ThinkingVLA
Collection
Datasets for ThinkingVLA: Interleaved Vision and Language Reasoning for Robotic Manipulation. • 30 items • Updated
Datasets:
observation.images.image imagewidth (px) 128 128 | observation.images.image_future imagewidth (px) 128 128 | observation.state listlengths 8 8 | action listlengths 7 7 | timestamp float32 0 20.9 | future_timestamp float32 1 20.9 | gen_cot stringlengths 237 441 | action_cot stringlengths 114 341 | frame_index int64 0 209 | future_frame_index int64 10 209 | episode_index int64 0 134 | index int64 0 25k | task_index int64 0 4 | task stringclasses 5
values |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
0.03000469319522381,
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0.4986135959625244,
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0,
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3.069495439529419
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-0.000002511864522602991,
0,
-0.000011474718121462502,
0,
0,
0,
1
] | 0 | 1 | The robot arm is positioned near the green garbage can lid, which remains closed. To lift it, the gripper must engage the lid’s edge. In the next state, the arm will apply upward force, causing the lid to pivot open slightly while the gripper maintains contact, revealing the can’s interior as the lid rotates upward. | The green garbage can lid remains closed in both frames with no visible change in position or state, indicating no action has occurred. Since the task is to lift the lid and it is still closed, the robot must initiate contact. subtask: approach | 0 | 10 | 0 | 0 | 0 | lift open green garbage can lid | ||
[
0.030002180486917496,
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0.49860212206840515,
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-0.0000026361494747106917,
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] | 0.1 | 1.1 | The robotic arm is positioned near the green garbage can with its gripper approaching the lid; it will grasp and lift the lid upward, causing the lid to pivot open while the arm repositions slightly to maintain grip, revealing the can’s interior as the lid rises and the surrounding environment remains unchanged. | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no action was performed. Since the task requires lifting the lid and it is still shut, the goal is unmet. subtask: finish | 1 | 11 | 0 | 1 | 0 | lift open green garbage can lid | ||
[
0.029999544844031334,
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0.4986135959625244,
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0.0006982092745602131,
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] | 0.2 | 1.2 | The robot arm is positioned near the green garbage can with its gripper approaching the lid’s edge. To lift the lid, the gripper will grasp and rotate upward, causing the lid to pivot open. The arm will adjust its angle slightly to maintain grip as the lid rises, revealing the interior while the surrounding environment... | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no lifting action occurred. Since the goal is to lift the lid and it remains unaltered, no progress has been made. subtask: finish | 2 | 12 | 0 | 2 | 0 | lift open green garbage can lid | ||
[
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] | 0.3 | 1.3 | The robot arm is positioned near the green garbage can with its gripper approaching the lid; in the next moment, the gripper will engage the lid’s edge and begin lifting it upward, causing the lid to pivot open while the arm adjusts its angle to maintain grip, revealing the interior lined with a translucent bag. | The robotic arm is positioned near the green garbage can lid but has not yet initiated lifting. To transition from the current to the future state, the arm must begin raising the lid. subtask: lift | 3 | 13 | 0 | 3 | 0 | lift open green garbage can lid | ||
[
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0.003388830227777362,
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] | 0.4 | 1.4 | The robot arm is positioned near the green garbage can with its gripper extended toward the lid. To lift the lid, the gripper will grasp its edge and apply upward force, causing the lid to pivot open. The arm will slightly retract and elevate to maintain clearance as the lid rises, revealing the can’s interior while th... | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no lifting action occurred. Since the goal is to lift the lid and it is still closed, the robot must initiate the motion. subtask: lift | 4 | 14 | 0 | 4 | 0 | lift open green garbage can lid | ||
[
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0.5070627927780151,
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] | 0.5 | 1.5 | The robotic arm is positioned near the green garbage can with its gripper extended toward the lid. To lift and open the lid, the gripper must grasp the edge and rotate upward. In the future state, the lid will be partially raised, revealing the can’s interior, while the arm repositions slightly to maintain grip and sta... | The green garbage can lid remains closed in the current frame and is still closed in the future frame, showing no physical change. Since the goal is to lift the lid open and no progress is evident, the system must initiate contact. subtask: approach | 5 | 15 | 0 | 5 | 0 | lift open green garbage can lid | ||
[
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3.069495439529419
] | [
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1
] | 0.6 | 1.6 | The robot arm is positioned near the green garbage can with its gripper approaching the lid. To lift the lid, the arm will extend and grasp the edge, then pivot upward, causing the lid to rotate open. The gripper will remain engaged as the lid lifts, revealing the interior while the arm adjusts its angle to maintain co... | The green garbage can lid remains closed in the current frame, while in the future frame, the robotic arm is positioned to interact with it. To transition, the arm must first approach the lid’s edge. subtask: approach | 6 | 16 | 0 | 6 | 0 | lift open green garbage can lid | ||
[
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] | 0.7 | 1.7 | The robotic arm is positioned near the green garbage can with its gripper approaching the lid. To lift the lid, the gripper will engage and apply upward force, causing the lid to pivot open. The arm will adjust its angle slightly to maintain grip, and the lid will visibly rise, revealing the interior of the can while t... | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no action was executed. Since the goal is to lift the lid open and it remains shut, no progress has been made. subtask: finish | 7 | 17 | 0 | 7 | 0 | lift open green garbage can lid | ||
[
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0,
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0.0060196733102202415,
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] | 0.8 | 1.8 | The robot arm is positioned near the green garbage can lid, gripper open and ready to engage. It will grasp the lid’s edge and lift upward, rotating it open while the can remains stationary. The lid will rise visibly, revealing the interior, and the gripper will maintain hold to keep it ajar, altering the scene’s spati... | The green garbage can lid remains closed in the current frame and is still closed in the future frame, showing no physical change. Since the goal is to lift the lid open and no progress is observed, no action was executed. subtask: finish | 8 | 18 | 0 | 8 | 0 | lift open green garbage can lid | ||
[
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0,
0,
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] | 0.9 | 1.9 | The robotic arm is positioned near the green garbage can lid, gripper open and ready to engage. It will grasp the lid’s edge, then lift upward to open it, causing the lid to pivot upward while the arm repositions slightly to maintain grip. The can remains stationary as the lid rises, revealing the interior. | The green garbage can lid remains closed in both frames, showing no change in state; the robotic arm is positioned near the lid but has not initiated lifting. No progress toward opening the lid is evident. subtask: finish | 9 | 19 | 0 | 9 | 0 | lift open green garbage can lid | ||
[
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0.010831878520548344,
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] | 1 | 2 | The robot arm is positioned near the green garbage can with its gripper poised to engage the lid. To lift and open it, the gripper will close around the lid’s edge, then pull upward while the arm retracts slightly to create clearance. The lid will tilt upward, revealing the can’s interior, while the arm stabilizes to p... | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no action has occurred. Since the goal is to lift the lid and it remains shut, the system must initiate movement toward the lid. subtask: approach | 10 | 20 | 0 | 10 | 0 | lift open green garbage can lid | ||
[
0.03000732511281967,
0,
0.5481294989585876,
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0,
0,
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-0.00001029275699693244,
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0.008839285001158714,
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0,
1
] | 1.1 | 2.1 | The robot arm is positioned near the green garbage can lid, gripper open and ready to engage. It will grasp the lid’s edge and lift upward, causing the lid to pivot open. The arm will slightly retract to stabilize the open position, revealing the can’s interior while the surrounding environment remains unchanged. | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no lifting action occurred. Since the lid is still shut and the robot arm hasn’t altered its state, the task goal is unmet. subtask: lift | 11 | 21 | 0 | 11 | 0 | lift open green garbage can lid | ||
[
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0.5569687485694885,
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3.069495439529419
] | [
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0,
0.008246351033449173,
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0,
1
] | 1.2 | 2.2 | The robotic arm is positioned near the green garbage can with its gripper extended toward the lid. To lift the lid, the gripper will close around the handle and pull upward, causing the lid to pivot open. The arm will slightly retract and rotate to maintain clearance as the lid rises, revealing the interior of the can ... | The green garbage can lid remains closed in the current frame and is still closed in the future frame, indicating no lifting occurred. Since the goal is to lift the lid open and no progress is visible, the robot must initiate contact. subtask: approach | 12 | 22 | 0 | 12 | 0 | lift open green garbage can lid | ||
[
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0,
0.008110658265650272,
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0,
0,
1
] | 1.3 | 2.3 | The robot arm is positioned near the green garbage can lid, gripper open and ready to engage. It will grasp the lid’s edge and lift upward, causing the lid to pivot open. As the arm retracts slightly, the lid will remain ajar, exposing the can’s interior while the gripper stays engaged to prevent closure. | The green garbage can lid is partially open in the current frame, and the robotic arm is positioned near it. To fully lift the lid, the arm must apply upward force at the lid’s edge. The key physical change is increasing the lid’s angle from partially to fully open. subtask: lift | 13 | 23 | 0 | 13 | 0 | lift open green garbage can lid | ||
[
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3.069495439529419
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0,
0,
0.015502999536693096,
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0,
0,
1
] | 1.4 | 2.4 | The robot arm is positioned near the green garbage can lid, gripper open and ready to engage. It will grasp the lid’s edge and lift upward, causing the lid to pivot open. As the arm retracts slightly, the lid will remain ajar, revealing the can’s interior while the gripper maintains hold, ready for the next step. | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no lifting action occurred. Since the goal is to lift the lid and it remains unaltered, the task is incomplete. subtask: lift | 14 | 24 | 0 | 14 | 0 | lift open green garbage can lid | ||
[
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0.01203767117112875,
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] | 1.5 | 2.5 | The robot arm is positioned near the green garbage can lid, gripper open and ready to engage. It will grasp the lid’s edge and lift upward, causing the lid to pivot open. As the arm retracts slightly, the lid will remain ajar, exposing the can’s interior while the gripper stays attached, maintaining control over the li... | The green garbage can lid remains closed in both frames, showing no physical change or progress toward the goal. Since the lid is not yet lifted, no action has occurred to advance the task. The system must initiate movement to engage the lid.
subtask: approach | 15 | 25 | 0 | 15 | 0 | lift open green garbage can lid | ||
[
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] | 1.6 | 2.6 | The robot arm is positioned near the green garbage can lid, gripper open and ready to engage. It will grasp the lid’s edge, lift it upward to an open position, and hold it steady. The lid will tilt back, revealing the can’s interior, while the arm maintains its pose to keep the lid elevated. | The robot arm is positioned near the green garbage can lid, which remains closed in the current frame but appears slightly lifted in the future frame. To achieve this partial opening, the arm must apply upward force on the lid’s edge. subtask: lift | 16 | 26 | 0 | 16 | 0 | lift open green garbage can lid | ||
[
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] | 1.7 | 2.7 | The robot arm is positioned near the green garbage can with its gripper poised to engage the lid. To lift the lid, the arm will extend and rotate slightly upward while the gripper secures the edge. The lid will begin to tilt open, revealing the interior, as the arm maintains steady control to avoid sudden movement or s... | The robotic arm is positioned near the green garbage can lid, which remains closed in the current frame but appears slightly lifted in the future frame, indicating initiation of opening. The arm must engage the lid’s edge to begin lifting. subtask: lift | 17 | 27 | 0 | 17 | 0 | lift open green garbage can lid | ||
[
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] | 1.8 | 2.8 | The robot arm is positioned near the green garbage can with its gripper approaching the lid’s edge. To lift the lid, the gripper will close and apply upward force, causing the lid to pivot open. The can remains stationary while the lid rotates upward, revealing the interior. The arm may slightly retract after lifting t... | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no lifting action occurred. Since the goal is to lift the lid and it remains unaltered, the task is incomplete. subtask: lift | 18 | 28 | 0 | 18 | 0 | lift open green garbage can lid | ||
[
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0.01949346996843815,
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] | 1.9 | 2.9 | The robot arm is positioned near the green garbage can lid, gripper open and ready to engage. It will grasp the lid’s edge, lift it upward against gravity, and hold it open. The lid will rotate upward, revealing the can’s interior, while the arm stabilizes the motion to prevent spillage or collision. | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no lifting action occurred. Since the task is to lift the lid and it is still closed, the system must initiate the first motion. subtask: approach | 19 | 29 | 0 | 19 | 0 | lift open green garbage can lid | ||
[
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] | 2 | 3 | The robot arm is positioned near the green garbage can lid, gripper open and ready to engage. It will grasp the lid’s edge and lift upward, causing the lid to pivot open. As the arm retracts slightly, the lid will remain ajar, revealing the can’s interior while the gripper stays engaged or releases depending on task co... | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no lifting action occurred. Since the goal is to lift the lid and it remains unaltered, the system must initiate the motion. subtask: lift | 20 | 30 | 0 | 20 | 0 | lift open green garbage can lid | ||
[
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] | 2.1 | 3.1 | The robot arm is positioned near the green garbage can lid, gripper open and ready to engage. It will grasp the lid’s edge and lift upward, causing the lid to pivot open. The can remains stationary while the lid rotates upward, revealing the interior. The gripper maintains hold as the lid reaches its fully open positio... | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no lifting action occurred. Since the goal to lift the lid is not achieved and no motion is detected, the system should attempt the initial approach. subtask: approach | 21 | 31 | 0 | 21 | 0 | lift open green garbage can lid | ||
[
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] | 2.2 | 3.2 | The robot arm is positioned near the green garbage can lid, gripper open and ready to engage. It will grasp the lid’s edge, then lift upward to open it fully. As the lid rises, the interior of the can becomes visible, and the arm repositions slightly to hold the lid ajar while maintaining stability. | The green garbage can lid remains closed in both frames with no visible change in its position or orientation, indicating the lifting action has not yet occurred. The robotic arm is positioned near the lid but has not initiated movement. subtask: approach | 22 | 32 | 0 | 22 | 0 | lift open green garbage can lid | ||
[
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] | 2.3 | 3.3 | The robot arm is positioned near the green garbage can lid, gripper open and ready to engage. To lift the lid, the arm will close its gripper on the lid’s edge, then rotate upward, raising the lid while the can remains stationary. The lid will tilt open, revealing the interior, and the arm will hold it in a raised posi... | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no action was executed. Since the goal is to lift the lid and it remains unaltered, the system must initiate the first manipulation. subtask: approach | 23 | 33 | 0 | 23 | 0 | lift open green garbage can lid | ||
[
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0.007419516332447529,
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] | 2.4 | 3.4 | The robot arm is positioned near the green garbage can lid, gripper open and ready to engage. It will grasp the lid’s edge and lift upward, causing the lid to pivot open. The arm will slightly retract to maintain clearance as the lid rises, revealing the can’s interior while the surrounding environment remains unchange... | The robot arm is positioned near the green garbage can lid but has not yet initiated lifting. To transition to the future state where the lid is being lifted, the arm must first make contact and begin upward motion. subtask: lift | 24 | 34 | 0 | 24 | 0 | lift open green garbage can lid | ||
[
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] | [
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] | 2.5 | 3.5 | The robot arm is positioned near the green garbage can lid, gripper open and ready to engage. To lift the lid, the arm will close the gripper around the lid’s edge, then rotate upward, causing the lid to pivot open. The can remains stationary while the lid’s angle increases, revealing the interior. The arm’s motion is ... | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no lifting action occurred. Since the goal is to lift the lid and it remains unaltered, no progress was made. subtask: finish | 25 | 35 | 0 | 25 | 0 | lift open green garbage can lid | ||
[
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] | 2.6 | 3.6 | The robotic arm is positioned near the green garbage can lid, gripper open and ready to engage. It will grasp the lid’s edge, then lift upward to open it fully, revealing the interior. The arm will hold the lid aloft momentarily, maintaining grip, while the can remains stationary on the floor beneath. | The robotic arm is positioned near the green garbage can lid but has not yet initiated lifting. To transition from the current to the future state, the arm must begin elevating the lid. subtask: lift | 26 | 36 | 0 | 26 | 0 | lift open green garbage can lid | ||
[
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] | 2.7 | 3.7 | The robotic arm is positioned near the green garbage can lid, gripper slightly open and approaching the lid’s edge. To lift it, the gripper will close around the lid’s handle or rim, then pull upward. As the lid rises, the white trash bag inside will become more visible, and the arm will tilt slightly to accommodate th... | The robotic arm is positioned near the green garbage can lid but has not yet initiated lifting. To transition to the future state where the lid is being lifted, the arm must engage the lid’s edge. subtask: lift | 27 | 37 | 0 | 27 | 0 | lift open green garbage can lid | ||
[
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] | 2.8 | 3.8 | The robot arm is positioned near the green garbage can lid, gripper open and ready to engage. It will grasp the lid’s edge and lift upward, causing the lid to pivot open. As the arm retracts slightly, the lid will remain ajar, exposing the can’s interior while the gripper stays engaged or releases depending on task com... | The green garbage can lid is partially open and the robotic arm is positioned near it; to fully lift the lid, the arm must apply upward force at the lid’s edge. subtask: lift | 28 | 38 | 0 | 28 | 0 | lift open green garbage can lid | ||
[
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] | [
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0.0038608235772699118,
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] | 2.9 | 3.9 | The robotic arm is positioned near the green garbage can lid, gripper slightly open and aligned with the lid’s edge. To lift it, the gripper will close around the handle or rim, then pull upward while the arm retracts slightly. The lid will pivot open, revealing the can’s interior, and the arm will hold the lid in a ra... | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no lifting action occurred. Since the goal to lift the lid is not achieved and no progress is evident, the system must initiate the first manipulation step. subtask: approach | 29 | 39 | 0 | 29 | 0 | lift open green garbage can lid | ||
[
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] | 3 | 4 | The robotic arm is positioned near the green garbage can lid, gripper open and ready to engage. It will grasp the lid’s edge and lift it upward, pivoting it open against gravity. As the lid rises, the white trash bag inside becomes more visible, and the arm repositions slightly to maintain grip while the lid reaches it... | The robotic arm is positioned near the green garbage can lid but has not yet initiated lifting. To transition to the future state where the lid is being lifted, the arm must first grasp the lid’s edge. subtask: grasp | 30 | 40 | 0 | 30 | 0 | lift open green garbage can lid | ||
[
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0,
0,
1
] | 3.1 | 4.1 | The robotic arm is positioned near the green garbage can lid, gripper open and ready to engage. It will grasp the lid’s edge and lift upward, pivoting it open against gravity. As the lid rises, the interior of the can becomes visible while the arm retracts slightly to maintain clearance, leaving the lid held ajar in a ... | The robotic arm is positioned near the green garbage can lid, which remains closed in the current frame. To transition toward the future state where the lid is lifted, the arm must engage the lid’s edge. subtask: lift | 31 | 41 | 0 | 31 | 0 | lift open green garbage can lid | ||
[
0.05976589024066925,
0,
0.7417541742324829,
0,
0,
0,
0,
3.069495439529419
] | [
0.014949433505535126,
0,
0.0033657716121524572,
0,
0,
0,
1
] | 3.2 | 4.2 | The robotic arm is positioned near the green garbage can lid, which is currently closed. To lift and open it, the gripper will grasp the lid’s edge, then rotate upward, causing the lid to pivot open while the arm repositions slightly to maintain grip, revealing the can’s interior as the lid lifts fully. | The green garbage can lid is partially open in the current frame and fully lifted in the future frame, indicating the need to complete the lifting motion. The robotic arm is positioned near the lid’s edge, ready to apply upward force. subtask: lift | 32 | 42 | 0 | 32 | 0 | lift open green garbage can lid | ||
[
0.07471532374620438,
0,
0.7451199293136597,
0,
0,
0,
0,
3.069495439529419
] | [
0.012756405398249626,
0,
0.0009731289464980364,
0,
0,
0,
1
] | 3.3 | 4.3 | The robot arm is positioned near the green garbage can lid, gripper open and ready to engage. It will grasp the lid’s edge, then lift and rotate it upward to fully open the can. The lid will pivot at its hinge, revealing the interior, while the arm retracts slightly to maintain clearance and stability after opening. | The robotic arm is positioned near the green garbage can lid, which remains closed in the current frame but appears slightly lifted in the future frame. To achieve this change, the arm must engage the lid’s edge and apply upward force. subtask: lift | 33 | 43 | 0 | 33 | 0 | lift open green garbage can lid | ||
[
0.08747173100709915,
0,
0.7460930943489075,
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0,
0,
0,
3.069495439529419
] | [
0.006805694196373224,
0,
0.000036719098716275766,
0,
0,
0,
1
] | 3.4 | 4.4 | The robotic arm is positioned near the green garbage can lid, gripper open and ready to engage. It will grasp the lid’s edge, then lift upward to open it fully, revealing the can’s interior. The arm will hold the lid aloft momentarily, maintaining a stable pose while the lid remains elevated and the can’s opening is ex... | The green garbage can lid remains closed in both frames, indicating no change in state; the robot arm is positioned near the lid but has not yet initiated lifting. To progress, the arm must engage the lid’s edge. subtask: lift | 34 | 44 | 0 | 34 | 0 | lift open green garbage can lid | ||
[
0.09427742660045624,
0,
0.7461298108100891,
0,
0,
0,
0,
3.0710294246673584
] | [
0.010287314653396606,
0,
-0.000011001157872669864,
0,
0,
0,
1
] | 3.5 | 4.5 | The robot arm is positioned near the green garbage can lid, gripper slightly open and approaching the lid’s edge. To lift it, the gripper will close around the lid’s handle or rim, then pull upward. The lid will tilt open, revealing the can’s interior, while the arm repositions slightly to maintain grip and stability d... | The robotic arm is positioned near the green garbage can lid, which remains closed in the current frame but is slightly lifted in the future frame, indicating the start of lid opening. subtask: lift | 35 | 45 | 0 | 35 | 0 | lift open green garbage can lid | ||
[
0.10456474125385284,
0,
0.7461187839508057,
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0,
0,
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3.069495439529419
] | [
0.005393568426370621,
0,
-0.000003642767524070223,
0,
0,
0,
1
] | 3.6 | 4.6 | The robot arm is positioned near the green garbage can lid, gripper open and ready to engage. It will grasp the lid’s edge, then lift upward to open it fully, causing the lid to pivot and reveal the can’s interior while the arm retracts slightly to maintain clearance. | The robotic arm is positioned near the green garbage can lid, which remains closed in the current frame but is slightly lifted in the future frame. To achieve this transition, the arm must apply upward force on the lid’s edge. subtask: lift | 36 | 46 | 0 | 36 | 0 | lift open green garbage can lid | ||
[
0.10995830595493317,
0,
0.7461151480674744,
0,
0,
0,
0,
3.069495439529419
] | [
0.007604538928717375,
0,
-0.000003642767524070223,
0,
0,
0,
1
] | 3.7 | 4.7 | The robot arm is positioned near the green garbage can lid, gripper open and ready to engage. It will grasp the lid’s edge and lift upward, causing the lid to pivot open while the arm retracts slightly to maintain clearance. The can remains stationary, and the lid’s angle increases visibly as the gripper holds it aloft... | The robotic arm is positioned near the green garbage can lid, which remains closed in the current frame but is slightly lifted in the future frame. The key change is the initial upward motion of the lid. subtask: lift | 37 | 47 | 0 | 37 | 0 | lift open green garbage can lid | ||
[
0.11756284534931183,
0,
0.7461115121841431,
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0,
0,
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3.069495439529419
] | [
0.004150097258388996,
0,
-0.000007358390575973317,
0,
0,
0,
1
] | 3.8 | 4.8 | The robot arm is positioned near the green garbage can with its gripper open, ready to engage the lid. It will grasp the lid’s edge and lift it upward, causing the lid to pivot open while the can remains stationary. The gripper will close slightly to secure the lid during lift, and the arm will angle upward, revealing ... | The robotic arm is positioned near the green garbage can lid but has not yet initiated lifting. To transition from current to future state, the arm must engage the lid’s edge and begin upward motion. subtask: lift | 38 | 48 | 0 | 38 | 0 | lift open green garbage can lid | ||
[
0.12171294540166855,
0,
0.7461041212081909,
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0,
0,
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3.069495439529419
] | [
0.007014133036136627,
0,
-0.000018359549358137883,
0,
0,
0,
1
] | 3.9 | 4.9 | The robot arm is positioned near the green garbage can lid, which is currently closed. To lift and open it, the gripper must engage the lid’s edge and apply upward force. In the future state, the lid will be partially raised, revealing the can’s interior, while the arm retracts slightly to maintain clearance, and the g... | The green garbage can lid is partially open in the current frame and fully open in the future frame, indicating the lid was lifted further. The robotic arm is positioned near the lid’s edge, suggesting direct manipulation. subtask: lift | 39 | 49 | 0 | 39 | 0 | lift open green garbage can lid | ||
[
0.12872707843780518,
0,
0.7460857629776001,
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0,
0,
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3.069495439529419
] | [
0.0055975462310016155,
0,
0.000003642767524070223,
0,
0,
0,
1
] | 4 | 5 | The robot arm is positioned near the green garbage can lid, gripper open and ready to engage. It will grasp the lid’s edge, then lift and rotate it upward to fully open the can. The lid will tilt back, revealing the interior, while the arm repositions slightly to maintain stability and avoid obstruction. | The green garbage can lid is partially open in the current frame and fully lifted in the future frame, indicating the need to complete the lid-opening motion. The robotic arm is positioned near the lid’s edge, ready to apply upward force. subtask: lift | 40 | 50 | 0 | 40 | 0 | lift open green garbage can lid | ||
[
0.13432462513446808,
0,
0.7460894584655762,
0,
0,
0,
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3.069495439529419
] | [
0.009465856477618217,
0,
-0.00001814098322938662,
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0,
0,
1
] | 4.1 | 5.1 | The robotic arm is positioned near the green garbage can lid, gripper open and ready to engage. It will grasp the lid’s edge, then lift upward to open it fully, revealing the interior. As the lid rises, the arm will slightly retract to avoid collision, and the gripper will remain closed around the lid’s handle, maintai... | The robotic arm is positioned near the green garbage can lid, which remains closed in the current frame but is slightly lifted in the future frame. To achieve this transition, the arm must engage the lid’s edge and apply upward force. subtask: lift | 41 | 51 | 0 | 41 | 0 | lift open green garbage can lid | ||
[
0.14379048347473145,
0,
0.7460712790489197,
0,
0,
0,
0,
3.069495439529419
] | [
0.0073944320902228355,
0,
0,
0,
0,
0,
1
] | 4.2 | 5.2 | The robot arm is positioned above the green garbage can with its gripper closed near the lid’s edge. To lift the lid, the arm will slightly raise and rotate the gripper upward, causing the lid to tilt open. The can remains stationary while the lid’s angle increases, revealing the interior lined with a white bag. | The green garbage can lid is partially open in the current frame and fully lifted in the future frame, indicating the lid must be raised further. The robotic arm is positioned near the lid’s edge, ready to apply upward force. subtask: lift | 42 | 52 | 0 | 42 | 0 | lift open green garbage can lid | ||
[
0.15118491649627686,
0,
0.7460712790489197,
0,
0,
0,
0,
3.069495439529419
] | [
0.007907310500741005,
0,
-0.000014643925169366412,
0,
0,
0,
1
] | 4.3 | 5.3 | The robotic arm is positioned above the green garbage can with its gripper closed on the lid’s handle. To lift the lid, the arm must apply upward force while maintaining grip. In the future state, the lid will be partially raised, revealing the can’s interior, and the arm will have repositioned slightly upward while ke... | The green garbage can lid is partially open in the current frame and fully lifted in the future frame, indicating the lid must be raised further. The robotic arm is positioned near the lid’s edge, ready to apply upward force. subtask: lift | 43 | 53 | 0 | 43 | 0 | lift open green garbage can lid | ||
[
0.15909221768379211,
0,
0.7460566163063049,
0,
0,
0,
0,
3.069495439529419
] | [
0.014121846295893192,
0,
-0.00002200231574533973,
0,
0,
0,
1
] | 4.4 | 5.4 | The robotic arm is positioned near the green garbage can lid, gripper open and ready to engage. It will grasp the lid’s edge, then lift upward to open it fully, rotating the lid back while maintaining grip. The can remains stationary, and the surrounding environment stays unchanged as the arm completes the motion. | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no action has occurred. Since the goal is to lift the lid and it is still shut, the task is incomplete. subtask: lift | 44 | 54 | 0 | 44 | 0 | lift open green garbage can lid | ||
[
0.17321406304836273,
0,
0.7460346221923828,
0,
0,
0,
0,
3.0710294246673584
] | [
0.00797363929450512,
0,
0.000007358390575973317,
0,
0,
0,
1
] | 4.5 | 5.5 | The robot arm is positioned near the green garbage can with its gripper poised to grasp the lid; upon executing the lift command, the lid will rotate upward, revealing the interior while the arm adjusts its angle to maintain grip, and the surrounding environment remains visually unchanged except for the lid’s new open ... | The green garbage can lid remains closed in both frames with no visible change in position or state, indicating no action was executed. Since the task requires lifting the lid and it remains unaltered, the system must initiate movement toward the lid. subtask: approach | 45 | 55 | 0 | 45 | 0 | lift open green garbage can lid | ||
[
0.181187704205513,
0,
0.746042013168335,
0,
0,
0,
0,
3.069495439529419
] | [
0.009936190210282803,
0,
-0.000007358390575973317,
0,
0,
0,
1
] | 4.6 | 5.6 | The robotic arm is positioned above the green garbage can with its gripper open and ready to grasp the lid. To lift the lid, the arm will descend slightly, close its gripper around the lid’s edge, then rotate upward to open it. The lid will tilt back, revealing the can’s interior, while the arm repositions to maintain ... | The green garbage can lid is already lifted and open in both frames, indicating no physical change occurred. Since the goal of lifting the lid is already satisfied, no further manipulation is required. subtask: finish | 46 | 56 | 0 | 46 | 0 | lift open green garbage can lid | ||
[
0.19112390279769897,
0,
0.7460346221923828,
0,
0,
0,
0,
3.0710294246673584
] | [
0.007158853113651276,
0,
0.0000037156228245294187,
0,
0,
0,
1
] | 4.7 | 5.7 | The robotic arm is positioned above the green garbage can with its gripper poised to engage the lid. To lift and open it, the gripper will clamp onto the lid’s edge, then rotate upward, causing the lid to pivot open while the arm adjusts its angle to maintain control, revealing the interior lined with a translucent bag... | The green garbage can lid remains partially open and unchanged between frames, indicating no new manipulation occurred. Since the lid is already lifted and no further action is required to achieve the goal, the task is complete. subtask: finish | 47 | 57 | 0 | 47 | 0 | lift open green garbage can lid | ||
[
0.19828274846076965,
0,
0.7460383772850037,
0,
0,
0,
0,
3.069495439529419
] | [
0.006040968466550112,
0,
0.000007285535048140446,
0,
0,
0,
1
] | 4.8 | 5.8 | The robotic arm is positioned near the green garbage can with its gripper poised to interact with the lid. To lift the lid, the arm will extend slightly downward and grip the edge before applying upward force. The lid will pivot open, revealing the interior, while the arm retracts slightly to maintain clearance, leavin... | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no action was performed. Since the goal to lift the lid is unmet and no progress is evident, no subtask is executable from this static state. subtask: finish | 48 | 58 | 0 | 48 | 0 | lift open green garbage can lid | ||
[
0.20432372391223907,
0,
0.7460456490516663,
0,
0,
0,
0,
3.069495439529419
] | [
0.004362480714917183,
0,
-0.000011001157872669864,
0,
0,
0,
1
] | 4.9 | 5.9 | The robot arm is positioned above the green garbage can with its gripper closed near the lid’s edge; to lift the lid, it will need to grasp and rotate upward, causing the lid to pivot open while the arm repositions slightly higher, maintaining grip as the plastic liner becomes more visible. | The green garbage can lid remains closed in both frames with no visible change in position or state, indicating no action was performed. Since the goal to lift the lid is unmet and no progress is evident, the system must initiate the first manipulation step.
subtask: approach | 49 | 59 | 0 | 49 | 0 | lift open green garbage can lid | ||
[
0.2086862027645111,
0,
0.7460346221923828,
0,
0,
0,
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3.069495439529419
] | [
0.006103700026869774,
0,
-0.000007358390575973317,
0,
0,
0,
1
] | 5 | 6 | The robotic arm is positioned above the green garbage can with its gripper poised to engage the lid. It will grasp and lift the lid upward, causing the lid to tilt open while the can remains stationary. The gripper will maintain a firm hold, and the arm will adjust slightly to stabilize the open position, revealing the... | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no lifting action occurred. Since the goal to lift the lid is unmet and no progress is evident, no further action can be inferred from this transition. subtask: finish | 50 | 60 | 0 | 50 | 0 | lift open green garbage can lid | ||
[
0.21478989720344543,
0,
0.7460272908210754,
0,
0,
0,
0,
3.069495439529419
] | [
0.001987708965316415,
0,
0,
0,
0,
0,
1
] | 5.1 | 6.1 | The robotic arm is positioned above the green garbage can with its gripper poised to grasp the lid. It will lift the lid upward, revealing the interior, while the can remains stationary. The gripper will transition from open to closed around the lid’s edge, and the lid will tilt upward as the arm retracts slightly to m... | The green garbage can lid remains closed in both frames with no visible change in position or state, indicating no action was performed. Since the task goal of lifting the lid is unmet and no progress is observed, the system should initiate the first step. subtask: approach | 51 | 61 | 0 | 51 | 0 | lift open green garbage can lid | ||
[
0.21677760779857635,
0,
0.7460272908210754,
0,
0,
0,
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3.069495439529419
] | [
0.003894031047821045,
0,
0.000003642767524070223,
0,
0,
0,
1
] | 5.2 | 6.2 | The robotic arm is positioned near the green garbage can lid, gripper open and ready to engage. To lift the lid, the arm will descend slightly, close the gripper around the lid’s edge, then pivot upward. The lid will tilt open, revealing the can’s interior, while the arm retracts slightly to maintain clearance, leaving... | The green garbage can lid remains closed in both frames with no visible change in position or state, indicating no action has occurred. Since the goal to lift the lid is unmet and no manipulation is evident, the system must initiate movement toward the lid. subtask: approach | 52 | 62 | 0 | 52 | 0 | lift open green garbage can lid | ||
[
0.2206716388463974,
0,
0.7460309267044067,
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0,
0,
0,
3.0710294246673584
] | [
0.0014580065617337823,
0,
0.000007795522833475843,
0,
0,
0,
1
] | 5.3 | 6.3 | The robot arm is positioned near the green garbage can with its gripper poised to engage the lid. It will grasp and lift the lid upward, causing the lid to pivot open while the can remains stationary. The gripper will maintain a firm hold, and the arm will adjust slightly to stabilize the open position, revealing the i... | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no action was performed. Since the goal to lift the lid is unmet and no progress is evident, the system must initiate movement toward the lid. subtask: approach | 53 | 63 | 0 | 53 | 0 | lift open green garbage can lid | ||
[
0.22212964296340942,
0,
0.7460387349128723,
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0,
0,
0,
3.069495439529419
] | [
0.00033172310213558376,
0,
-0.00001143829013017239,
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0,
0,
1
] | 5.4 | 6.4 | The robot arm is positioned above the green garbage can with its gripper open, ready to grasp the lid. To lift and open it, the gripper will close around the lid’s edge, then the arm will pivot upward, raising the lid while the can remains stationary. The lid will tilt back, revealing the interior, and the arm will hol... | The green garbage can lid remains closed in both frames with no visible change in position or state, indicating no lifting action occurred. Since the goal to lift the lid is unmet and no progress is evident, the system must initiate the first manipulation step. subtask: approach | 54 | 64 | 0 | 54 | 0 | lift open green garbage can lid | ||
[
0.22246137261390686,
0,
0.7460272908210754,
0,
0,
0,
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3.0710294246673584
] | [
-0.00001041377163346624,
0,
-0.0000037156228245294187,
0,
0,
0,
1
] | 5.5 | 6.5 | The robot arm is positioned near the green garbage can lid, which remains closed. To lift it open, the gripper must engage the lid’s edge and apply upward force. In the future state, the lid will be partially or fully raised, revealing the can’s interior, while the arm repositions slightly to maintain grip and balance ... | The green garbage can lid remains closed in both frames with no visible change in position or state, indicating no action was performed. Since the task goal of lifting the lid is unmet and no progress is evident, the system must initiate movement toward the lid. subtask: approach | 55 | 65 | 0 | 55 | 0 | lift open green garbage can lid | ||
[
0.22245095670223236,
0,
0.7460235953330994,
0,
0,
0,
0,
3.069495439529419
] | [
-0.00001844650432758499,
0,
0.0000037156228245294187,
0,
0,
0,
1
] | 5.6 | 6.6 | The robotic arm is positioned near the green garbage can with its gripper closed around the lid’s edge. To lift and open the lid, the arm must rotate upward while maintaining grip. The lid will tilt back, exposing the can’s interior, while the arm repositions slightly higher and the gripper remains engaged to hold the ... | The green garbage can lid is already open and resting atop the can in both frames, indicating no physical change occurred. Since the goal of lifting the lid is already achieved, no further manipulation is required.
subtask: finish | 56 | 66 | 0 | 56 | 0 | lift open green garbage can lid | ||
[
0.22243250906467438,
0,
0.7460272908210754,
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0,
0,
0,
3.069495439529419
] | [
-0.00004992330650566146,
0,
0.000011074012945755385,
0,
0,
0,
1
] | 5.7 | 6.7 | The robotic arm is positioned above the green garbage can with its gripper open, ready to grasp the lid. It will close the gripper around the lid’s edge and lift upward, causing the lid to pivot open. The arm will then hold the lid aloft, revealing the can’s interior while maintaining a stable posture above the bin. | The green garbage can lid is already in a lifted and open position in both frames, showing no physical change. Since the goal of lifting the lid is already achieved, no further manipulation is required.
subtask: finish | 57 | 67 | 0 | 57 | 0 | lift open green garbage can lid | ||
[
0.222382590174675,
0,
0.7460383772850037,
0,
0,
0,
0,
3.0710294246673584
] | [
-0.000007901907338236924,
0,
-0.0000074312456490588374,
0,
0,
0,
1
] | 5.8 | 6.8 | The robot arm is positioned near the green garbage can lid, which remains closed. To lift it, the gripper must engage the lid’s edge and apply upward force. In the next moment, the lid will begin to tilt open, revealing the can’s interior, while the arm adjusts slightly to maintain grip and control during the motion. | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no action has occurred; since the task is to lift the lid and it is still closed, no progress has been made. subtask: finish | 58 | 68 | 0 | 58 | 0 | lift open green garbage can lid | ||
[
0.22237467765808105,
0,
0.7460309267044067,
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0,
0,
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3.0710294246673584
] | [
-0.000007901907338236924,
0,
0,
0,
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0,
1
] | 5.9 | 6.9 | The robotic arm is positioned near the green garbage can with its gripper poised to grasp the lid. It will lift the lid upward, causing the plastic liner to shift slightly as the lid opens. The arm will then hold the lid aloft, revealing the interior of the can while maintaining a stable posture above the container. | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no lifting action occurred. Since the goal is to lift the lid and it remains unaltered, no progress was made. subtask: finish | 59 | 69 | 0 | 59 | 0 | lift open green garbage can lid | ||
[
0.22236678004264832,
0,
0.7460309267044067,
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0,
0,
0,
3.0572237968444824
] | [
-0.000020958368622814305,
0,
0,
0,
0,
0,
1
] | 6 | 7 | The robot arm is positioned near the green garbage can lid, gripper open and ready to grasp. It will close the gripper on the lid’s edge, then lift upward to open it fully, revealing the interior. The lid will pivot upward while the arm retracts slightly to maintain clearance, leaving the can open and accessible. | The green garbage can lid remains partially open in both frames with no visible change in position or orientation, indicating no lifting action occurred. Since the lid is already open and no further manipulation is evident, the task is complete. subtask: finish | 60 | 70 | 0 | 60 | 0 | lift open green garbage can lid | ||
[
0.22234582901000977,
0,
0.7460309267044067,
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0,
0,
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2.963650941848755
] | [
0.000013056462194072083,
0,
-0.000003642767524070223,
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0,
0,
1
] | 6.1 | 7.1 | The robot arm is positioned near the green garbage can with its gripper open, ready to grasp the lid. It will move downward to securely grip the lid’s edge, then lift upward to open it fully. The lid will pivot upward while the can remains stationary, and the gripper will stay closed during the lift to maintain control... | The green garbage can lid remains closed in both frames with no visible change in position or state, indicating no action was performed. Since the goal to lift the lid is unmet and no progress is observed, the system must initiate movement toward the lid. subtask: approach | 61 | 71 | 0 | 61 | 0 | lift open green garbage can lid | ||
[
0.22235888242721558,
0,
0.7460272908210754,
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0,
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] | [
0,
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1
] | 6.2 | 7.2 | The robot arm is positioned near the green garbage can with its gripper approaching the lid. To lift the lid, the gripper will close around its edge and pull upward, causing the lid to pivot open. The can remains stationary while the lid’s angle increases, revealing the interior as the arm retracts slightly to maintain... | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no lifting action occurred. Since the goal to lift the lid is not achieved and no motion is detected, the task remains incomplete. subtask: finish | 62 | 72 | 0 | 62 | 0 | lift open green garbage can lid | ||
[
0.22235888242721558,
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] | [
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0.000003642767524070223,
0,
0,
0,
1
] | 6.3 | 7.3 | The robot arm is positioned near the green garbage can with its gripper closed; to lift the lid, it must open the gripper, grasp the lid’s edge, and rotate upward. In the future state, the lid will be partially raised, the gripper will be engaged with the lid’s rim, and the arm will have repositioned slightly upward an... | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no action was performed. Since the task goal of lifting the lid is not achieved and no motion occurred, the system must still initiate the opening motion. subtask: lift | 63 | 73 | 0 | 63 | 0 | lift open green garbage can lid | ||
[
0.22234846651554108,
0,
0.7460309267044067,
0,
0,
0,
0,
2.57401967048645
] | [
0.000002511864522602991,
0,
-0.000003642767524070223,
0,
0,
0,
1
] | 6.4 | 7.4 | The robotic arm is positioned near the green garbage can with its gripper closed and ready to engage the lid. To lift the lid, the arm will extend slightly downward and grip the edge, then rotate upward to open it. The lid will rise visibly, revealing the can’s interior while the arm repositions to maintain stability d... | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no lifting action occurred. Since the goal to lift the lid is unmet and no progress is evident, the system must initiate movement toward the lid. subtask: approach | 64 | 74 | 0 | 64 | 0 | lift open green garbage can lid | ||
[
0.22235098481178284,
0,
0.7460272908210754,
0,
0,
0,
0,
2.3101751804351807
] | [
-0.00001041377163346624,
0,
0.000003642767524070223,
0,
0,
0,
1
] | 6.5 | 7.5 | The robotic arm is positioned near the green garbage can with its gripper poised to engage the lid. It will lift the lid upward, causing it to rotate open while the can remains stationary. The gripper will transition from open to closed around the lid’s edge, and the arm will slightly retract to stabilize the open posi... | The green garbage can lid remains closed in both frames with no visible change in position or state, indicating no action was performed. Since the goal to lift the lid is not achieved and no transition occurred, the task remains incomplete. subtask: finish | 65 | 75 | 0 | 65 | 0 | lift open green garbage can lid | ||
[
0.22234056890010834,
0,
0.7460309267044067,
0,
0,
0,
0,
2.1813206672668457
] | [
0.000002642690787979518,
0,
-0.000003642767524070223,
0,
0,
0,
1
] | 6.6 | 7.6 | The robot arm is positioned near the green garbage can lid, which is currently closed. To lift and open it, the gripper will grasp the lid’s edge and rotate upward, causing the lid to pivot open. The arm will adjust its angle to maintain grip while the lid rises, revealing the can’s interior. The surrounding environmen... | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no action was performed. Since the task requires lifting the lid and it is still shut, the goal is unmet. subtask: finish | 66 | 76 | 0 | 66 | 0 | lift open green garbage can lid | ||
[
0.22234320640563965,
0,
0.7460272908210754,
0,
0,
0,
0,
1.9236118793487549
] | [
0.0000026165255349042127,
0,
0.000007358390575973317,
0,
0,
0,
1
] | 6.7 | 7.7 | The robot arm is positioned near the green garbage can with its gripper poised to engage the lid. To lift the lid, the arm will extend slightly downward and grasp the edge before rotating upward. The lid will tilt open, revealing the interior, while the gripper remains closed and the arm stabilizes the motion to avoid ... | The green garbage can lid is partially open in the current frame and fully open in the future frame, indicating the lid must be lifted further. The robotic arm is positioned near the lid’s edge, ready to apply upward force. subtask: lift | 67 | 77 | 0 | 67 | 0 | lift open green garbage can lid | ||
[
0.22234582901000977,
0,
0.7460346221923828,
0,
0,
0,
0,
1.7947574853897095
] | [
-0.0000026165255349042127,
0,
-0.000007358390575973317,
0,
0,
0,
1
] | 6.8 | 7.8 | The robot arm is positioned near the green garbage can lid, gripper slightly open and ready to engage. It will grasp the lid’s edge and lift it upward, pivoting it open against gravity. As the lid rises, the interior of the can becomes visible, and the arm retracts slightly to hold the lid ajar while maintaining grip, ... | The green garbage can lid is partially open in the current frame and fully lifted in the future frame, indicating the lid must be raised further. The robotic arm is positioned near the lid’s edge, ready to manipulate it. subtask: lift | 68 | 78 | 0 | 68 | 0 | lift open green garbage can lid | ||
[
0.22234320640563965,
0,
0.7460272908210754,
0,
0,
0,
0,
1.4097282886505127
] | [
0.000007771081072860397,
0,
0.000003642767524070223,
0,
0,
0,
1
] | 6.9 | 7.9 | The robot arm is positioned near the green garbage can lid, which is currently closed. To lift and open it, the gripper must grasp the lid’s edge and apply upward force. In the future state, the lid will be tilted upward, partially open, revealing the can’s interior, while the arm retracts slightly to maintain clearanc... | The green garbage can lid is partially open in the current frame and fully open in the future frame, indicating the lid must be lifted further. The robotic arm is positioned near the lid’s edge, ready to apply upward force. subtask: lift | 69 | 79 | 0 | 69 | 0 | lift open green garbage can lid | ||
[
0.22235098481178284,
0,
0.7460309267044067,
0,
0,
0,
0,
1.1443496942520142
] | [
-0.000013030296940996777,
0,
-0.000003642767524070223,
0,
0,
0,
1
] | 7 | 8 | The robot arm is positioned above the green garbage can with its gripper open, ready to engage the lid. It will descend slightly, close the gripper around the lid’s edge, then lift upward to open it. The lid will pivot upward while the can remains stationary, and the arm will hold the lid open in a raised position. | The green garbage can lid is partially open in the current frame and fully open in the future frame, indicating the lid was lifted further. The robotic arm is positioned near the lid’s edge, ready to manipulate it. subtask: lift | 70 | 80 | 0 | 70 | 0 | lift open green garbage can lid | ||
[
0.22233794629573822,
0,
0.7460272908210754,
0,
0,
0,
0,
1.009359359741211
] | [
0.0000026165255349042127,
0,
-0.000007358390575973317,
0,
0,
0,
1
] | 7.1 | 8.1 | The robot arm is positioned near the green garbage can with its gripper open, ready to engage the lid. It will grasp the lid’s edge and lift it upward, pivoting it open while maintaining a stable grip. The lid will rise visibly, revealing the can’s interior, and the arm will hold it in an elevated position to complete ... | The green garbage can lid is already lifted and open in both frames, indicating no physical change occurred. Since the task goal of lifting the lid is already achieved, no further manipulation is required.
subtask: finish | 71 | 81 | 0 | 71 | 0 | lift open green garbage can lid | ||
[
0.22234056890010834,
0,
0.7460198998451233,
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0,
0,
0,
0.7455146908760071
] | [
-0.000005259216322883731,
0,
0.000003642767524070223,
0,
0,
0,
1
] | 7.2 | 8.2 | The robotic arm is positioned near the green garbage can with its gripper approaching the lid. To lift and open it, the gripper will grasp the lid’s edge and rotate upward, causing the lid to pivot open. The arm will adjust its angle to maintain grip while the lid rises, revealing the can’s interior. The surrounding en... | The green garbage can lid is partially open in the current frame and fully open in the future frame, indicating the lid must be lifted further. The robotic arm is positioned near the lid’s edge, ready to apply upward force. subtask: lift | 72 | 82 | 0 | 72 | 0 | lift open green garbage can lid | ||
[
0.2223353087902069,
0,
0.7460235953330994,
0,
0,
0,
0,
0.6105243563652039
] | [
0.000002642690787979518,
0,
0,
0,
0,
0,
0
] | 7.3 | 8.3 | The robot arm is positioned above the green garbage can with its gripper poised to grasp the lid; as it lifts the lid upward, the plastic liner inside becomes more visible while the arm retracts slightly to maintain clearance, leaving the lid partially open and the can’s interior exposed. | The green garbage can lid is partially open in the current frame and remains in the same position in the future frame, indicating no motion occurred. Since the lid is already open and no further lifting is needed, the task is complete. subtask: finish | 73 | 83 | 0 | 73 | 0 | lift open green garbage can lid | ||
[
0.22233794629573822,
0,
0.7460235953330994,
0,
0,
0,
0,
0.33594179153442383
] | [
-0.000005285381575959036,
0,
-0.000007285535048140446,
0,
0,
0,
0
] | 7.4 | 8.4 | The robot arm is positioned near the green garbage can lid, which is currently closed. To lift and open it, the gripper must engage the lid’s edge and apply upward force. In the future state, the lid will be partially or fully raised, exposing the can’s interior, while the arm retracts slightly to maintain clearance an... | The green garbage can lid is partially open in the current frame and remains in the same position in the future frame, indicating no motion occurred. Since the lid is already open and no further lifting is needed, the task is complete. subtask: finish | 74 | 84 | 0 | 74 | 0 | lift open green garbage can lid | ||
[
0.2223326563835144,
0,
0.746016263961792,
0,
0,
0,
0,
0.07209710031747818
] | [
0.000013161123206373304,
0,
0.000003642767524070223,
0,
0,
0,
0
] | 7.5 | 8.5 | The robot arm is positioned near the green garbage can with its gripper approaching the lid. To lift the lid, the gripper will grasp the edge and rotate upward, causing the lid to pivot open. The can remains stationary while the lid’s angle increases, revealing the interior lined with a plastic bag. The arm retracts sl... | The green garbage can lid is partially open in the current frame and fully lifted in the future frame, indicating the need to raise it further. The robotic arm is positioned near the lid’s edge, ready to apply upward force. subtask: lift | 75 | 85 | 0 | 75 | 0 | lift open green garbage can lid | ||
[
0.22234582901000977,
0,
0.7460198998451233,
0,
0,
0,
0,
-0.05982524901628494
] | [
-0.0000026165255349042127,
0,
0,
0,
0,
0,
0
] | 7.6 | 8.6 | The robot arm is positioned near the green garbage can lid, which remains closed. To lift it, the gripper must grasp the lid’s edge and apply upward force. In the future state, the lid will be partially or fully raised, revealing the can’s interior, while the arm repositions slightly to maintain grip and balance during... | The green garbage can lid remains closed in both frames with no visible change in position or state, indicating no lifting action occurred. Since the goal is to lift the lid and it is still closed, no progress has been made. subtask: finish | 76 | 86 | 0 | 76 | 0 | lift open green garbage can lid | ||
[
0.22234320640563965,
0,
0.7460198998451233,
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0,
0,
0,
-0.3236699402332306
] | [
0.0000026165255349042127,
0,
0.000007358390575973317,
0,
0,
0,
0
] | 7.7 | 8.7 | The robot arm is positioned near the green garbage can lid, gripper open and ready to engage. To lift the lid, the gripper will close around its edge, then the arm will pivot upward, raising the lid while the can remains stationary. The lid will tilt open, revealing the interior, and the arm will hold it in a raised po... | The green garbage can lid remains closed in both frames with no visible change in position or state, indicating no action was performed. Since the goal to lift the lid is unmet and no progress is evident, the system must initiate movement toward the lid. subtask: approach | 77 | 87 | 0 | 77 | 0 | lift open green garbage can lid | ||
[
0.22234582901000977,
0,
0.7460272908210754,
0,
0,
0,
0,
-0.4555923044681549
] | [
0,
0,
-0.0000037156228245294187,
0,
0,
0,
0
] | 7.8 | 8.8 | The robot arm is positioned near the green garbage can with its gripper poised to interact with the lid. To lift and open it, the gripper must grasp the lid’s edge and apply upward force. In the future state, the lid will be partially or fully raised, exposing the can’s interior, while the arm adjusts its angle to main... | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no lifting action occurred. Since the goal to lift the lid is not achieved and no motion is detected, the system should halt further attempts. subtask: finish | 78 | 88 | 0 | 78 | 0 | lift open green garbage can lid | ||
[
0.22234582901000977,
0,
0.7460235953330994,
0,
0,
0,
0,
-0.7225049734115601
] | [
0,
0,
0.0000037156228245294187,
0,
0,
0,
0
] | 7.9 | 8.9 | The robot arm is positioned near the green garbage can lid, which remains closed. To lift it, the gripper must engage the lid’s edge and apply upward force. In the future state, the lid should be partially or fully raised, exposing the can’s interior, while the arm retracts slightly to maintain clearance, and the gripp... | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no action was performed. Since the task requires lifting the lid and it is still closed, the goal is unmet. subtask: finish | 79 | 89 | 0 | 79 | 0 | lift open green garbage can lid | ||
[
0.22234582901000977,
0,
0.7460272908210754,
0,
0,
0,
0,
-1.1182719469070435
] | [
0.000002642690787979518,
0,
0.000003642767524070223,
0,
0,
0,
0
] | 8 | 9 | The robotic arm is positioned above the green garbage can with its gripper poised to engage the lid; upon activation, the gripper will grasp and lift the lid upward, revealing the interior while the arm retracts slightly to maintain clearance, leaving the can open and the lid suspended in a raised position. | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no lifting action occurred. Since the goal is to lift the lid and no progress is evident, the system must initiate the motion. subtask: lift | 80 | 90 | 0 | 80 | 0 | lift open green garbage can lid | ||
[
0.22234846651554108,
0,
0.7460309267044067,
0,
0,
0,
0,
-1.2471263408660889
] | [
0.00001041377163346624,
0,
-0.000014643925169366412,
0,
0,
0,
0
] | 8.1 | 9.1 | The robot arm is positioned near the green garbage can lid, which remains closed. To lift it, the gripper must engage the lid’s edge and apply upward force. In the future state, the lid should be partially or fully open, revealing the can’s interior, while the arm repositions slightly upward, maintaining grip to hold t... | The green garbage can lid remains closed in both frames with no visible change in position or state, indicating no action was performed. Since the goal to lift the lid is not achieved and no manipulation occurred, the task remains incomplete. subtask: finish | 81 | 91 | 0 | 81 | 0 | lift open green garbage can lid | ||
[
0.22235888242721558,
0,
0.746016263961792,
0,
0,
0,
0,
-1.5017671585083008
] | [
-0.00001041377163346624,
0,
0.000007285535048140446,
0,
0,
0,
0
] | 8.2 | 9.2 | The robot arm is positioned near the green garbage can with its gripper closed, ready to engage the lid. To lift the lid, the gripper must open slightly, grasp the edge, and pull upward. In the future state, the lid will be partially or fully raised, revealing the interior, while the arm retracts slightly to maintain c... | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no action was performed. Since the task requires lifting the lid and it is still shut, the goal is unmet. subtask: finish | 82 | 92 | 0 | 82 | 0 | lift open green garbage can lid | ||
[
0.22234846651554108,
0,
0.7460235953330994,
0,
0,
0,
0,
-1.6321555376052856
] | [
-0.000002642690787979518,
0,
0.0000037156228245294187,
0,
0,
0,
0
] | 8.3 | 9.3 | The robotic arm is positioned near the green garbage can lid, which remains closed. To lift it, the gripper must grasp the lid’s edge and apply upward force. In the future state, the lid will be partially or fully open, revealing the can’s interior, while the arm retracts slightly to maintain clearance, and the gripper... | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no lifting action occurred. Since the goal is to lift the lid and it remains unaltered, no progress has been made. subtask: finish | 83 | 93 | 0 | 83 | 0 | lift open green garbage can lid | ||
[
0.22234582901000977,
0,
0.7460272908210754,
0,
0,
0,
0,
-1.8898643255233765
] | [
0,
0,
-0.0000037156228245294187,
0,
0,
0,
0
] | 8.4 | 9.4 | The robotic arm is positioned near the green garbage can lid, gripper poised to engage. It will grasp the lid’s edge and lift upward, causing the lid to pivot open while the bag inside remains stationary. The arm will retract slightly after lifting, leaving the lid ajar and the can accessible, with no other objects dis... | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no lifting action occurred. Since the goal is to lift the lid and it remains unaltered, no progress has been made. subtask: finish | 84 | 94 | 0 | 84 | 0 | lift open green garbage can lid | ||
[
0.22234582901000977,
0,
0.7460235953330994,
0,
0,
0,
0,
-2.0233206748962402
] | [
0,
0,
-0.000003642767524070223,
0,
0,
0,
0
] | 8.5 | 9.5 | The robot arm is positioned near the green garbage can lid, which remains closed. To lift it, the gripper must grasp the lid’s edge and apply upward force. In the future state, the lid will be partially or fully open, revealing the can’s interior, while the arm retracts slightly to maintain clearance, and the gripper r... | The green garbage can lid remains closed in both frames with no visible change in position or state, indicating no action was performed. Since the goal to lift the lid is not achieved and no manipulation occurred, the task remains incomplete. subtask: finish | 85 | 95 | 0 | 85 | 0 | lift open green garbage can lid | ||
[
0.22234582901000977,
0,
0.7460198998451233,
0,
0,
0,
0,
-2.287165403366089
] | [
0.000002642690787979518,
0,
0.000003642767524070223,
0,
0,
0,
0
] | 8.6 | 9.6 | The robotic arm is positioned near the green garbage can lid, gripper open and ready to engage. It will grasp the lid’s edge, then lift upward to open it fully, revealing the can’s interior. The lid will rotate upward while the arm retracts slightly to avoid obstruction, leaving the can open and accessible for disposal... | The green garbage can lid remains closed in both frames with no visible change in position or state, indicating no lifting action occurred. Since the task goal of lifting the lid is unmet and no progress is evident, no further manipulation is required at this stage. subtask: finish | 86 | 96 | 0 | 86 | 0 | lift open green garbage can lid | ||
[
0.22234846651554108,
0,
0.7460235953330994,
0,
0,
0,
0,
-2.4190876483917236
] | [
0.000002511864522602991,
0,
-0.000003642767524070223,
0,
0,
0,
0
] | 8.7 | 9.7 | The robotic arm is positioned near the green garbage can with its gripper extended toward the lid. To lift the lid, the gripper will grasp the edge and rotate upward, causing the lid to pivot open. The arm will adjust its angle slightly to maintain grip, and the lid will rise visibly, exposing the can’s interior while ... | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no action has occurred. Since the goal is to lift the lid and it is still shut, the task is incomplete. subtask: lift | 87 | 97 | 0 | 87 | 0 | lift open green garbage can lid | ||
[
0.22235098481178284,
0,
0.7460198998451233,
0,
0,
0,
0,
-2.6599225997924805
] | [
0.000005259216322883731,
0,
0.000007358390575973317,
0,
0,
0,
0
] | 8.8 | 9.8 | The robotic arm is positioned near the green garbage can with its gripper approaching the lid; in the next moment, the gripper will grasp and lift the lid upward, revealing the interior while the arm adjusts its angle to maintain stability, and the surrounding environment remains visually unchanged. | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no action has occurred. Since the goal is to lift the lid and it is still shut, the task is incomplete. subtask: finish | 88 | 98 | 0 | 88 | 0 | lift open green garbage can lid | ||
[
0.22235623002052307,
0,
0.7460272908210754,
0,
0,
0,
0,
-2.7550294399261475
] | [
-0.000013030296940996777,
0,
-0.0000037156228245294187,
0,
0,
0,
0
] | 8.9 | 9.9 | The robot arm is positioned above the green garbage can with its gripper poised to engage the lid. To lift the lid, the arm will descend slightly, grasp the edge, and rotate upward. The lid will tilt open, revealing the interior, while the arm retracts slightly to hold it ajar, maintaining stability without releasing. | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no lifting action occurred. Since the goal to lift the lid is unmet and no progress is evident, no further manipulation is required at this stage. subtask: finish | 89 | 99 | 0 | 89 | 0 | lift open green garbage can lid | ||
[
0.22234320640563965,
0,
0.7460235953330994,
0,
0,
0,
0,
-2.893087863922119
] | [
0.0000026165255349042127,
0,
-0.000003642767524070223,
0,
0,
0,
0
] | 9 | 10 | The robot arm is positioned near the green garbage can lid, gripper open and ready to engage. To lift the lid, the gripper will close around its edge, then the arm will rotate upward, raising the lid to an open position. The can remains stationary while the lid pivots upward, revealing the interior lined with a white b... | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no action has occurred. Since the goal is to lift the lid and it is still shut, the task is incomplete. subtask: lift | 90 | 100 | 0 | 90 | 0 | lift open green garbage can lid | ||
[
0.22234582901000977,
0,
0.7460198998451233,
0,
0,
0,
0,
-2.9391071796417236
] | [
0.000002642690787979518,
0,
0.000018432403521728702,
0,
0,
0,
0
] | 9.1 | 10.1 | The robot arm is positioned near the green garbage can with its gripper poised to engage the lid. To lift and open it, the gripper will close around the lid’s edge, then the arm will rotate upward, raising the lid while the can remains stationary. The lid will tilt back, revealing the interior, and the arm will hold it... | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no lifting action occurred. Since the goal is to lift the lid and no progress is evident, the system must initiate the motion. subtask: lift | 91 | 101 | 0 | 91 | 0 | lift open green garbage can lid | ||
[
0.22234846651554108,
0,
0.7460383772850037,
0,
0,
0,
0,
-2.966718912124634
] | [
0.000005154555310582509,
0,
-0.0000037156228245294187,
0,
0,
0,
0
] | 9.2 | 10.2 | The robot arm is positioned near the green garbage can lid, which is partially open. To complete the task, the arm must lift the lid further. In the future state, the lid will be fully raised, revealing the can’s interior, while the gripper remains engaged and the arm slightly retracts to stabilize the open position. | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no lifting action occurred. Since the goal to lift the lid is unmet and no progress is evident, no further manipulation is needed at this stage. subtask: finish | 92 | 102 | 0 | 92 | 0 | lift open green garbage can lid | ||
[
0.22235362231731415,
0,
0.7460346221923828,
0,
0,
0,
0,
-2.966718912124634
] | [
-0.000007797246325935703,
0,
-0.0000037156228245294187,
0,
0,
0,
0
] | 9.3 | 10.3 | The robot arm is positioned near the green garbage can with its gripper poised to engage the lid. It will lift the lid upward, causing the lid to rotate open while the can remains stationary. The gripper will maintain contact with the lid’s edge, and the arm will slightly retract to stabilize the open position, reveali... | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no action was performed. Since the goal to lift the lid is not achieved, no further manipulation is evident. subtask: finish | 93 | 103 | 0 | 93 | 0 | lift open green garbage can lid | ||
[
0.22234582901000977,
0,
0.7460309267044067,
0,
0,
0,
0,
-2.966718912124634
] | [
-0.000005259216322883731,
0,
0.0000037156228245294187,
0,
0,
0,
0
] | 9.4 | 10.4 | The robot arm is positioned near the green garbage can lid, gripper open and ready to engage. It will grasp the lid’s edge and lift upward, rotating it open while the can remains stationary. The gripper will close during contact, then open again after lifting, leaving the lid propped open at an angle as the arm retract... | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no action was performed. Since the goal to lift the lid is not achieved, no further manipulation is needed at this stage. subtask: finish | 94 | 104 | 0 | 94 | 0 | lift open green garbage can lid | ||
[
0.22234056890010834,
0,
0.7460346221923828,
0,
0,
0,
0,
-2.966718912124634
] | [
0.000002642690787979518,
0,
-0.0000037156228245294187,
0,
0,
0,
0
] | 9.5 | 10.5 | The robot arm is positioned near the green garbage can lid, gripper open and ready to engage. To lift the lid, the gripper will close around its edge and apply upward force, causing the lid to pivot open. The arm will slightly retract to stabilize the lid’s position, revealing the can’s interior while maintaining grip. | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no lifting action occurred. Since the goal is to lift the lid and no progress is evident, the system must initiate the motion. subtask: lift | 95 | 105 | 0 | 95 | 0 | lift open green garbage can lid | ||
[
0.22234320640563965,
0,
0.7460309267044067,
0,
0,
0,
0,
-2.966718912124634
] | [
0.000005259216322883731,
0,
0,
0,
0,
0,
0
] | 9.6 | 10.6 | The robot arm is positioned near the green garbage can with its gripper poised to engage the lid. To lift and open it, the arm will likely rotate upward while the gripper secures the lid’s edge, causing the lid to pivot open. The can remains stationary while the lid’s angle increases, revealing the interior. | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no action was performed. Since the task goal of lifting the lid is unmet and no progress is evident, no further manipulation is required at this time. subtask: finish | 96 | 106 | 0 | 96 | 0 | lift open green garbage can lid | ||
[
0.22234846651554108,
0,
0.7460309267044067,
0,
0,
0,
0,
-2.966718912124634
] | [
-0.000005259216322883731,
0,
-0.000003642767524070223,
0,
0,
0,
0
] | 9.7 | 10.7 | The robot arm is positioned near the green garbage can lid, gripper open and ready to engage. It will grasp the lid’s edge, then lift and tilt it upward to fully open the can. The lid will rotate upward while the arm retracts slightly to maintain clearance, leaving the can’s interior exposed and the gripper still holdi... | The green garbage can lid remains closed in both frames with no visible change in position or state, indicating no action has occurred. Since the task is to lift the lid and it is still closed, the goal is not yet achieved. subtask: lift | 97 | 107 | 0 | 97 | 0 | lift open green garbage can lid | ||
[
0.22234320640563965,
0,
0.7460272908210754,
0,
0,
0,
0,
-2.966718912124634
] | [
0.000005259216322883731,
0,
0.000003642767524070223,
0,
0,
0,
0
] | 9.8 | 10.8 | The robot arm is positioned near the green garbage can lid, gripper open and ready to engage. It will grasp the lid’s edge, lift upward to open it fully, then hold or release as needed. The lid will visibly rotate upward, exposing the can’s interior while the arm retracts slightly to avoid obstruction. | The green garbage can lid remains closed in both frames with no visible change in position or state, indicating no action was performed. Since the task to lift the lid is not accomplished, no further manipulation is evident. subtask: finish | 98 | 108 | 0 | 98 | 0 | lift open green garbage can lid | ||
[
0.22234846651554108,
0,
0.7460309267044067,
0,
0,
0,
0,
-2.966718912124634
] | [
-0.000002642690787979518,
0,
0,
0,
0,
0,
0
] | 9.9 | 10.9 | The robotic arm is positioned near the green garbage can lid, which remains closed. To lift it, the gripper must engage the lid’s edge and apply upward force. In the next visual state, the lid should be partially or fully raised, revealing the can’s interior, while the arm repositions slightly upward to maintain grip, ... | The green garbage can lid remains closed in both frames with no visible change in position or orientation, indicating no lifting action occurred. Since the goal to lift the lid is unmet and no progress is evident, the system must initiate movement toward the lid. subtask: approach | 99 | 109 | 0 | 99 | 0 | lift open green garbage can lid |
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