action list | observation.state list | timestamp float32 0 26 | frame_index int64 0 779 | episode_index int64 0 49 | index int64 0 32.6k | task_index int64 0 0 | language_persistent listlengths 13 17 | language_events listlengths 0 3 | tools stringclasses 1
value |
|---|---|---|---|---|---|---|---|---|---|
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{
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"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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] | 3.4 | 102 | 0 | 102 | 0 | [
{
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"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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{
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"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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] | 3.5 | 105 | 0 | 105 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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] | 3.566667 | 107 | 0 | 107 | 0 | [
{
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"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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] | 3.6 | 108 | 0 | 108 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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] | 3.633333 | 109 | 0 | 109 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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] | 3.666667 | 110 | 0 | 110 | 0 | [
{
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"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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{
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"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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] | 3.766667 | 113 | 0 | 113 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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{
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"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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] | 3.833333 | 115 | 0 | 115 | 0 | [
{
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"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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] | 3.866667 | 116 | 0 | 116 | 0 | [
{
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"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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] | 3.9 | 117 | 0 | 117 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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{
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"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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{
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"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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{
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"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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{
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{
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"role": "assistant",
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{
"role": "assistant",
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"role": "assistant",
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{
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"role": "assistant",
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{
"role": "assistant",
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{
"role": "assistant",
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{
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"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
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33.18681335449219,
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
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{
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"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
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{
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{
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{
"function": {
"arguments": {
"text": "Understood, I will place the yellow cube in the red bin."
},
"name": "say"
},
"type": "function"
}
]
},
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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0.8547008633613586,
60.36629867553711
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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11.550671577453613,
28.30280876159668,
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60.36629867553711
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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12.234432220458984,
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1.245421290397644,
60.68376159667969
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12.429792404174805,
27.765567779541016,
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0.9035409092903137,
60.36629867553711
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
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12.771673202514648,
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [
{
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"content": "{\"attribute\": \"color\", \"label\": \"cube\", \"value\": \"blue\"}",
"style": "vqa",
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},
{
"role": "user",
"content": "What is the color of the cube that the robot is currently holding?",
"style": "vqa",
"tool_calls": null
... | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
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] | 5.266667 | 158 | 0 | 158 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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15.409035682678223,
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21.41636085510254,
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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16.581195831298828,
21.22100067138672,
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1.3431013822555542,
60.31745910644531
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
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16.53235626220703,
20.9768009185791,
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60.31745910644531
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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20.683761596679688,
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60.29304122924805
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
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] | 5.466667 | 164 | 0 | 164 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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16.53235626220703,
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] | 5.566667 | 167 | 0 | 167 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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1.245421290397644,
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16.581195831298828,
20.097681045532227,
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1.3431013822555542,
60.07326126098633
] | 5.6 | 168 | 0 | 168 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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16.581195831298828,
19.902318954467773,
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1.3431013822555542,
60
] | 5.633333 | 169 | 0 | 169 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
27.91208839416504,
15.506715774536133,
18.925518035888672,
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1.2942613363265991,
59.70695877075195
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27.27716636657715,
16.581195831298828,
19.60927963256836,
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1.3431013822555542,
59.92673873901367
] | 5.666667 | 170 | 0 | 170 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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15.55555534362793,
18.827838897705078,
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1.2942613363265991,
59.70695877075195
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16.581195831298828,
19.511598587036133,
-34.261295318603516,
1.3431013822555542,
59.902320861816406
] | 5.7 | 171 | 0 | 171 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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15.75091552734375,
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19.41391944885254,
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1.3431013822555542,
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] | 5.733333 | 172 | 0 | 172 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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19.41391944885254,
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1.3919414281845093,
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
28.644689559936523,
16.385835647583008,
18.9743595123291,
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16.825397491455078,
19.41391944885254,
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1.3919414281845093,
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
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16.678876876831055,
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17.16727638244629,
19.41391944885254,
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1.5384615659713745,
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
28.937728881835938,
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17.460317611694336,
19.41391944885254,
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1.7338217496871948,
59.877899169921875
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
28.986568450927734,
17.36263656616211,
18.681318283081055,
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17.80219841003418,
19.41391944885254,
-34.261295318603516,
2.026862144470215,
59.877899169921875
] | 5.9 | 177 | 0 | 177 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
28.937728881835938,
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18.19291877746582,
19.41391944885254,
-34.261295318603516,
2.4175825119018555,
59.877899169921875
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{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
28.937728881835938,
17.655677795410156,
18.53479766845703,
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18.53479766845703,
19.365079879760742,
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2.710622787475586,
59.877899169921875
] | 5.966667 | 179 | 0 | 179 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
28.88888931274414,
17.704517364501953,
18.58363914489746,
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18.73015785217285,
19.267398834228516,
-34.261295318603516,
3.0036630630493164,
59.877899169921875
] | 6 | 180 | 0 | 180 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
28.88888931274414,
17.899877548217773,
18.53479766845703,
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3.443223476409912,
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18.925518035888672,
19.21855926513672,
-34.261295318603516,
3.1990232467651367,
59.877899169921875
] | 6.033333 | 181 | 0 | 181 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
28.88888931274414,
18.290597915649414,
18.38827896118164,
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3.492063522338867,
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19.0231990814209,
19.21855926513672,
-34.261295318603516,
3.345543384552002,
59.877899169921875
] | 6.066667 | 182 | 0 | 182 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
28.88888931274414,
18.77899932861328,
18.19291877746582,
-40.36629867553711,
3.492063522338867,
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28.644689559936523,
19.120878219604492,
19.120878219604492,
-34.261295318603516,
3.492063522338867,
59.877899169921875
] | 6.1 | 183 | 0 | 183 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
28.88888931274414,
19.169719696044922,
17.75335693359375,
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3.492063522338867,
59.731380462646484
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28.644689559936523,
19.41391944885254,
18.925518035888672,
-34.261295318603516,
3.5409035682678223,
59.877899169921875
] | 6.133333 | 184 | 0 | 184 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
28.840049743652344,
19.41391944885254,
17.313796997070312,
-40.41514205932617,
3.492063522338867,
59.60927963256836
] | [
28.644689559936523,
19.80463981628418,
18.53479766845703,
-34.31013488769531,
3.296703338623047,
59.877899169921875
] | 6.166667 | 185 | 0 | 185 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
28.840049743652344,
19.658119201660156,
16.923076629638672,
-40.41514205932617,
3.5897436141967773,
59.120880126953125
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28.644689559936523,
20.146520614624023,
18.095237731933594,
-34.31013488769531,
3.247863292694092,
59.85348129272461
] | 6.2 | 186 | 0 | 186 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
28.840049743652344,
19.902318954467773,
16.678876876831055,
-40.41514205932617,
3.7851037979125977,
58.485958099365234
] | [
28.644689559936523,
20.439559936523438,
17.655677795410156,
-34.261295318603516,
3.247863292694092,
59.70695877075195
] | 6.233333 | 187 | 0 | 187 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
28.840049743652344,
20.097681045532227,
16.434677124023438,
-40.41514205932617,
3.980463981628418,
57.899879455566406
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28.595848083496094,
20.732601165771484,
17.21611785888672,
-34.261295318603516,
3.296703338623047,
59.43833923339844
] | 6.266667 | 188 | 0 | 188 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
28.840049743652344,
20.293041229248047,
16.385835647583008,
-40.512821197509766,
4.175824165344238,
57.21611785888672
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28.595848083496094,
20.927961349487305,
17.118436813354492,
-34.31013488769531,
3.345543384552002,
59.096458435058594
] | 6.3 | 189 | 0 | 189 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
28.840049743652344,
20.341880798339844,
16.385835647583008,
-40.56166076660156,
4.420024394989014,
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21.123321533203125,
17.0207576751709,
-34.31013488769531,
3.345543384552002,
58.68132019042969
] | 6.333333 | 190 | 0 | 190 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
28.69352912902832,
20.341880798339844,
16.434677124023438,
-40.80586242675781,
4.9084248542785645,
53.015872955322266
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28.4981689453125,
21.172161102294922,
17.0207576751709,
-34.60317611694336,
3.394383430480957,
58.21733856201172
] | 6.366667 | 191 | 0 | 191 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
28.69352912902832,
20.341880798339844,
16.33699607849121,
-41.29426193237305,
5.494505405426025,
50.91575241088867
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21.26984214782715,
16.97191619873047,
-35.18925476074219,
3.492063522338867,
57.4603157043457
] | 6.4 | 192 | 0 | 192 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
28.69352912902832,
20.293041229248047,
16.33699607849121,
-42.124542236328125,
6.080585956573486,
47.10622787475586
] | [
28.351648330688477,
21.318681716918945,
16.97191619873047,
-35.628814697265625,
3.7362637519836426,
56.19047546386719
] | 6.433333 | 193 | 0 | 193 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
28.840049743652344,
20.293041229248047,
16.385835647583008,
-42.85714340209961,
6.227106094360352,
46.56898498535156
] | [
28.351648330688477,
21.318681716918945,
16.97191619873047,
-35.72649383544922,
4.175824165344238,
54.52991485595703
] | 6.466667 | 194 | 0 | 194 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
28.88888931274414,
20.293041229248047,
16.239316940307617,
-43.44322204589844,
6.275946140289307,
46.520145416259766
] | [
28.4981689453125,
21.318681716918945,
16.874237060546875,
-35.97069549560547,
5.05494499206543,
52.79609298706055
] | 6.5 | 195 | 0 | 195 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
28.840049743652344,
20.39072036743164,
16.092796325683594,
-43.492061614990234,
6.1782660484313965,
46.520145416259766
] | [
28.742368698120117,
21.318681716918945,
16.874237060546875,
-36.263736724853516,
5.689865589141846,
52.5518913269043
] | 6.533333 | 196 | 0 | 196 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
28.840049743652344,
20.39072036743164,
15.94627571105957,
-43.492061614990234,
6.1782660484313965,
46.520145416259766
] | [
28.88888931274414,
21.367521286010742,
16.77655601501465,
-36.410255432128906,
5.738705635070801,
52.5518913269043
] | 6.566667 | 197 | 0 | 197 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
28.742368698120117,
20.341880798339844,
15.702075958251953,
-43.44322204589844,
6.227106094360352,
46.520145416259766
] | [
28.88888931274414,
21.367521286010742,
16.630037307739258,
-36.410255432128906,
5.934065818786621,
52.5518913269043
] | 6.6 | 198 | 0 | 198 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
[
28.644689559936523,
20.341880798339844,
15.506715774536133,
-43.44322204589844,
6.1782660484313965,
46.520145416259766
] | [
28.791208267211914,
21.41636085510254,
16.434677124023438,
-36.410255432128906,
6.227106094360352,
52.5518913269043
] | 6.633333 | 199 | 0 | 199 | 0 | [
{
"role": "assistant",
"content": "1. Move the robotic arm towards the blue cube.\n2. Grasp the blue cube with the gripper.\n3. Lift the blue cube and move it towards the green box.\n4. Release the blue cube into the green box.\n5. Move the robotic arm towards the yellow cube.\n6. Grasp the yellow cube with... | [] | [{"function": {"description": "Speak a short utterance to the user via the TTS executor.", "name": "say", "parameters": {"properties": {"text": {"description": "The verbatim text to speak.", "type": "string"}}, "required": ["text"], "type": "object"}}, "type": "function"}] |
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