9618548370455836
] | [
6.924980163574219,
0.30034005641937256,
1.1728399991989136
] | 7.31477 | [
[
12.461600303649902,
0.30894994735717773,
-2.3902199268341064
],
[
12.857000350952148,
0.31252002716064453,
-0.06946899741888046
],
[
10.112000465393066,
0.30522000789642334,
-0.19209399819374084
],
[
7.860569953918457,
0.31106996536254883,
-0.23864400386... |
45 | zsNo4HB9uLZ | Go to the living room and look to the bookshelf | [
12.461600303649902,
0.30894994735717773,
-2.3902199268341064
] | [
0,
0.2735603634520428,
0,
0.9618548370455836
] | [
6.924980163574219,
0.30034005641937256,
1.1728399991989136
] | 7.31477 | [
[
12.461600303649902,
0.30894994735717773,
-2.3902199268341064
],
[
12.857000350952148,
0.31252002716064453,
-0.06946899741888046
],
[
10.112000465393066,
0.30522000789642334,
-0.19209399819374084
],
[
7.860569953918457,
0.31106996536254883,
-0.23864400386... |
46 | zsNo4HB9uLZ | Walk to the kitchen and fill the small stainless steel sink with lukewarm water | [
7.860569953918457,
0.31106996536254883,
-0.23864400386810303
] | [
0,
0.2562035957106394,
0,
0.9666228414148609
] | [
5.932779788970947,
0.3068200349807739,
-2.3794898986816406
] | 6.36102 | [
[
7.860569953918457,
0.31106996536254883,
-0.23864400386810303
],
[
5.023530006408691,
0.3048100471496582,
-0.07373730093240738
],
[
3.9934399127960205,
0.3027600049972534,
-0.24373500049114227
],
[
3.9526500701904297,
0.31140995025634766,
-2.1764400005340... |
47 | zsNo4HB9uLZ | Go to the kitchen and turn sink next to the scales on and off | [
7.860569953918457,
0.31106996536254883,
-0.23864400386810303
] | [
0,
0.2562035957106394,
0,
0.9666228414148609
] | [
5.932779788970947,
0.3068200349807739,
-2.3794898986816406
] | 6.36102 | [
[
7.860569953918457,
0.31106996536254883,
-0.23864400386810303
],
[
5.023530006408691,
0.3048100471496582,
-0.07373730093240738
],
[
3.9934399127960205,
0.3027600049972534,
-0.24373500049114227
],
[
3.9526500701904297,
0.31140995025634766,
-2.1764400005340... |
48 | zsNo4HB9uLZ | Go to the living room and water the plant on the table | [
-1.724560022354126,
0.29773998260498047,
-5.763160228729248
] | [
0,
0.8010217061911921,
0,
-0.5986353031776122
] | [
6.924980163574219,
0.30034005641937256,
1.1728399991989136
] | 11.638802 | [
[
-1.724560022354126,
0.29773998260498047,
-5.763160228729248
],
[
1.3952200412750244,
0.298550009727478,
-4.8761701583862305
],
[
3.887209892272949,
0.3095599412918091,
-4.108749866485596
],
[
3.9526500701904297,
0.31140995025634766,
-2.1764400005340576
... |
49 | zsNo4HB9uLZ | Go into the living room and water the plant | [
-1.724560022354126,
0.29773998260498047,
-5.763160228729248
] | [
0,
0.8010217061911921,
0,
-0.5986353031776122
] | [
6.924980163574219,
0.30034005641937256,
1.1728399991989136
] | 11.638802 | [
[
-1.724560022354126,
0.29773998260498047,
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],
[
1.3952200412750244,
0.298550009727478,
-4.8761701583862305
],
[
3.887209892272949,
0.3095599412918091,
-4.108749866485596
],
[
3.9526500701904297,
0.31140995025634766,
-2.1764400005340576
... |
50 | zsNo4HB9uLZ | Go to the living room and pick up the potted plant | [
-1.724560022354126,
0.29773998260498047,
-5.763160228729248
] | [
0,
0.8010217061911921,
0,
-0.5986353031776122
] | [
6.924980163574219,
0.30034005641937256,
1.1728399991989136
] | 11.638802 | [
[
-1.724560022354126,
0.29773998260498047,
-5.763160228729248
],
[
1.3952200412750244,
0.298550009727478,
-4.8761701583862305
],
[
3.887209892272949,
0.3095599412918091,
-4.108749866485596
],
[
3.9526500701904297,
0.31140995025634766,
-2.1764400005340576
... |
51 | zsNo4HB9uLZ | Go to the living room and fluff the navy blue pillow closest to the coffee table | [
3.3425300121307373,
0.303879976272583,
-6.042230129241943
] | [
0,
0.9988384278894108,
0,
0.04818500774525608
] | [
6.924980163574219,
0.30034005641937256,
1.1728399991989136
] | 8.565334 | [
[
3.3425300121307373,
0.303879976272583,
-6.042230129241943
],
[
3.887209892272949,
0.3095599412918091,
-4.108749866485596
],
[
3.9526500701904297,
0.31140995025634766,
-2.1764400005340576
],
[
3.9934399127960205,
0.3027600049972534,
-0.24373500049114227
... |
52 | zsNo4HB9uLZ | Go to the living room and bring me the second closest pillow to the potted plant | [
3.3425300121307373,
0.303879976272583,
-6.042230129241943
] | [
0,
0.9988384278894108,
0,
0.04818500774525608
] | [
6.924980163574219,
0.30034005641937256,
1.1728399991989136
] | 8.565334 | [
[
3.3425300121307373,
0.303879976272583,
-6.042230129241943
],
[
3.887209892272949,
0.3095599412918091,
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],
[
3.9526500701904297,
0.31140995025634766,
-2.1764400005340576
],
[
3.9934399127960205,
0.3027600049972534,
-0.24373500049114227
... |
53 | zsNo4HB9uLZ | Go into the living room and give me the second pillow nearest the plant | [
3.3425300121307373,
0.303879976272583,
-6.042230129241943
] | [
0,
0.9988384278894108,
0,
0.04818500774525608
] | [
6.924980163574219,
0.30034005641937256,
1.1728399991989136
] | 8.565334 | [
[
3.3425300121307373,
0.303879976272583,
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],
[
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],
[
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],
[
3.9934399127960205,
0.3027600049972534,
-0.24373500049114227
... |
54 | zsNo4HB9uLZ | Go to the bathroom that has a white towel on top of a black towel on the side of the bathtub and open one of the bath cabinets | [
-1.8001199960708618,
0.2901899814605713,
-7.496270179748535
] | [
0,
0.9477157414026087,
0,
-0.31911576817466064
] | [
5.528840065002441,
0.3061699867248535,
-5.0953898429870605
] | 9.11813 | [
[
-1.8001199960708618,
0.2901899814605713,
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],
[
1.3952200412750244,
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],
[
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],
[
5.669280052185059,
0.3119699954986572,
-4.211060047149658
],... |
55 | zsNo4HB9uLZ | Go to the bathroom with an orange pot on the countertop and dust off the bath cabinet | [
-1.8001199960708618,
0.2901899814605713,
-7.496270179748535
] | [
0,
0.9477157414026087,
0,
-0.31911576817466064
] | [
5.528840065002441,
0.3061699867248535,
-5.0953898429870605
] | 9.11813 | [
[
-1.8001199960708618,
0.2901899814605713,
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],
[
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],
[
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],
[
5.669280052185059,
0.3119699954986572,
-4.211060047149658
],... |
56 | zsNo4HB9uLZ | Go to the bathroom across from the framed CLOSER picture and open the cabinet drawers | [
-1.8001199960708618,
0.2901899814605713,
-7.496270179748535
] | [
0,
0.9477157414026087,
0,
-0.31911576817466064
] | [
5.528840065002441,
0.3061699867248535,
-5.0953898429870605
] | 9.11813 | [
[
-1.8001199960708618,
0.2901899814605713,
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],
[
1.3952200412750244,
0.298550009727478,
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],
[
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],
[
5.669280052185059,
0.3119699954986572,
-4.211060047149658
],... |
57 | zsNo4HB9uLZ | Go to the entryway and wipe off the stand | [
6.815470218658447,
0.3133699893951416,
-4.185239791870117
] | [
0,
0.9005356744999845,
0,
-0.4347821281433474
] | [
1.9288300275802612,
0.30929994583129883,
-0.08426710218191147
] | 7.196239 | [
[
6.815470218658447,
0.3133699893951416,
-4.185239791870117
],
[
5.669280052185059,
0.3119699954986572,
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],
[
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],
[
3.9526500701904297,
0.31140995025634766,
-2.1764400005340576
],... |
58 | zsNo4HB9uLZ | Clear off the table in the lobby | [
6.815470218658447,
0.3133699893951416,
-4.185239791870117
] | [
0,
0.9005356744999845,
0,
-0.4347821281433474
] | [
1.9288300275802612,
0.30929994583129883,
-0.08426710218191147
] | 7.196239 | [
[
6.815470218658447,
0.3133699893951416,
-4.185239791870117
],
[
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],
[
3.887209892272949,
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],
[
3.9526500701904297,
0.31140995025634766,
-2.1764400005340576
],... |
59 | zsNo4HB9uLZ | Go to the foyer and clean the stand | [
6.815470218658447,
0.3133699893951416,
-4.185239791870117
] | [
0,
0.9005356744999845,
0,
-0.4347821281433474
] | [
1.9288300275802612,
0.30929994583129883,
-0.08426710218191147
] | 7.196239 | [
[
6.815470218658447,
0.3133699893951416,
-4.185239791870117
],
[
5.669280052185059,
0.3119699954986572,
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],
[
3.887209892272949,
0.3095599412918091,
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],
[
3.9526500701904297,
0.31140995025634766,
-2.1764400005340576
],... |
60 | zsNo4HB9uLZ | Go to the living room and bring me the black pillow closest to the potted plant on the left | [
13.04640007019043,
0.30894994735717773,
1.8739700317382812
] | [
0,
0.316552291296965,
0,
0.9485750612759337
] | [
6.924980163574219,
0.30034005641937256,
1.1728399991989136
] | 7.137508 | [
[
13.04640007019043,
0.30894994735717773,
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],
[
12.857000350952148,
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],
[
10.112000465393066,
0.30522000789642334,
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],
[
7.860569953918457,
0.31106996536254883,
-0.2386440038681... |
61 | zsNo4HB9uLZ | Go to the living room and bring me the darkest-colored pillow on the left side of the room | [
13.04640007019043,
0.30894994735717773,
1.8739700317382812
] | [
0,
0.316552291296965,
0,
0.9485750612759337
] | [
6.924980163574219,
0.30034005641937256,
1.1728399991989136
] | 7.137508 | [
[
13.04640007019043,
0.30894994735717773,
1.8739700317382812
],
[
12.857000350952148,
0.31252002716064453,
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],
[
10.112000465393066,
0.30522000789642334,
-0.19209399819374084
],
[
7.860569953918457,
0.31106996536254883,
-0.2386440038681... |
62 | zsNo4HB9uLZ | Go to the living room and bring me the black pillow that is closest to the potted plant | [
13.04640007019043,
0.30894994735717773,
1.8739700317382812
] | [
0,
0.316552291296965,
0,
0.9485750612759337
] | [
6.924980163574219,
0.30034005641937256,
1.1728399991989136
] | 7.137508 | [
[
13.04640007019043,
0.30894994735717773,
1.8739700317382812
],
[
12.857000350952148,
0.31252002716064453,
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],
[
10.112000465393066,
0.30522000789642334,
-0.19209399819374084
],
[
7.860569953918457,
0.31106996536254883,
-0.2386440038681... |
63 | zsNo4HB9uLZ | Go to the mudroom and clean the picture furthest away from the glass doors | [
5.932779788970947,
0.3068200349807739,
-2.3794898986816406
] | [
0,
0.09933590210574161,
0,
-0.9950539576087513
] | [
11.279899597167969,
0.3203599452972412,
-5.680339813232422
] | 9.087989 | [
[
5.932779788970947,
0.3068200349807739,
-2.3794898986816406
],
[
7.576839923858643,
0.31029999256134033,
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],
[
9.91016960144043,
0.30549001693725586,
-2.424109935760498
],
[
12.461600303649902,
0.30894994735717773,
-2.3902199268341064
... |
64 | zsNo4HB9uLZ | Go to the laundry room and straighten the picture that's closest to the light switch | [
5.932779788970947,
0.3068200349807739,
-2.3794898986816406
] | [
0,
0.09933590210574161,
0,
-0.9950539576087513
] | [
11.279899597167969,
0.3203599452972412,
-5.680339813232422
] | 9.087989 | [
[
5.932779788970947,
0.3068200349807739,
-2.3794898986816406
],
[
7.576839923858643,
0.31029999256134033,
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],
[
9.91016960144043,
0.30549001693725586,
-2.424109935760498
],
[
12.461600303649902,
0.30894994735717773,
-2.3902199268341064
... |
65 | zsNo4HB9uLZ | Go to the laudry room and move to the kitchen the picture that is futher from the crystal door | [
5.932779788970947,
0.3068200349807739,
-2.3794898986816406
] | [
0,
0.09933590210574161,
0,
-0.9950539576087513
] | [
11.279899597167969,
0.3203599452972412,
-5.680339813232422
] | 9.087989 | [
[
5.932779788970947,
0.3068200349807739,
-2.3794898986816406
],
[
7.576839923858643,
0.31029999256134033,
-2.444770097732544
],
[
9.91016960144043,
0.30549001693725586,
-2.424109935760498
],
[
12.461600303649902,
0.30894994735717773,
-2.3902199268341064
... |
66 | zsNo4HB9uLZ | Go to the kitchen and wipe off the kitchen counter that the scale is sitting on | [
7.710249900817871,
0.30296003818511963,
-4.81318998336792
] | [
0,
0.42955505455702564,
0,
-0.903040671899395
] | [
5.932779788970947,
0.3068200349807739,
-2.3794898986816406
] | 5.88438 | [
[
7.710249900817871,
0.30296003818511963,
-4.81318998336792
],
[
5.669280052185059,
0.3119699954986572,
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],
[
3.887209892272949,
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],
[
3.9526500701904297,
0.31140995025634766,
-2.1764400005340576
],... |
67 | zsNo4HB9uLZ | Go to the kitchen and wipe down the kitchen counter under the wine glasses | [
7.710249900817871,
0.30296003818511963,
-4.81318998336792
] | [
0,
0.42955505455702564,
0,
-0.903040671899395
] | [
5.932779788970947,
0.3068200349807739,
-2.3794898986816406
] | 5.88438 | [
[
7.710249900817871,
0.30296003818511963,
-4.81318998336792
],
[
5.669280052185059,
0.3119699954986572,
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],
[
3.887209892272949,
0.3095599412918091,
-4.108749866485596
],
[
3.9526500701904297,
0.31140995025634766,
-2.1764400005340576
],... |
68 | zsNo4HB9uLZ | Enter the living room and clean the table | [
17.45949935913086,
0.3127100467681885,
0.21568399667739868
] | [
0,
0.9929520109903327,
0,
-0.11851710370344998
] | [
6.924980163574219,
0.30034005641937256,
1.1728399991989136
] | 10.889067 | [
[
17.45949935913086,
0.3127100467681885,
0.21568399667739868
],
[
14.38700008392334,
0.31261003017425537,
-0.21611900627613068
],
[
12.857000350952148,
0.31252002716064453,
-0.06946899741888046
],
[
10.112000465393066,
0.30522000789642334,
-0.1920939981937... |
69 | zsNo4HB9uLZ | Go to the living room with the two white couches and look at the end table with the potted plant next to the white couch | [
17.45949935913086,
0.3127100467681885,
0.21568399667739868
] | [
0,
0.9929520109903327,
0,
-0.11851710370344998
] | [
6.924980163574219,
0.30034005641937256,
1.1728399991989136
] | 10.889067 | [
[
17.45949935913086,
0.3127100467681885,
0.21568399667739868
],
[
14.38700008392334,
0.31261003017425537,
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],
[
12.857000350952148,
0.31252002716064453,
-0.06946899741888046
],
[
10.112000465393066,
0.30522000789642334,
-0.1920939981937... |
70 | zsNo4HB9uLZ | Go to the living room and clean off the top of the end table | [
17.45949935913086,
0.3127100467681885,
0.21568399667739868
] | [
0,
0.9929520109903327,
0,
-0.11851710370344998
] | [
6.924980163574219,
0.30034005641937256,
1.1728399991989136
] | 10.889067 | [
[
17.45949935913086,
0.3127100467681885,
0.21568399667739868
],
[
14.38700008392334,
0.31261003017425537,
-0.21611900627613068
],
[
12.857000350952148,
0.31252002716064453,
-0.06946899741888046
],
[
10.112000465393066,
0.30522000789642334,
-0.1920939981937... |
71 | zsNo4HB9uLZ | Go into the dining room and empty the side table | [
0.2081959992647171,
0.2963900566101074,
-3.8352599143981934
] | [
0,
0.129726013832084,
0,
0.9915498783900072
] | [
14.051600456237793,
0.31247997283935547,
-1.9895999431610107
] | 14.092666 | [
[
0.2081959992647171,
0.2963900566101074,
-3.8352599143981934
],
[
1.6058199405670166,
0.3038100004196167,
-3.821429967880249
],
[
5.932779788970947,
0.3068200349807739,
-2.3794898986816406
],
[
7.576839923858643,
0.31029999256134033,
-2.444770097732544
... |
72 | zsNo4HB9uLZ | go to the indoor dining room and open the first door on the side table behind the indoor dining table | [
0.2081959992647171,
0.2963900566101074,
-3.8352599143981934
] | [
0,
0.129726013832084,
0,
0.9915498783900072
] | [
14.051600456237793,
0.31247997283935547,
-1.9895999431610107
] | 14.092666 | [
[
0.2081959992647171,
0.2963900566101074,
-3.8352599143981934
],
[
1.6058199405670166,
0.3038100004196167,
-3.821429967880249
],
[
5.932779788970947,
0.3068200349807739,
-2.3794898986816406
],
[
7.576839923858643,
0.31029999256134033,
-2.444770097732544
... |
73 | zsNo4HB9uLZ | Go to the dining room and tidy up the side table | [
0.2081959992647171,
0.2963900566101074,
-3.8352599143981934
] | [
0,
0.129726013832084,
0,
0.9915498783900072
] | [
14.051600456237793,
0.31247997283935547,
-1.9895999431610107
] | 14.092666 | [
[
0.2081959992647171,
0.2963900566101074,
-3.8352599143981934
],
[
1.6058199405670166,
0.3038100004196167,
-3.821429967880249
],
[
5.932779788970947,
0.3068200349807739,
-2.3794898986816406
],
[
7.576839923858643,
0.31029999256134033,
-2.444770097732544
... |
74 | zsNo4HB9uLZ | go to the bathroom around the corner in the bedroom and turn on the vent | [
15.119999885559082,
0.30427002906799316,
-5.83774995803833
] | [
0,
0.438647099098633,
0,
0.8986594029176761
] | [
13.347900390625,
0.31005001068115234,
-6.710259914398193
] | 5.766902 | [
[
15.119999885559082,
0.30427002906799316,
-5.83774995803833
],
[
15.068599700927734,
0.2897700071334839,
-4.4848198890686035
],
[
16.13719940185547,
0.2884500026702881,
-4.537079811096191
],
[
15.88230037689209,
0.29507994651794434,
-6.660950183868408
]... |
75 | zsNo4HB9uLZ | Go to the bathroom that has two towels stacked on top of one another a small white towel on top of a darker towel located next to a rectangular vase that has a green plant growing from it and dust the vent | [
15.119999885559082,
0.30427002906799316,
-5.83774995803833
] | [
0,
0.438647099098633,
0,
0.8986594029176761
] | [
13.347900390625,
0.31005001068115234,
-6.710259914398193
] | 5.766902 | [
[
15.119999885559082,
0.30427002906799316,
-5.83774995803833
],
[
15.068599700927734,
0.2897700071334839,
-4.4848198890686035
],
[
16.13719940185547,
0.2884500026702881,
-4.537079811096191
],
[
15.88230037689209,
0.29507994651794434,
-6.660950183868408
]... |
76 | zsNo4HB9uLZ | Go to the hallway that has a large tall abstract picture against a white wall and bring me the large tall abstract picture that has a white background | [
13.347900390625,
0.31005001068115234,
-6.710259914398193
] | [
0,
0.9416814457070795,
0,
0.3365056534607178
] | [
12.57610034942627,
0.30497002601623535,
-4.270150184631348
] | 7.588859 | [
[
13.347900390625,
0.31005001068115234,
-6.710259914398193
],
[
15.88230037689209,
0.29507994651794434,
-6.660950183868408
],
[
16.13719940185547,
0.2884500026702881,
-4.537079811096191
],
[
15.068599700927734,
0.2897700071334839,
-4.4848198890686035
],
... |
77 | zsNo4HB9uLZ | Go to the hallway outside the mudroom and remove the large wall picture of abstract art by the mudroom door | [
13.347900390625,
0.31005001068115234,
-6.710259914398193
] | [
0,
0.9416814457070795,
0,
0.3365056534607178
] | [
12.57610034942627,
0.30497002601623535,
-4.270150184631348
] | 7.588859 | [
[
13.347900390625,
0.31005001068115234,
-6.710259914398193
],
[
15.88230037689209,
0.29507994651794434,
-6.660950183868408
],
[
16.13719940185547,
0.2884500026702881,
-4.537079811096191
],
[
15.068599700927734,
0.2897700071334839,
-4.4848198890686035
],
... |
78 | zsNo4HB9uLZ | Go to the living room and water the plant next to the sofa | [
7.710249900817871,
0.30296003818511963,
-4.81318998336792
] | [
0,
0.42955505455702564,
0,
-0.903040671899395
] | [
6.924980163574219,
0.30034005641937256,
1.1728399991989136
] | 9.532331 | [
[
7.710249900817871,
0.30296003818511963,
-4.81318998336792
],
[
5.669280052185059,
0.3119699954986572,
-4.211060047149658
],
[
3.887209892272949,
0.3095599412918091,
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],
[
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79 | zsNo4HB9uLZ | Go to the living room and water the plant in the white vase | [
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80 | zsNo4HB9uLZ | Go to the living room and admire the beauty of the plant | [
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81 | zsNo4HB9uLZ | Go to the living room and bring me the open book on the centre table | [
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82 | zsNo4HB9uLZ | Go to the living room and bring me the book | [
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83 | zsNo4HB9uLZ | Go to the living room and close the book on the center coffee table | [
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84 | zsNo4HB9uLZ | Go to the laundry room and bring me the picture furthest into the room | [
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0,
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11.279899597167969,
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85 | zsNo4HB9uLZ | go to the laundry room and dust the picture on the wall closest to the sliding door to outside | [
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86 | zsNo4HB9uLZ | Go to the laundry room and dust off the picture that is closest to the glass doors | [
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87 | zsNo4HB9uLZ | Go to the laundry room and wipe off the counter | [
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88 | zsNo4HB9uLZ | Go to the laundry room and clean the counter | [
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89 | zsNo4HB9uLZ | Go to the dining room and adjust the picture hanging directly behind the plate of decorative squashes | [
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90 | zsNo4HB9uLZ | Go to the dining room and take down the second picture from the left | [
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91 | zsNo4HB9uLZ | Go to the dining room and take down the picture second from left on the wall | [
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92 | zsNo4HB9uLZ | Go to the kitchen and wipe the shelf with the 3 cups above the sink | [
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93 | zsNo4HB9uLZ | Go to the kitchen and clean the shelf above the counter | [
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0.7163748731306269,
0,
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94 | zsNo4HB9uLZ | Go into the kitchen and take all of the glass off the shelf and put them near the sink | [
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0,
0.7163748731306269,
0,
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] | [
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] | 6.631395 | [
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95 | zsNo4HB9uLZ | Go to the entryway and dust off the picture behind the tall plant | [
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0,
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1.9288300275802612,
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] | 6.205765 | [
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96 | zsNo4HB9uLZ | Go to the foyer and take down the picture behind the plant | [
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97 | zsNo4HB9uLZ | Straighten up the picture behind the glass vase in the foyer | [
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] | [
0,
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98 | zsNo4HB9uLZ | Go to the office and bring me the dark blue pillow on the chair | [
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[
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99 | zsNo4HB9uLZ | Go to the office and bring me the darker-colored pillow | [
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] | [
0,
0.14161498664754202,
0,
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100 | zsNo4HB9uLZ | Go to the office room and move the brown pillow to the side table | [
10.112000465393066,
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] | [
0,
0.14161498664754202,
0,
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3.3425300121307373,
0.303879976272583,
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] | 11.147316 | [
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[
3.9934399127960205,
0.3027600049972534,
-0.2437350004911... |
End of preview. Expand in Data Studio
REVERIE-CE (EASI)
Pre-converted REVERIE benchmark episodes for continuous environments (Habitat-Sim), formatted for the EASI evaluation framework.
Source
Episodes are derived from Dynam3D's pre-converted REVERIE-CE data, which converts the original REVERIE discrete navigation graph episodes into continuous Habitat-Sim environments using Matterport3D scenes.
Navigation-only: This dataset evaluates navigation to the described location. Object grounding is not included.
Dataset Structure
data/
├── val_unseen.jsonl # 3,189 episodes (unseen environments, 26 scenes)
└── test.jsonl # 6,292 episodes
mp3d_scenes.zip # Matterport3D .glb scene files (26 scenes, 1.5 GB)
Episode Format (JSONL)
Each line is a JSON object:
{
"episode_id": "1",
"scene_id": "zsNo4HB9uLZ",
"instruction": "Enter the dining room and pick up the objects on the table",
"start_position": [1.395, 0.299, -4.876],
"start_rotation": [0.0, 0.367, 0.0, 0.930],
"goal_position": [14.052, 0.312, -1.990],
"geodesic_distance": 13.37,
"gt_locations": [[1.395, 0.299, -4.876], ..., [14.052, 0.312, -1.990]]
}
| Field | Description |
|---|---|
episode_id |
Unique episode identifier |
scene_id |
Matterport3D scan name |
instruction |
High-level natural language instruction (REVERIE style) |
start_position |
Agent start position in Habitat coordinates [x, y, z] |
start_rotation |
Start rotation quaternion [x, y, z, w] |
goal_position |
Target position (navigation goal) |
geodesic_distance |
Shortest walkable path distance from start to goal (meters) |
gt_locations |
Ground truth waypoints from start to goal |
Matterport3D Scenes
mp3d_scenes.zip contains .glb scene files for Habitat-Sim. These are the same Matterport3D scenes used by VLN-CE R2R. After extraction:
mp3d/
├── {scan_id}/
│ └── {scan_id}.glb
├── ...
Note: Matterport3D scenes require agreeing to the Matterport3D Terms of Use.
Metrics
| Metric | Description |
|---|---|
| SR (Success Rate) | 1.0 if agent stops within 3m of goal |
| SPL | Success weighted by path efficiency |
| NE (Navigation Error) | Geodesic distance to goal at stop |
| Oracle SR | Best geodesic distance achieved during episode |
| NDTW | Normalized Dynamic Time Warping |
| SDTW | Success-weighted DTW |
Usage with EASI
easi task download reverie_ce_val_unseen
easi start reverie_ce_val_unseen --agent react --backend openai --model gpt-4o
References
- REVERIE — Original discrete REVERIE benchmark (Qi et al., CVPR 2020)
- Dynam3D — Discrete-to-CE conversion (Wang et al., NeurIPS 2025)
- VLN-CE — Vision-Language Navigation in Continuous Environments (Krantz et al., 2020)
License
Episode data follows the licenses of the original REVERIE and Dynam3D datasets. Matterport3D scenes are subject to the Matterport3D Terms of Use.
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