diff --git "a/data/test_data/tests_unseen_iter.jsonl" "b/data/test_data/tests_unseen_iter.jsonl" new file mode 100644--- /dev/null +++ "b/data/test_data/tests_unseen_iter.jsonl" @@ -0,0 +1,5299 @@ +{"id": "trial_T20190909_040212_128194-1%0", "input": "Move keys from top of desk to below", "output": ["STEP 1: Turn around, walk to desk"]} +{"id": "trial_T20190909_040212_128194-1%1", "input": "Move keys from top of desk to below | STEP 1: Turn around, walk to desk", "output": ["STEP 2: Pick up keys off of desk"]} +{"id": "trial_T20190909_040212_128194-1%2", "input": "Move keys from top of desk to below | STEP 1: Turn around, walk to desk | STEP 2: Pick up keys off of desk", "output": ["STEP 3: Turn around twice and end up facing the desk"]} +{"id": "trial_T20190909_040212_128194-1%3", "input": "Move keys from top of desk to below | STEP 1: Turn around, walk to desk | STEP 2: Pick up keys off of desk | STEP 3: Turn around twice and end up facing the desk", "output": ["STEP 4: Put keys on top of drawers under the desk"]} +{"id": "trial_T20190909_040212_128194-1%4", "input": "Move keys from top of desk to below | STEP 1: Turn around, walk to desk | STEP 2: Pick up keys off of desk | STEP 3: Turn around twice and end up facing the desk | STEP 4: Put keys on top of drawers under the desk", "output": ["END"]} +{"id": "trial_T20190909_040212_128194-2%0", "input": "Move keys from the desk to the dresser.", "output": ["STEP 1: Turn around and move to the desk along the wall."]} +{"id": "trial_T20190909_040212_128194-2%1", "input": "Move keys from the desk to the dresser. | STEP 1: Turn around and move to the desk along the wall.", "output": ["STEP 2: Pick up the keys from the back of the desk."]} +{"id": "trial_T20190909_040212_128194-2%2", "input": "Move keys from the desk to the dresser. | STEP 1: Turn around and move to the desk along the wall. | STEP 2: Pick up the keys from the back of the desk.", "output": ["STEP 3: Carry the keys and turn around."]} +{"id": "trial_T20190909_040212_128194-2%3", "input": "Move keys from the desk to the dresser. | STEP 1: Turn around and move to the desk along the wall. | STEP 2: Pick up the keys from the back of the desk. | STEP 3: Carry the keys and turn around.", "output": ["STEP 4: Place the keys on the brown dresser below the desk."]} +{"id": "trial_T20190909_040212_128194-2%4", "input": "Move keys from the desk to the dresser. | STEP 1: Turn around and move to the desk along the wall. | STEP 2: Pick up the keys from the back of the desk. | STEP 3: Carry the keys and turn around. | STEP 4: Place the keys on the brown dresser below the desk.", "output": ["END"]} +{"id": "trial_T20190909_101422_952563-1%0", "input": "Place a microwaved slice of potato into the trash can.", "output": ["STEP 1: Head towards the door then right towards the sink."]} +{"id": "trial_T20190909_101422_952563-1%1", "input": "Place a microwaved slice of potato into the trash can. | STEP 1: Head towards the door then right towards the sink.", "output": ["STEP 2: Pick up the knife inside the sink."]} +{"id": "trial_T20190909_101422_952563-1%2", "input": "Place a microwaved slice of potato into the trash can. | STEP 1: Head towards the door then right towards the sink. | STEP 2: Pick up the knife inside the sink.", "output": ["STEP 3: Turn around then right towards the wall, turn left towards the counter top."]} +{"id": "trial_T20190909_101422_952563-1%3", "input": "Place a microwaved slice of potato into the trash can. | STEP 1: Head towards the door then right towards the sink. | STEP 2: Pick up the knife inside the sink. | STEP 3: Turn around then right towards the wall, turn left towards the counter top.", "output": ["STEP 4: Cut the potato on the counter top. "]} +{"id": "trial_T20190909_101422_952563-1%4", "input": "Place a microwaved slice of potato into the trash can. | STEP 1: Head towards the door then right towards the sink. | STEP 2: Pick up the knife inside the sink. | STEP 3: Turn around then right towards the wall, turn left towards the counter top. | STEP 4: Cut the potato on the counter top. ", "output": ["STEP 5: Turn left then head towards the stove"]} +{"id": "trial_T20190909_101422_952563-1%5", "input": "Place a microwaved slice of potato into the trash can. | STEP 1: Head towards the door then right towards the sink. | STEP 2: Pick up the knife inside the sink. | STEP 3: Turn around then right towards the wall, turn left towards the counter top. | STEP 4: Cut the potato on the counter top. | STEP 5: Turn left then head towards the stove", "output": ["STEP 6: Place the knife into the microwave located above the stove."]} +{"id": "trial_T20190909_101422_952563-1%6", "input": "Place a microwaved slice of potato into the trash can. | STEP 1: Head towards the door then right towards the sink. | STEP 2: Pick up the knife inside the sink. | STEP 3: Turn around then right towards the wall, turn left towards the counter top. | STEP 4: Cut the potato on the counter top. | STEP 5: Turn left then head towards the stove | STEP 6: Place the knife into the microwave located above the stove.", "output": ["STEP 7: Turn right then head towards the wall then left towards the counter top."]} +{"id": "trial_T20190909_101422_952563-1%7", "input": "Place a microwaved slice of potato into the trash can. | STEP 1: Head towards the door then right towards the sink. | STEP 2: Pick up the knife inside the sink. | STEP 3: Turn around then right towards the wall, turn left towards the counter top. | STEP 4: Cut the potato on the counter top. | STEP 5: Turn left then head towards the stove | STEP 6: Place the knife into the microwave located above the stove. | STEP 7: Turn right then head towards the wall then left towards the counter top.", "output": ["STEP 8: Pick up a potato slice from the counter top."]} +{"id": "trial_T20190909_101422_952563-1%8", "input": "Place a microwaved slice of potato into the trash can. | STEP 1: Head towards the door then right towards the sink. | STEP 2: Pick up the knife inside the sink. | STEP 3: Turn around then right towards the wall, turn left towards the counter top. | STEP 4: Cut the potato on the counter top. | STEP 5: Turn left then head towards the stove | STEP 6: Place the knife into the microwave located above the stove. | STEP 7: Turn right then head towards the wall then left towards the counter top. | STEP 8: Pick up a potato slice from the counter top.", "output": ["STEP 9: Turn left then head towards the stove, turn right towards the microwave."]} +{"id": "trial_T20190909_101422_952563-1%9", "input": "Place a microwaved slice of potato into the trash can. | STEP 1: Head towards the door then right towards the sink. | STEP 2: Pick up the knife inside the sink. | STEP 3: Turn around then right towards the wall, turn left towards the counter top. | STEP 4: Cut the potato on the counter top. | STEP 5: Turn left then head towards the stove | STEP 6: Place the knife into the microwave located above the stove. | STEP 7: Turn right then head towards the wall then left towards the counter top. | STEP 8: Pick up a potato slice from the counter top. | STEP 9: Turn left then head towards the stove, turn right towards the microwave.", "output": ["STEP 10: Place the potato slice into the microwave, close the door then turn it on."]} +{"id": "trial_T20190909_101422_952563-1%10", "input": "Place a microwaved slice of potato into the trash can. | STEP 1: Head towards the door then right towards the sink. | STEP 2: Pick up the knife inside the sink. | STEP 3: Turn around then right towards the wall, turn left towards the counter top. | STEP 4: Cut the potato on the counter top. | STEP 5: Turn left then head towards the stove | STEP 6: Place the knife into the microwave located above the stove. | STEP 7: Turn right then head towards the wall then left towards the counter top. | STEP 8: Pick up a potato slice from the counter top. | STEP 9: Turn left then head towards the stove, turn right towards the microwave. | STEP 10: Place the potato slice into the microwave, close the door then turn it on.", "output": ["STEP 11: Turn left then head towards wall, right towards the door, then left towards the trash can."]} +{"id": "trial_T20190909_101422_952563-1%11", "input": "Place a microwaved slice of potato into the trash can. | STEP 1: Head towards the door then right towards the sink. | STEP 2: Pick up the knife inside the sink. | STEP 3: Turn around then right towards the wall, turn left towards the counter top. | STEP 4: Cut the potato on the counter top. | STEP 5: Turn left then head towards the stove | STEP 6: Place the knife into the microwave located above the stove. | STEP 7: Turn right then head towards the wall then left towards the counter top. | STEP 8: Pick up a potato slice from the counter top. | STEP 9: Turn left then head towards the stove, turn right towards the microwave. | STEP 10: Place the potato slice into the microwave, close the door then turn it on. | STEP 11: Turn left then head towards wall, right towards the door, then left towards the trash can.", "output": ["STEP 12: Place the potato slice into the trash can."]} +{"id": "trial_T20190909_101422_952563-1%12", "input": "Place a microwaved slice of potato into the trash can. | STEP 1: Head towards the door then right towards the sink. | STEP 2: Pick up the knife inside the sink. | STEP 3: Turn around then right towards the wall, turn left towards the counter top. | STEP 4: Cut the potato on the counter top. | STEP 5: Turn left then head towards the stove | STEP 6: Place the knife into the microwave located above the stove. | STEP 7: Turn right then head towards the wall then left towards the counter top. | STEP 8: Pick up a potato slice from the counter top. | STEP 9: Turn left then head towards the stove, turn right towards the microwave. | STEP 10: Place the potato slice into the microwave, close the door then turn it on. | STEP 11: Turn left then head towards wall, right towards the door, then left towards the trash can. | STEP 12: Place the potato slice into the trash can.", "output": ["END"]} +{"id": "trial_T20190909_113622_708422-0%0", "input": "Put a chilled bowl away in a kitchen cabinet.", "output": ["STEP 1: Turn left and go to the left of the stove."]} +{"id": "trial_T20190909_113622_708422-0%1", "input": "Put a chilled bowl away in a kitchen cabinet. | STEP 1: Turn left and go to the left of the stove.", "output": ["STEP 2: Pick up the bowl from the counter on the left side of the stove."]} +{"id": "trial_T20190909_113622_708422-0%2", "input": "Put a chilled bowl away in a kitchen cabinet. | STEP 1: Turn left and go to the left of the stove. | STEP 2: Pick up the bowl from the counter on the left side of the stove.", "output": ["STEP 3: Turn right and go to the fridge near the far wall."]} +{"id": "trial_T20190909_113622_708422-0%3", "input": "Put a chilled bowl away in a kitchen cabinet. | STEP 1: Turn left and go to the left of the stove. | STEP 2: Pick up the bowl from the counter on the left side of the stove. | STEP 3: Turn right and go to the fridge near the far wall.", "output": ["STEP 4: Chill the bowl in the fridge, then take it out again."]} +{"id": "trial_T20190909_113622_708422-0%4", "input": "Put a chilled bowl away in a kitchen cabinet. | STEP 1: Turn left and go to the left of the stove. | STEP 2: Pick up the bowl from the counter on the left side of the stove. | STEP 3: Turn right and go to the fridge near the far wall. | STEP 4: Chill the bowl in the fridge, then take it out again.", "output": ["STEP 5: Take the bowl to the cabinet under the countertop to the right of the fridge."]} +{"id": "trial_T20190909_113622_708422-0%5", "input": "Put a chilled bowl away in a kitchen cabinet. | STEP 1: Turn left and go to the left of the stove. | STEP 2: Pick up the bowl from the counter on the left side of the stove. | STEP 3: Turn right and go to the fridge near the far wall. | STEP 4: Chill the bowl in the fridge, then take it out again. | STEP 5: Take the bowl to the cabinet under the countertop to the right of the fridge.", "output": ["STEP 6: Open the right side door of the cabinet and put the bowl away in it."]} +{"id": "trial_T20190909_113622_708422-0%6", "input": "Put a chilled bowl away in a kitchen cabinet. | STEP 1: Turn left and go to the left of the stove. | STEP 2: Pick up the bowl from the counter on the left side of the stove. | STEP 3: Turn right and go to the fridge near the far wall. | STEP 4: Chill the bowl in the fridge, then take it out again. | STEP 5: Take the bowl to the cabinet under the countertop to the right of the fridge. | STEP 6: Open the right side door of the cabinet and put the bowl away in it.", "output": ["END"]} +{"id": "trial_T20190908_044339_918732-0%0", "input": "Put the chilled tomato slice in the microwave", "output": ["STEP 1: Turn left and walk up to the kitchen counter"]} +{"id": "trial_T20190908_044339_918732-0%1", "input": "Put the chilled tomato slice in the microwave | STEP 1: Turn left and walk up to the kitchen counter", "output": ["STEP 2: Pick up the butter knife from the counter"]} +{"id": "trial_T20190908_044339_918732-0%2", "input": "Put the chilled tomato slice in the microwave | STEP 1: Turn left and walk up to the kitchen counter | STEP 2: Pick up the butter knife from the counter", "output": ["STEP 3: Use the knife to cut the tomato on the counter"]} +{"id": "trial_T20190908_044339_918732-0%3", "input": "Put the chilled tomato slice in the microwave | STEP 1: Turn left and walk up to the kitchen counter | STEP 2: Pick up the butter knife from the counter | STEP 3: Use the knife to cut the tomato on the counter", "output": ["STEP 4: Turn left and walk to the left side of the counter facing back toward the oven"]} +{"id": "trial_T20190908_044339_918732-0%4", "input": "Put the chilled tomato slice in the microwave | STEP 1: Turn left and walk up to the kitchen counter | STEP 2: Pick up the butter knife from the counter | STEP 3: Use the knife to cut the tomato on the counter | STEP 4: Turn left and walk to the left side of the counter facing back toward the oven", "output": ["STEP 5: Put the knife down on the counter"]} +{"id": "trial_T20190908_044339_918732-0%5", "input": "Put the chilled tomato slice in the microwave | STEP 1: Turn left and walk up to the kitchen counter | STEP 2: Pick up the butter knife from the counter | STEP 3: Use the knife to cut the tomato on the counter | STEP 4: Turn left and walk to the left side of the counter facing back toward the oven | STEP 5: Put the knife down on the counter", "output": ["STEP 6: Walk forward around the edge of the counter then turn left to face it"]} +{"id": "trial_T20190908_044339_918732-0%6", "input": "Put the chilled tomato slice in the microwave | STEP 1: Turn left and walk up to the kitchen counter | STEP 2: Pick up the butter knife from the counter | STEP 3: Use the knife to cut the tomato on the counter | STEP 4: Turn left and walk to the left side of the counter facing back toward the oven | STEP 5: Put the knife down on the counter | STEP 6: Walk forward around the edge of the counter then turn left to face it", "output": ["STEP 7: Pick up a tomato slice from the counter"]} +{"id": "trial_T20190908_044339_918732-0%7", "input": "Put the chilled tomato slice in the microwave | STEP 1: Turn left and walk up to the kitchen counter | STEP 2: Pick up the butter knife from the counter | STEP 3: Use the knife to cut the tomato on the counter | STEP 4: Turn left and walk to the left side of the counter facing back toward the oven | STEP 5: Put the knife down on the counter | STEP 6: Walk forward around the edge of the counter then turn left to face it | STEP 7: Pick up a tomato slice from the counter", "output": ["STEP 8: Turn left and walk over to the fridge"]} +{"id": "trial_T20190908_044339_918732-0%8", "input": "Put the chilled tomato slice in the microwave | STEP 1: Turn left and walk up to the kitchen counter | STEP 2: Pick up the butter knife from the counter | STEP 3: Use the knife to cut the tomato on the counter | STEP 4: Turn left and walk to the left side of the counter facing back toward the oven | STEP 5: Put the knife down on the counter | STEP 6: Walk forward around the edge of the counter then turn left to face it | STEP 7: Pick up a tomato slice from the counter | STEP 8: Turn left and walk over to the fridge", "output": ["STEP 9: Put the tomato in the fridge then remove it"]} +{"id": "trial_T20190908_044339_918732-0%9", "input": "Put the chilled tomato slice in the microwave | STEP 1: Turn left and walk up to the kitchen counter | STEP 2: Pick up the butter knife from the counter | STEP 3: Use the knife to cut the tomato on the counter | STEP 4: Turn left and walk to the left side of the counter facing back toward the oven | STEP 5: Put the knife down on the counter | STEP 6: Walk forward around the edge of the counter then turn left to face it | STEP 7: Pick up a tomato slice from the counter | STEP 8: Turn left and walk over to the fridge | STEP 9: Put the tomato in the fridge then remove it", "output": ["STEP 10: Turn right and walk over to the microwave above the stove"]} +{"id": "trial_T20190908_044339_918732-0%10", "input": "Put the chilled tomato slice in the microwave | STEP 1: Turn left and walk up to the kitchen counter | STEP 2: Pick up the butter knife from the counter | STEP 3: Use the knife to cut the tomato on the counter | STEP 4: Turn left and walk to the left side of the counter facing back toward the oven | STEP 5: Put the knife down on the counter | STEP 6: Walk forward around the edge of the counter then turn left to face it | STEP 7: Pick up a tomato slice from the counter | STEP 8: Turn left and walk over to the fridge | STEP 9: Put the tomato in the fridge then remove it | STEP 10: Turn right and walk over to the microwave above the stove", "output": ["STEP 11: Put the tomato slice in the microwave"]} +{"id": "trial_T20190908_044339_918732-0%11", "input": "Put the chilled tomato slice in the microwave | STEP 1: Turn left and walk up to the kitchen counter | STEP 2: Pick up the butter knife from the counter | STEP 3: Use the knife to cut the tomato on the counter | STEP 4: Turn left and walk to the left side of the counter facing back toward the oven | STEP 5: Put the knife down on the counter | STEP 6: Walk forward around the edge of the counter then turn left to face it | STEP 7: Pick up a tomato slice from the counter | STEP 8: Turn left and walk over to the fridge | STEP 9: Put the tomato in the fridge then remove it | STEP 10: Turn right and walk over to the microwave above the stove | STEP 11: Put the tomato slice in the microwave", "output": ["END"]} +{"id": "trial_T20190908_123536_170505-2%0", "input": "Put a statue down on a table.", "output": ["STEP 1: Go to the left and turn left to face the table with the plant on it."]} +{"id": "trial_T20190908_123536_170505-2%1", "input": "Put a statue down on a table. | STEP 1: Go to the left and turn left to face the table with the plant on it.", "output": ["STEP 2: Pick the statue up from the table."]} +{"id": "trial_T20190908_123536_170505-2%2", "input": "Put a statue down on a table. | STEP 1: Go to the left and turn left to face the table with the plant on it. | STEP 2: Pick the statue up from the table.", "output": ["STEP 3: Go to the left and face the table in the corner."]} +{"id": "trial_T20190908_123536_170505-2%3", "input": "Put a statue down on a table. | STEP 1: Go to the left and turn left to face the table with the plant on it. | STEP 2: Pick the statue up from the table. | STEP 3: Go to the left and face the table in the corner.", "output": ["STEP 4: Put the statue down on the table."]} +{"id": "trial_T20190908_123536_170505-2%4", "input": "Put a statue down on a table. | STEP 1: Go to the left and turn left to face the table with the plant on it. | STEP 2: Pick the statue up from the table. | STEP 3: Go to the left and face the table in the corner. | STEP 4: Put the statue down on the table.", "output": ["END"]} +{"id": "trial_T20190908_125234_061434-1%0", "input": "Move the wristwatch from the coffee table to the dresser.", "output": ["STEP 1: Turn left and walk to the coffee table."]} +{"id": "trial_T20190908_125234_061434-1%1", "input": "Move the wristwatch from the coffee table to the dresser. | STEP 1: Turn left and walk to the coffee table.", "output": ["STEP 2: Pick up the wristwatch from the coffee table."]} +{"id": "trial_T20190908_125234_061434-1%2", "input": "Move the wristwatch from the coffee table to the dresser. | STEP 1: Turn left and walk to the coffee table. | STEP 2: Pick up the wristwatch from the coffee table.", "output": ["STEP 3: Turn left and walk to the dresser with statues on it."]} +{"id": "trial_T20190908_125234_061434-1%3", "input": "Move the wristwatch from the coffee table to the dresser. | STEP 1: Turn left and walk to the coffee table. | STEP 2: Pick up the wristwatch from the coffee table. | STEP 3: Turn left and walk to the dresser with statues on it.", "output": ["STEP 4: Put the wristwatch down on the dresser to the right of the grey statue."]} +{"id": "trial_T20190908_125234_061434-1%4", "input": "Move the wristwatch from the coffee table to the dresser. | STEP 1: Turn left and walk to the coffee table. | STEP 2: Pick up the wristwatch from the coffee table. | STEP 3: Turn left and walk to the dresser with statues on it. | STEP 4: Put the wristwatch down on the dresser to the right of the grey statue.", "output": ["END"]} +{"id": "trial_T20190918_203807_287151-1%0", "input": "Place a warm egg on the counter.", "output": ["STEP 1: Walk to the sink to your left."]} +{"id": "trial_T20190918_203807_287151-1%1", "input": "Place a warm egg on the counter. | STEP 1: Walk to the sink to your left.", "output": ["STEP 2: Grab the egg sitting between the bread and knife to the left of the sink."]} +{"id": "trial_T20190918_203807_287151-1%2", "input": "Place a warm egg on the counter. | STEP 1: Walk to the sink to your left. | STEP 2: Grab the egg sitting between the bread and knife to the left of the sink.", "output": ["STEP 3: Turn left, walk straight to the wall, turn left to face the oven, and look up to face the microwave."]} +{"id": "trial_T20190918_203807_287151-1%3", "input": "Place a warm egg on the counter. | STEP 1: Walk to the sink to your left. | STEP 2: Grab the egg sitting between the bread and knife to the left of the sink. | STEP 3: Turn left, walk straight to the wall, turn left to face the oven, and look up to face the microwave.", "output": ["STEP 4: Place the egg next to the cup inside the microwave, heat it and then remove the egg."]} +{"id": "trial_T20190918_203807_287151-1%4", "input": "Place a warm egg on the counter. | STEP 1: Walk to the sink to your left. | STEP 2: Grab the egg sitting between the bread and knife to the left of the sink. | STEP 3: Turn left, walk straight to the wall, turn left to face the oven, and look up to face the microwave. | STEP 4: Place the egg next to the cup inside the microwave, heat it and then remove the egg.", "output": ["STEP 5: Look down, turn left and walk to the toaster on the counter to your right."]} +{"id": "trial_T20190918_203807_287151-1%5", "input": "Place a warm egg on the counter. | STEP 1: Walk to the sink to your left. | STEP 2: Grab the egg sitting between the bread and knife to the left of the sink. | STEP 3: Turn left, walk straight to the wall, turn left to face the oven, and look up to face the microwave. | STEP 4: Place the egg next to the cup inside the microwave, heat it and then remove the egg. | STEP 5: Look down, turn left and walk to the toaster on the counter to your right.", "output": ["STEP 6: Place the warm egg on the edge of the counter."]} +{"id": "trial_T20190918_203807_287151-1%6", "input": "Place a warm egg on the counter. | STEP 1: Walk to the sink to your left. | STEP 2: Grab the egg sitting between the bread and knife to the left of the sink. | STEP 3: Turn left, walk straight to the wall, turn left to face the oven, and look up to face the microwave. | STEP 4: Place the egg next to the cup inside the microwave, heat it and then remove the egg. | STEP 5: Look down, turn left and walk to the toaster on the counter to your right. | STEP 6: Place the warm egg on the edge of the counter.", "output": ["END"]} +{"id": "trial_T20190908_044517_056279-2%0", "input": "Place a chilled tomato slice in the microwave.", "output": ["STEP 1: Turn right, move to the counter near the coffee machine."]} +{"id": "trial_T20190908_044517_056279-2%1", "input": "Place a chilled tomato slice in the microwave. | STEP 1: Turn right, move to the counter near the coffee machine.", "output": ["STEP 2: Pick up the knife from the counter."]} +{"id": "trial_T20190908_044517_056279-2%2", "input": "Place a chilled tomato slice in the microwave. | STEP 1: Turn right, move to the counter near the coffee machine. | STEP 2: Pick up the knife from the counter.", "output": ["STEP 3: Turn left, move to the blue bin, near the door."]} +{"id": "trial_T20190908_044517_056279-2%3", "input": "Place a chilled tomato slice in the microwave. | STEP 1: Turn right, move to the counter near the coffee machine. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, move to the blue bin, near the door.", "output": ["STEP 4: Slice the far away tomato that is in the blue bin."]} +{"id": "trial_T20190908_044517_056279-2%4", "input": "Place a chilled tomato slice in the microwave. | STEP 1: Turn right, move to the counter near the coffee machine. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, move to the blue bin, near the door. | STEP 4: Slice the far away tomato that is in the blue bin.", "output": ["STEP 5: Turn right, move to in front of the stove."]} +{"id": "trial_T20190908_044517_056279-2%5", "input": "Place a chilled tomato slice in the microwave. | STEP 1: Turn right, move to the counter near the coffee machine. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, move to the blue bin, near the door. | STEP 4: Slice the far away tomato that is in the blue bin. | STEP 5: Turn right, move to in front of the stove.", "output": ["STEP 6: Put the knife in the microwave."]} +{"id": "trial_T20190908_044517_056279-2%6", "input": "Place a chilled tomato slice in the microwave. | STEP 1: Turn right, move to the counter near the coffee machine. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, move to the blue bin, near the door. | STEP 4: Slice the far away tomato that is in the blue bin. | STEP 5: Turn right, move to in front of the stove. | STEP 6: Put the knife in the microwave.", "output": ["STEP 7: Turn left, move to the blue bin, near the door."]} +{"id": "trial_T20190908_044517_056279-2%7", "input": "Place a chilled tomato slice in the microwave. | STEP 1: Turn right, move to the counter near the coffee machine. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, move to the blue bin, near the door. | STEP 4: Slice the far away tomato that is in the blue bin. | STEP 5: Turn right, move to in front of the stove. | STEP 6: Put the knife in the microwave. | STEP 7: Turn left, move to the blue bin, near the door.", "output": ["STEP 8: Pick up a slice of tomato from the blue bin."]} +{"id": "trial_T20190908_044517_056279-2%8", "input": "Place a chilled tomato slice in the microwave. | STEP 1: Turn right, move to the counter near the coffee machine. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, move to the blue bin, near the door. | STEP 4: Slice the far away tomato that is in the blue bin. | STEP 5: Turn right, move to in front of the stove. | STEP 6: Put the knife in the microwave. | STEP 7: Turn left, move to the blue bin, near the door. | STEP 8: Pick up a slice of tomato from the blue bin.", "output": ["STEP 9: Turn right, move to in front of the refrigerator."]} +{"id": "trial_T20190908_044517_056279-2%9", "input": "Place a chilled tomato slice in the microwave. | STEP 1: Turn right, move to the counter near the coffee machine. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, move to the blue bin, near the door. | STEP 4: Slice the far away tomato that is in the blue bin. | STEP 5: Turn right, move to in front of the stove. | STEP 6: Put the knife in the microwave. | STEP 7: Turn left, move to the blue bin, near the door. | STEP 8: Pick up a slice of tomato from the blue bin. | STEP 9: Turn right, move to in front of the refrigerator.", "output": ["STEP 10: Put the tomato slice in the refrigerator, chill it, pick it back up."]} +{"id": "trial_T20190908_044517_056279-2%10", "input": "Place a chilled tomato slice in the microwave. | STEP 1: Turn right, move to the counter near the coffee machine. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, move to the blue bin, near the door. | STEP 4: Slice the far away tomato that is in the blue bin. | STEP 5: Turn right, move to in front of the stove. | STEP 6: Put the knife in the microwave. | STEP 7: Turn left, move to the blue bin, near the door. | STEP 8: Pick up a slice of tomato from the blue bin. | STEP 9: Turn right, move to in front of the refrigerator. | STEP 10: Put the tomato slice in the refrigerator, chill it, pick it back up.", "output": ["STEP 11: Turn right, move to in front of the stove."]} +{"id": "trial_T20190908_044517_056279-2%11", "input": "Place a chilled tomato slice in the microwave. | STEP 1: Turn right, move to the counter near the coffee machine. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, move to the blue bin, near the door. | STEP 4: Slice the far away tomato that is in the blue bin. | STEP 5: Turn right, move to in front of the stove. | STEP 6: Put the knife in the microwave. | STEP 7: Turn left, move to the blue bin, near the door. | STEP 8: Pick up a slice of tomato from the blue bin. | STEP 9: Turn right, move to in front of the refrigerator. | STEP 10: Put the tomato slice in the refrigerator, chill it, pick it back up. | STEP 11: Turn right, move to in front of the stove.", "output": ["STEP 12: Put the tomato slice in the microwave."]} +{"id": "trial_T20190908_044517_056279-2%12", "input": "Place a chilled tomato slice in the microwave. | STEP 1: Turn right, move to the counter near the coffee machine. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, move to the blue bin, near the door. | STEP 4: Slice the far away tomato that is in the blue bin. | STEP 5: Turn right, move to in front of the stove. | STEP 6: Put the knife in the microwave. | STEP 7: Turn left, move to the blue bin, near the door. | STEP 8: Pick up a slice of tomato from the blue bin. | STEP 9: Turn right, move to in front of the refrigerator. | STEP 10: Put the tomato slice in the refrigerator, chill it, pick it back up. | STEP 11: Turn right, move to in front of the stove. | STEP 12: Put the tomato slice in the microwave.", "output": ["END"]} +{"id": "trial_T20190908_143542_788790-1%0", "input": "Put a CD on the book shelf. ", "output": ["STEP 1: Turn to your left and go to the dresser against the wall, across from you."]} +{"id": "trial_T20190908_143542_788790-1%1", "input": "Put a CD on the book shelf. | STEP 1: Turn to your left and go to the dresser against the wall, across from you.", "output": ["STEP 2: Pick up the CD closest to you on the dresser. "]} +{"id": "trial_T20190908_143542_788790-1%2", "input": "Put a CD on the book shelf. | STEP 1: Turn to your left and go to the dresser against the wall, across from you. | STEP 2: Pick up the CD closest to you on the dresser. ", "output": ["STEP 3: Turn to your left and go past the other dresser on your right, to the bookshelf across the room."]} +{"id": "trial_T20190908_143542_788790-1%3", "input": "Put a CD on the book shelf. | STEP 1: Turn to your left and go to the dresser against the wall, across from you. | STEP 2: Pick up the CD closest to you on the dresser. | STEP 3: Turn to your left and go past the other dresser on your right, to the bookshelf across the room.", "output": ["STEP 4: Place the CD on the second shelf between the gold vase and the pen."]} +{"id": "trial_T20190908_143542_788790-1%4", "input": "Put a CD on the book shelf. | STEP 1: Turn to your left and go to the dresser against the wall, across from you. | STEP 2: Pick up the CD closest to you on the dresser. | STEP 3: Turn to your left and go past the other dresser on your right, to the bookshelf across the room. | STEP 4: Place the CD on the second shelf between the gold vase and the pen.", "output": ["END"]} +{"id": "trial_T20190909_112315_039662-0%0", "input": "close up box on couch containing remote control", "output": ["STEP 1: walk to face box on floor between tv and shelves"]} +{"id": "trial_T20190909_112315_039662-0%1", "input": "close up box on couch containing remote control | STEP 1: walk to face box on floor between tv and shelves", "output": ["STEP 2: pick up box from floor"]} +{"id": "trial_T20190909_112315_039662-0%2", "input": "close up box on couch containing remote control | STEP 1: walk to face box on floor between tv and shelves | STEP 2: pick up box from floor", "output": ["STEP 3: walk to face couch"]} +{"id": "trial_T20190909_112315_039662-0%3", "input": "close up box on couch containing remote control | STEP 1: walk to face box on floor between tv and shelves | STEP 2: pick up box from floor | STEP 3: walk to face couch", "output": ["STEP 4: put box on couch "]} +{"id": "trial_T20190909_112315_039662-0%4", "input": "close up box on couch containing remote control | STEP 1: walk to face box on floor between tv and shelves | STEP 2: pick up box from floor | STEP 3: walk to face couch | STEP 4: put box on couch ", "output": ["STEP 5: turn to face coffee table"]} +{"id": "trial_T20190909_112315_039662-0%5", "input": "close up box on couch containing remote control | STEP 1: walk to face box on floor between tv and shelves | STEP 2: pick up box from floor | STEP 3: walk to face couch | STEP 4: put box on couch | STEP 5: turn to face coffee table", "output": ["STEP 6: pick up remote from coffee table"]} +{"id": "trial_T20190909_112315_039662-0%6", "input": "close up box on couch containing remote control | STEP 1: walk to face box on floor between tv and shelves | STEP 2: pick up box from floor | STEP 3: walk to face couch | STEP 4: put box on couch | STEP 5: turn to face coffee table | STEP 6: pick up remote from coffee table", "output": ["STEP 7: turn to face couch"]} +{"id": "trial_T20190909_112315_039662-0%7", "input": "close up box on couch containing remote control | STEP 1: walk to face box on floor between tv and shelves | STEP 2: pick up box from floor | STEP 3: walk to face couch | STEP 4: put box on couch | STEP 5: turn to face coffee table | STEP 6: pick up remote from coffee table | STEP 7: turn to face couch", "output": ["STEP 8: put remote into box on couch, close up box"]} +{"id": "trial_T20190909_112315_039662-0%8", "input": "close up box on couch containing remote control | STEP 1: walk to face box on floor between tv and shelves | STEP 2: pick up box from floor | STEP 3: walk to face couch | STEP 4: put box on couch | STEP 5: turn to face coffee table | STEP 6: pick up remote from coffee table | STEP 7: turn to face couch | STEP 8: put remote into box on couch, close up box", "output": ["END"]} +{"id": "trial_T20190909_112315_039662-1%0", "input": "Put a remote control in a box on the sofa.", "output": ["STEP 1: Turn and go to the table in the corner."]} +{"id": "trial_T20190909_112315_039662-1%1", "input": "Put a remote control in a box on the sofa. | STEP 1: Turn and go to the table in the corner.", "output": ["STEP 2: Pick up the box on the floor. "]} +{"id": "trial_T20190909_112315_039662-1%2", "input": "Put a remote control in a box on the sofa. | STEP 1: Turn and go to the table in the corner. | STEP 2: Pick up the box on the floor. ", "output": ["STEP 3: Turn and go to the sofa."]} +{"id": "trial_T20190909_112315_039662-1%3", "input": "Put a remote control in a box on the sofa. | STEP 1: Turn and go to the table in the corner. | STEP 2: Pick up the box on the floor. | STEP 3: Turn and go to the sofa.", "output": ["STEP 4: Put the box on the sofa. "]} +{"id": "trial_T20190909_112315_039662-1%4", "input": "Put a remote control in a box on the sofa. | STEP 1: Turn and go to the table in the corner. | STEP 2: Pick up the box on the floor. | STEP 3: Turn and go to the sofa. | STEP 4: Put the box on the sofa. ", "output": ["STEP 5: Turn and go to the coffee table"]} +{"id": "trial_T20190909_112315_039662-1%5", "input": "Put a remote control in a box on the sofa. | STEP 1: Turn and go to the table in the corner. | STEP 2: Pick up the box on the floor. | STEP 3: Turn and go to the sofa. | STEP 4: Put the box on the sofa. | STEP 5: Turn and go to the coffee table", "output": ["STEP 6: Pick up the remote control on the coffee table. "]} +{"id": "trial_T20190909_112315_039662-1%6", "input": "Put a remote control in a box on the sofa. | STEP 1: Turn and go to the table in the corner. | STEP 2: Pick up the box on the floor. | STEP 3: Turn and go to the sofa. | STEP 4: Put the box on the sofa. | STEP 5: Turn and go to the coffee table | STEP 6: Pick up the remote control on the coffee table. ", "output": ["STEP 7: Turn and go to the sofa."]} +{"id": "trial_T20190909_112315_039662-1%7", "input": "Put a remote control in a box on the sofa. | STEP 1: Turn and go to the table in the corner. | STEP 2: Pick up the box on the floor. | STEP 3: Turn and go to the sofa. | STEP 4: Put the box on the sofa. | STEP 5: Turn and go to the coffee table | STEP 6: Pick up the remote control on the coffee table. | STEP 7: Turn and go to the sofa.", "output": ["STEP 8: Put the remote control in the box on the sofa. "]} +{"id": "trial_T20190909_112315_039662-1%8", "input": "Put a remote control in a box on the sofa. | STEP 1: Turn and go to the table in the corner. | STEP 2: Pick up the box on the floor. | STEP 3: Turn and go to the sofa. | STEP 4: Put the box on the sofa. | STEP 5: Turn and go to the coffee table | STEP 6: Pick up the remote control on the coffee table. | STEP 7: Turn and go to the sofa. | STEP 8: Put the remote control in the box on the sofa. ", "output": ["END"]} +{"id": "trial_T20190908_043025_711430-0%0", "input": "Heat and place a potato in the sink.", "output": ["STEP 1: Take a few steps right to find the toaster."]} +{"id": "trial_T20190908_043025_711430-0%1", "input": "Heat and place a potato in the sink. | STEP 1: Take a few steps right to find the toaster.", "output": ["STEP 2: Pick up the potato from the middle of the counter."]} +{"id": "trial_T20190908_043025_711430-0%2", "input": "Heat and place a potato in the sink. | STEP 1: Take a few steps right to find the toaster. | STEP 2: Pick up the potato from the middle of the counter.", "output": ["STEP 3: Hold the potato and take a step right, then look up at the microwave."]} +{"id": "trial_T20190908_043025_711430-0%3", "input": "Heat and place a potato in the sink. | STEP 1: Take a few steps right to find the toaster. | STEP 2: Pick up the potato from the middle of the counter. | STEP 3: Hold the potato and take a step right, then look up at the microwave.", "output": ["STEP 4: Open the microwave and place the potato inside. Shut the microwave then open it when finished and take the potato out."]} +{"id": "trial_T20190908_043025_711430-0%4", "input": "Heat and place a potato in the sink. | STEP 1: Take a few steps right to find the toaster. | STEP 2: Pick up the potato from the middle of the counter. | STEP 3: Hold the potato and take a step right, then look up at the microwave. | STEP 4: Open the microwave and place the potato inside. Shut the microwave then open it when finished and take the potato out.", "output": ["STEP 5: Hold the potato and turn left. Then left again at the sink."]} +{"id": "trial_T20190908_043025_711430-0%5", "input": "Heat and place a potato in the sink. | STEP 1: Take a few steps right to find the toaster. | STEP 2: Pick up the potato from the middle of the counter. | STEP 3: Hold the potato and take a step right, then look up at the microwave. | STEP 4: Open the microwave and place the potato inside. Shut the microwave then open it when finished and take the potato out. | STEP 5: Hold the potato and turn left. Then left again at the sink.", "output": ["STEP 6: Place the potato in the sink."]} +{"id": "trial_T20190908_043025_711430-0%6", "input": "Heat and place a potato in the sink. | STEP 1: Take a few steps right to find the toaster. | STEP 2: Pick up the potato from the middle of the counter. | STEP 3: Hold the potato and take a step right, then look up at the microwave. | STEP 4: Open the microwave and place the potato inside. Shut the microwave then open it when finished and take the potato out. | STEP 5: Hold the potato and turn left. Then left again at the sink. | STEP 6: Place the potato in the sink.", "output": ["END"]} +{"id": "trial_T20190909_145612_379950-0%0", "input": "Move the two credit cards on the narrow end table to the coffee table.", "output": ["STEP 1: Turn left and go to the narrow end table underneath the picture."]} +{"id": "trial_T20190909_145612_379950-0%1", "input": "Move the two credit cards on the narrow end table to the coffee table. | STEP 1: Turn left and go to the narrow end table underneath the picture.", "output": ["STEP 2: Pick up the credit card nearest to you on the narrow end table."]} +{"id": "trial_T20190909_145612_379950-0%2", "input": "Move the two credit cards on the narrow end table to the coffee table. | STEP 1: Turn left and go to the narrow end table underneath the picture. | STEP 2: Pick up the credit card nearest to you on the narrow end table.", "output": ["STEP 3: Turn around and go between the couch and coffee table facing the coffee table."]} +{"id": "trial_T20190909_145612_379950-0%3", "input": "Move the two credit cards on the narrow end table to the coffee table. | STEP 1: Turn left and go to the narrow end table underneath the picture. | STEP 2: Pick up the credit card nearest to you on the narrow end table. | STEP 3: Turn around and go between the couch and coffee table facing the coffee table.", "output": ["STEP 4: Put the credit card on the coffee table to the right of the laptop."]} +{"id": "trial_T20190909_145612_379950-0%4", "input": "Move the two credit cards on the narrow end table to the coffee table. | STEP 1: Turn left and go to the narrow end table underneath the picture. | STEP 2: Pick up the credit card nearest to you on the narrow end table. | STEP 3: Turn around and go between the couch and coffee table facing the coffee table. | STEP 4: Put the credit card on the coffee table to the right of the laptop.", "output": ["STEP 5: Turn right and go back to the narrow end table."]} +{"id": "trial_T20190909_145612_379950-0%5", "input": "Move the two credit cards on the narrow end table to the coffee table. | STEP 1: Turn left and go to the narrow end table underneath the picture. | STEP 2: Pick up the credit card nearest to you on the narrow end table. | STEP 3: Turn around and go between the couch and coffee table facing the coffee table. | STEP 4: Put the credit card on the coffee table to the right of the laptop. | STEP 5: Turn right and go back to the narrow end table.", "output": ["STEP 6: Pick up the second credit card on the narrow end table."]} +{"id": "trial_T20190909_145612_379950-0%6", "input": "Move the two credit cards on the narrow end table to the coffee table. | STEP 1: Turn left and go to the narrow end table underneath the picture. | STEP 2: Pick up the credit card nearest to you on the narrow end table. | STEP 3: Turn around and go between the couch and coffee table facing the coffee table. | STEP 4: Put the credit card on the coffee table to the right of the laptop. | STEP 5: Turn right and go back to the narrow end table. | STEP 6: Pick up the second credit card on the narrow end table.", "output": ["STEP 7: Turn around and go back to the coffee table where you put the other credit card down."]} +{"id": "trial_T20190909_145612_379950-0%7", "input": "Move the two credit cards on the narrow end table to the coffee table. | STEP 1: Turn left and go to the narrow end table underneath the picture. | STEP 2: Pick up the credit card nearest to you on the narrow end table. | STEP 3: Turn around and go between the couch and coffee table facing the coffee table. | STEP 4: Put the credit card on the coffee table to the right of the laptop. | STEP 5: Turn right and go back to the narrow end table. | STEP 6: Pick up the second credit card on the narrow end table. | STEP 7: Turn around and go back to the coffee table where you put the other credit card down.", "output": ["STEP 8: Put down the second credit card to the right of the first credit card."]} +{"id": "trial_T20190909_145612_379950-0%8", "input": "Move the two credit cards on the narrow end table to the coffee table. | STEP 1: Turn left and go to the narrow end table underneath the picture. | STEP 2: Pick up the credit card nearest to you on the narrow end table. | STEP 3: Turn around and go between the couch and coffee table facing the coffee table. | STEP 4: Put the credit card on the coffee table to the right of the laptop. | STEP 5: Turn right and go back to the narrow end table. | STEP 6: Pick up the second credit card on the narrow end table. | STEP 7: Turn around and go back to the coffee table where you put the other credit card down. | STEP 8: Put down the second credit card to the right of the first credit card.", "output": ["END"]} +{"id": "trial_T20190908_213458_200008-2%0", "input": "Move two watches to a drawer.", "output": ["STEP 1: Move forward to the small brown table."]} +{"id": "trial_T20190908_213458_200008-2%1", "input": "Move two watches to a drawer. | STEP 1: Move forward to the small brown table.", "output": ["STEP 2: Pick up the watch from the left side of the table."]} +{"id": "trial_T20190908_213458_200008-2%2", "input": "Move two watches to a drawer. | STEP 1: Move forward to the small brown table. | STEP 2: Pick up the watch from the left side of the table.", "output": ["STEP 3: Carry the watch and take a step backward."]} +{"id": "trial_T20190908_213458_200008-2%3", "input": "Move two watches to a drawer. | STEP 1: Move forward to the small brown table. | STEP 2: Pick up the watch from the left side of the table. | STEP 3: Carry the watch and take a step backward.", "output": ["STEP 4: Open the drawer of the table. Place the watch inside on the right, then shut the door."]} +{"id": "trial_T20190908_213458_200008-2%4", "input": "Move two watches to a drawer. | STEP 1: Move forward to the small brown table. | STEP 2: Pick up the watch from the left side of the table. | STEP 3: Carry the watch and take a step backward. | STEP 4: Open the drawer of the table. Place the watch inside on the right, then shut the door.", "output": ["STEP 5: Turn around and face the coffee table on the left."]} +{"id": "trial_T20190908_213458_200008-2%5", "input": "Move two watches to a drawer. | STEP 1: Move forward to the small brown table. | STEP 2: Pick up the watch from the left side of the table. | STEP 3: Carry the watch and take a step backward. | STEP 4: Open the drawer of the table. Place the watch inside on the right, then shut the door. | STEP 5: Turn around and face the coffee table on the left.", "output": ["STEP 6: Pick up the watch from the front of the coffee table"]} +{"id": "trial_T20190908_213458_200008-2%6", "input": "Move two watches to a drawer. | STEP 1: Move forward to the small brown table. | STEP 2: Pick up the watch from the left side of the table. | STEP 3: Carry the watch and take a step backward. | STEP 4: Open the drawer of the table. Place the watch inside on the right, then shut the door. | STEP 5: Turn around and face the coffee table on the left. | STEP 6: Pick up the watch from the front of the coffee table", "output": ["STEP 7: Carry the watch and turn left to the brown table."]} +{"id": "trial_T20190908_213458_200008-2%7", "input": "Move two watches to a drawer. | STEP 1: Move forward to the small brown table. | STEP 2: Pick up the watch from the left side of the table. | STEP 3: Carry the watch and take a step backward. | STEP 4: Open the drawer of the table. Place the watch inside on the right, then shut the door. | STEP 5: Turn around and face the coffee table on the left. | STEP 6: Pick up the watch from the front of the coffee table | STEP 7: Carry the watch and turn left to the brown table.", "output": ["STEP 8: Open the drawer and place the watch inside, on the right. Shut the drawer."]} +{"id": "trial_T20190908_213458_200008-2%8", "input": "Move two watches to a drawer. | STEP 1: Move forward to the small brown table. | STEP 2: Pick up the watch from the left side of the table. | STEP 3: Carry the watch and take a step backward. | STEP 4: Open the drawer of the table. Place the watch inside on the right, then shut the door. | STEP 5: Turn around and face the coffee table on the left. | STEP 6: Pick up the watch from the front of the coffee table | STEP 7: Carry the watch and turn left to the brown table. | STEP 8: Open the drawer and place the watch inside, on the right. Shut the drawer.", "output": ["END"]} +{"id": "trial_T20190918_210801_003592-1%0", "input": "To move two alarm clocks to the dresser. ", "output": ["STEP 1: Turn right and walk to the white desk. "]} +{"id": "trial_T20190918_210801_003592-1%1", "input": "To move two alarm clocks to the dresser. | STEP 1: Turn right and walk to the white desk. ", "output": ["STEP 2: Pick up the alarm clock to the left of the keys. "]} +{"id": "trial_T20190918_210801_003592-1%2", "input": "To move two alarm clocks to the dresser. | STEP 1: Turn right and walk to the white desk. | STEP 2: Pick up the alarm clock to the left of the keys. ", "output": ["STEP 3: Turn right and walk to the wooden dresser. "]} +{"id": "trial_T20190918_210801_003592-1%3", "input": "To move two alarm clocks to the dresser. | STEP 1: Turn right and walk to the white desk. | STEP 2: Pick up the alarm clock to the left of the keys. | STEP 3: Turn right and walk to the wooden dresser. ", "output": ["STEP 4: Place the alarm on the dresser to the right of the CD. "]} +{"id": "trial_T20190918_210801_003592-1%4", "input": "To move two alarm clocks to the dresser. | STEP 1: Turn right and walk to the white desk. | STEP 2: Pick up the alarm clock to the left of the keys. | STEP 3: Turn right and walk to the wooden dresser. | STEP 4: Place the alarm on the dresser to the right of the CD. ", "output": ["STEP 5: Turn around and walk back to the white desk. "]} +{"id": "trial_T20190918_210801_003592-1%5", "input": "To move two alarm clocks to the dresser. | STEP 1: Turn right and walk to the white desk. | STEP 2: Pick up the alarm clock to the left of the keys. | STEP 3: Turn right and walk to the wooden dresser. | STEP 4: Place the alarm on the dresser to the right of the CD. | STEP 5: Turn around and walk back to the white desk. ", "output": ["STEP 6: Pick up the remaining alarm clock from the desk. "]} +{"id": "trial_T20190918_210801_003592-1%6", "input": "To move two alarm clocks to the dresser. | STEP 1: Turn right and walk to the white desk. | STEP 2: Pick up the alarm clock to the left of the keys. | STEP 3: Turn right and walk to the wooden dresser. | STEP 4: Place the alarm on the dresser to the right of the CD. | STEP 5: Turn around and walk back to the white desk. | STEP 6: Pick up the remaining alarm clock from the desk. ", "output": ["STEP 7: Turn right and walk back to the dresser. "]} +{"id": "trial_T20190918_210801_003592-1%7", "input": "To move two alarm clocks to the dresser. | STEP 1: Turn right and walk to the white desk. | STEP 2: Pick up the alarm clock to the left of the keys. | STEP 3: Turn right and walk to the wooden dresser. | STEP 4: Place the alarm on the dresser to the right of the CD. | STEP 5: Turn around and walk back to the white desk. | STEP 6: Pick up the remaining alarm clock from the desk. | STEP 7: Turn right and walk back to the dresser. ", "output": ["STEP 8: Place the alarm clock on the dresser to the left of the CD. "]} +{"id": "trial_T20190918_210801_003592-1%8", "input": "To move two alarm clocks to the dresser. | STEP 1: Turn right and walk to the white desk. | STEP 2: Pick up the alarm clock to the left of the keys. | STEP 3: Turn right and walk to the wooden dresser. | STEP 4: Place the alarm on the dresser to the right of the CD. | STEP 5: Turn around and walk back to the white desk. | STEP 6: Pick up the remaining alarm clock from the desk. | STEP 7: Turn right and walk back to the dresser. | STEP 8: Place the alarm clock on the dresser to the left of the CD. ", "output": ["END"]} +{"id": "trial_T20190918_210801_003592-2%0", "input": "Place two clocks on a dresser. ", "output": ["STEP 1: Turn to the right and walk the the far left of the desk. "]} +{"id": "trial_T20190918_210801_003592-2%1", "input": "Place two clocks on a dresser. | STEP 1: Turn to the right and walk the the far left of the desk. ", "output": ["STEP 2: Pick up the clock that is to the right from the desk. "]} +{"id": "trial_T20190918_210801_003592-2%2", "input": "Place two clocks on a dresser. | STEP 1: Turn to the right and walk the the far left of the desk. | STEP 2: Pick up the clock that is to the right from the desk. ", "output": ["STEP 3: Turn to the right and walk to the dresser. "]} +{"id": "trial_T20190918_210801_003592-2%3", "input": "Place two clocks on a dresser. | STEP 1: Turn to the right and walk the the far left of the desk. | STEP 2: Pick up the clock that is to the right from the desk. | STEP 3: Turn to the right and walk to the dresser. ", "output": ["STEP 4: Place the clock on the dresser. "]} +{"id": "trial_T20190918_210801_003592-2%4", "input": "Place two clocks on a dresser. | STEP 1: Turn to the right and walk the the far left of the desk. | STEP 2: Pick up the clock that is to the right from the desk. | STEP 3: Turn to the right and walk to the dresser. | STEP 4: Place the clock on the dresser. ", "output": ["STEP 5: Turn around to the right and walk back to the desk. "]} +{"id": "trial_T20190918_210801_003592-2%5", "input": "Place two clocks on a dresser. | STEP 1: Turn to the right and walk the the far left of the desk. | STEP 2: Pick up the clock that is to the right from the desk. | STEP 3: Turn to the right and walk to the dresser. | STEP 4: Place the clock on the dresser. | STEP 5: Turn around to the right and walk back to the desk. ", "output": ["STEP 6: Pick up the remaining clock. "]} +{"id": "trial_T20190918_210801_003592-2%6", "input": "Place two clocks on a dresser. | STEP 1: Turn to the right and walk the the far left of the desk. | STEP 2: Pick up the clock that is to the right from the desk. | STEP 3: Turn to the right and walk to the dresser. | STEP 4: Place the clock on the dresser. | STEP 5: Turn around to the right and walk back to the desk. | STEP 6: Pick up the remaining clock. ", "output": ["STEP 7: Turn to the right and walk back to the dresser. "]} +{"id": "trial_T20190918_210801_003592-2%7", "input": "Place two clocks on a dresser. | STEP 1: Turn to the right and walk the the far left of the desk. | STEP 2: Pick up the clock that is to the right from the desk. | STEP 3: Turn to the right and walk to the dresser. | STEP 4: Place the clock on the dresser. | STEP 5: Turn around to the right and walk back to the desk. | STEP 6: Pick up the remaining clock. | STEP 7: Turn to the right and walk back to the dresser. ", "output": ["STEP 8: Place the clock by the wall on the left side of the dresser. "]} +{"id": "trial_T20190918_210801_003592-2%8", "input": "Place two clocks on a dresser. | STEP 1: Turn to the right and walk the the far left of the desk. | STEP 2: Pick up the clock that is to the right from the desk. | STEP 3: Turn to the right and walk to the dresser. | STEP 4: Place the clock on the dresser. | STEP 5: Turn around to the right and walk back to the desk. | STEP 6: Pick up the remaining clock. | STEP 7: Turn to the right and walk back to the dresser. | STEP 8: Place the clock by the wall on the left side of the dresser. ", "output": ["END"]} +{"id": "trial_T20190908_070239_015678-0%0", "input": "Put the pan with the knife into the sink. ", "output": ["STEP 1: Go to the round table with cover on the left."]} +{"id": "trial_T20190908_070239_015678-0%1", "input": "Put the pan with the knife into the sink. | STEP 1: Go to the round table with cover on the left.", "output": ["STEP 2: Pick up the gray knife on the table. "]} +{"id": "trial_T20190908_070239_015678-0%2", "input": "Put the pan with the knife into the sink. | STEP 1: Go to the round table with cover on the left. | STEP 2: Pick up the gray knife on the table. ", "output": ["STEP 3: Turn around and go to the front of the stove. "]} +{"id": "trial_T20190908_070239_015678-0%3", "input": "Put the pan with the knife into the sink. | STEP 1: Go to the round table with cover on the left. | STEP 2: Pick up the gray knife on the table. | STEP 3: Turn around and go to the front of the stove. ", "output": ["STEP 4: Place the knife in the gray pan on the front burner. "]} +{"id": "trial_T20190908_070239_015678-0%4", "input": "Put the pan with the knife into the sink. | STEP 1: Go to the round table with cover on the left. | STEP 2: Pick up the gray knife on the table. | STEP 3: Turn around and go to the front of the stove. | STEP 4: Place the knife in the gray pan on the front burner. ", "output": ["STEP 5: Pick up the pan with the knife in it. "]} +{"id": "trial_T20190908_070239_015678-0%5", "input": "Put the pan with the knife into the sink. | STEP 1: Go to the round table with cover on the left. | STEP 2: Pick up the gray knife on the table. | STEP 3: Turn around and go to the front of the stove. | STEP 4: Place the knife in the gray pan on the front burner. | STEP 5: Pick up the pan with the knife in it. ", "output": ["STEP 6: Turn around and go to the sink. "]} +{"id": "trial_T20190908_070239_015678-0%6", "input": "Put the pan with the knife into the sink. | STEP 1: Go to the round table with cover on the left. | STEP 2: Pick up the gray knife on the table. | STEP 3: Turn around and go to the front of the stove. | STEP 4: Place the knife in the gray pan on the front burner. | STEP 5: Pick up the pan with the knife in it. | STEP 6: Turn around and go to the sink. ", "output": ["STEP 7: Place the pan with knife in it inside the sink. "]} +{"id": "trial_T20190908_070239_015678-0%7", "input": "Put the pan with the knife into the sink. | STEP 1: Go to the round table with cover on the left. | STEP 2: Pick up the gray knife on the table. | STEP 3: Turn around and go to the front of the stove. | STEP 4: Place the knife in the gray pan on the front burner. | STEP 5: Pick up the pan with the knife in it. | STEP 6: Turn around and go to the sink. | STEP 7: Place the pan with knife in it inside the sink. ", "output": ["END"]} +{"id": "trial_T20190908_033338_761740-0%0", "input": "Get the soap from the back of the toilet, get it wet in the sink and place it on the counter", "output": ["STEP 1: Turn left 2 times and walk to the toilet"]} +{"id": "trial_T20190908_033338_761740-0%1", "input": "Get the soap from the back of the toilet, get it wet in the sink and place it on the counter | STEP 1: Turn left 2 times and walk to the toilet", "output": ["STEP 2: Pick up the bar of soap that is on the back of the toilet"]} +{"id": "trial_T20190908_033338_761740-0%2", "input": "Get the soap from the back of the toilet, get it wet in the sink and place it on the counter | STEP 1: Turn left 2 times and walk to the toilet | STEP 2: Pick up the bar of soap that is on the back of the toilet", "output": ["STEP 3: Turn to the left, walk forward a little ways turn left again and face the sink"]} +{"id": "trial_T20190908_033338_761740-0%3", "input": "Get the soap from the back of the toilet, get it wet in the sink and place it on the counter | STEP 1: Turn left 2 times and walk to the toilet | STEP 2: Pick up the bar of soap that is on the back of the toilet | STEP 3: Turn to the left, walk forward a little ways turn left again and face the sink", "output": ["STEP 4: Put the soap in the sink and turn on the water, turn off the water and pick the soap up again"]} +{"id": "trial_T20190908_033338_761740-0%4", "input": "Get the soap from the back of the toilet, get it wet in the sink and place it on the counter | STEP 1: Turn left 2 times and walk to the toilet | STEP 2: Pick up the bar of soap that is on the back of the toilet | STEP 3: Turn to the left, walk forward a little ways turn left again and face the sink | STEP 4: Put the soap in the sink and turn on the water, turn off the water and pick the soap up again", "output": ["STEP 5: Turn to the left, then turn right and walk toward the wall then turn right again"]} +{"id": "trial_T20190908_033338_761740-0%5", "input": "Get the soap from the back of the toilet, get it wet in the sink and place it on the counter | STEP 1: Turn left 2 times and walk to the toilet | STEP 2: Pick up the bar of soap that is on the back of the toilet | STEP 3: Turn to the left, walk forward a little ways turn left again and face the sink | STEP 4: Put the soap in the sink and turn on the water, turn off the water and pick the soap up again | STEP 5: Turn to the left, then turn right and walk toward the wall then turn right again", "output": ["STEP 6: Place the soap on the counter"]} +{"id": "trial_T20190908_033338_761740-0%6", "input": "Get the soap from the back of the toilet, get it wet in the sink and place it on the counter | STEP 1: Turn left 2 times and walk to the toilet | STEP 2: Pick up the bar of soap that is on the back of the toilet | STEP 3: Turn to the left, walk forward a little ways turn left again and face the sink | STEP 4: Put the soap in the sink and turn on the water, turn off the water and pick the soap up again | STEP 5: Turn to the left, then turn right and walk toward the wall then turn right again | STEP 6: Place the soap on the counter", "output": ["END"]} +{"id": "trial_T20190908_033338_761740-2%0", "input": "Put a wet bar of soap on the counter.", "output": ["STEP 1: move to the toilet to the right of the door"]} +{"id": "trial_T20190908_033338_761740-2%1", "input": "Put a wet bar of soap on the counter. | STEP 1: move to the toilet to the right of the door", "output": ["STEP 2: pick up soap from the toilet"]} +{"id": "trial_T20190908_033338_761740-2%2", "input": "Put a wet bar of soap on the counter. | STEP 1: move to the toilet to the right of the door | STEP 2: pick up soap from the toilet", "output": ["STEP 3: move to the sink behind you"]} +{"id": "trial_T20190908_033338_761740-2%3", "input": "Put a wet bar of soap on the counter. | STEP 1: move to the toilet to the right of the door | STEP 2: pick up soap from the toilet | STEP 3: move to the sink behind you", "output": ["STEP 4: wet the soap in the sink"]} +{"id": "trial_T20190908_033338_761740-2%4", "input": "Put a wet bar of soap on the counter. | STEP 1: move to the toilet to the right of the door | STEP 2: pick up soap from the toilet | STEP 3: move to the sink behind you | STEP 4: wet the soap in the sink", "output": ["STEP 5: move to the left side of the sink ahead of you"]} +{"id": "trial_T20190908_033338_761740-2%5", "input": "Put a wet bar of soap on the counter. | STEP 1: move to the toilet to the right of the door | STEP 2: pick up soap from the toilet | STEP 3: move to the sink behind you | STEP 4: wet the soap in the sink | STEP 5: move to the left side of the sink ahead of you", "output": ["STEP 6: put the soap on the counter"]} +{"id": "trial_T20190908_033338_761740-2%6", "input": "Put a wet bar of soap on the counter. | STEP 1: move to the toilet to the right of the door | STEP 2: pick up soap from the toilet | STEP 3: move to the sink behind you | STEP 4: wet the soap in the sink | STEP 5: move to the left side of the sink ahead of you | STEP 6: put the soap on the counter", "output": ["END"]} +{"id": "trial_T20190909_042056_078737-0%0", "input": "put a clean fork in to the drawer", "output": ["STEP 1: turn around and move forward to the counter to the left of the stove, turn to the left to face the counter"]} +{"id": "trial_T20190909_042056_078737-0%1", "input": "put a clean fork in to the drawer | STEP 1: turn around and move forward to the counter to the left of the stove, turn to the left to face the counter", "output": ["STEP 2: pick up the fork that is on the counter"]} +{"id": "trial_T20190909_042056_078737-0%2", "input": "put a clean fork in to the drawer | STEP 1: turn around and move forward to the counter to the left of the stove, turn to the left to face the counter | STEP 2: pick up the fork that is on the counter", "output": ["STEP 3: turn around and move to the sink"]} +{"id": "trial_T20190909_042056_078737-0%3", "input": "put a clean fork in to the drawer | STEP 1: turn around and move forward to the counter to the left of the stove, turn to the left to face the counter | STEP 2: pick up the fork that is on the counter | STEP 3: turn around and move to the sink", "output": ["STEP 4: put the fork in to the sink, turn on the water to since the fork, turn the water off and pick up the fork from the sink"]} +{"id": "trial_T20190909_042056_078737-0%4", "input": "put a clean fork in to the drawer | STEP 1: turn around and move forward to the counter to the left of the stove, turn to the left to face the counter | STEP 2: pick up the fork that is on the counter | STEP 3: turn around and move to the sink | STEP 4: put the fork in to the sink, turn on the water to since the fork, turn the water off and pick up the fork from the sink", "output": ["STEP 5: turn around and move to the counter that is to the left of the stove"]} +{"id": "trial_T20190909_042056_078737-0%5", "input": "put a clean fork in to the drawer | STEP 1: turn around and move forward to the counter to the left of the stove, turn to the left to face the counter | STEP 2: pick up the fork that is on the counter | STEP 3: turn around and move to the sink | STEP 4: put the fork in to the sink, turn on the water to since the fork, turn the water off and pick up the fork from the sink | STEP 5: turn around and move to the counter that is to the left of the stove", "output": ["STEP 6: open the drawer below the counter, put the fork in to the drawer and close it"]} +{"id": "trial_T20190909_042056_078737-0%6", "input": "put a clean fork in to the drawer | STEP 1: turn around and move forward to the counter to the left of the stove, turn to the left to face the counter | STEP 2: pick up the fork that is on the counter | STEP 3: turn around and move to the sink | STEP 4: put the fork in to the sink, turn on the water to since the fork, turn the water off and pick up the fork from the sink | STEP 5: turn around and move to the counter that is to the left of the stove | STEP 6: open the drawer below the counter, put the fork in to the drawer and close it", "output": ["END"]} +{"id": "trial_T20190909_042056_078737-1%0", "input": "wash a dirty fork and put it away inside the drawer", "output": ["STEP 1: turn right walk straight a tiny bit then turn right again and then turn left towards the counter next to the stove"]} +{"id": "trial_T20190909_042056_078737-1%1", "input": "wash a dirty fork and put it away inside the drawer | STEP 1: turn right walk straight a tiny bit then turn right again and then turn left towards the counter next to the stove", "output": ["STEP 2: pick up the fork on the counter top"]} +{"id": "trial_T20190909_042056_078737-1%2", "input": "wash a dirty fork and put it away inside the drawer | STEP 1: turn right walk straight a tiny bit then turn right again and then turn left towards the counter next to the stove | STEP 2: pick up the fork on the counter top", "output": ["STEP 3: turn around and walk straight towards the sink and look down"]} +{"id": "trial_T20190909_042056_078737-1%3", "input": "wash a dirty fork and put it away inside the drawer | STEP 1: turn right walk straight a tiny bit then turn right again and then turn left towards the counter next to the stove | STEP 2: pick up the fork on the counter top | STEP 3: turn around and walk straight towards the sink and look down", "output": ["STEP 4: put the fork inside of the sink and fill the sink with water then drain the water and remove the fork from the sink"]} +{"id": "trial_T20190909_042056_078737-1%4", "input": "wash a dirty fork and put it away inside the drawer | STEP 1: turn right walk straight a tiny bit then turn right again and then turn left towards the counter next to the stove | STEP 2: pick up the fork on the counter top | STEP 3: turn around and walk straight towards the sink and look down | STEP 4: put the fork inside of the sink and fill the sink with water then drain the water and remove the fork from the sink", "output": ["STEP 5: turn left walk straight then turn left again towards the counter next to the stove"]} +{"id": "trial_T20190909_042056_078737-1%5", "input": "wash a dirty fork and put it away inside the drawer | STEP 1: turn right walk straight a tiny bit then turn right again and then turn left towards the counter next to the stove | STEP 2: pick up the fork on the counter top | STEP 3: turn around and walk straight towards the sink and look down | STEP 4: put the fork inside of the sink and fill the sink with water then drain the water and remove the fork from the sink | STEP 5: turn left walk straight then turn left again towards the counter next to the stove", "output": ["STEP 6: open the drawer and put the fork inside and close the drawer"]} +{"id": "trial_T20190909_042056_078737-1%6", "input": "wash a dirty fork and put it away inside the drawer | STEP 1: turn right walk straight a tiny bit then turn right again and then turn left towards the counter next to the stove | STEP 2: pick up the fork on the counter top | STEP 3: turn around and walk straight towards the sink and look down | STEP 4: put the fork inside of the sink and fill the sink with water then drain the water and remove the fork from the sink | STEP 5: turn left walk straight then turn left again towards the counter next to the stove | STEP 6: open the drawer and put the fork inside and close the drawer", "output": ["END"]} +{"id": "trial_T20190908_110528_569140-0%0", "input": "clean up the spray bottles and put them on top of the toilet ", "output": ["STEP 1: turn around towards the tub then turn left and walk straight to the shelf"]} +{"id": "trial_T20190908_110528_569140-0%1", "input": "clean up the spray bottles and put them on top of the toilet | STEP 1: turn around towards the tub then turn left and walk straight to the shelf", "output": ["STEP 2: pick up the cleaning spray bottle off of the shelf"]} +{"id": "trial_T20190908_110528_569140-0%2", "input": "clean up the spray bottles and put them on top of the toilet | STEP 1: turn around towards the tub then turn left and walk straight to the shelf | STEP 2: pick up the cleaning spray bottle off of the shelf", "output": ["STEP 3: turn left then walk straight towards the door then turn left and walk straight towards the toilet "]} +{"id": "trial_T20190908_110528_569140-0%3", "input": "clean up the spray bottles and put them on top of the toilet | STEP 1: turn around towards the tub then turn left and walk straight to the shelf | STEP 2: pick up the cleaning spray bottle off of the shelf | STEP 3: turn left then walk straight towards the door then turn left and walk straight towards the toilet ", "output": ["STEP 4: put the cleaning spray bottle on top of the toilet"]} +{"id": "trial_T20190908_110528_569140-0%4", "input": "clean up the spray bottles and put them on top of the toilet | STEP 1: turn around towards the tub then turn left and walk straight to the shelf | STEP 2: pick up the cleaning spray bottle off of the shelf | STEP 3: turn left then walk straight towards the door then turn left and walk straight towards the toilet | STEP 4: put the cleaning spray bottle on top of the toilet", "output": ["STEP 5: turn left then walk straight towards the tub then turn left and walk to the shelf and look up"]} +{"id": "trial_T20190908_110528_569140-0%5", "input": "clean up the spray bottles and put them on top of the toilet | STEP 1: turn around towards the tub then turn left and walk straight to the shelf | STEP 2: pick up the cleaning spray bottle off of the shelf | STEP 3: turn left then walk straight towards the door then turn left and walk straight towards the toilet | STEP 4: put the cleaning spray bottle on top of the toilet | STEP 5: turn left then walk straight towards the tub then turn left and walk to the shelf and look up", "output": ["STEP 6: pick up the spray bottle on the top shelf"]} +{"id": "trial_T20190908_110528_569140-0%6", "input": "clean up the spray bottles and put them on top of the toilet | STEP 1: turn around towards the tub then turn left and walk straight to the shelf | STEP 2: pick up the cleaning spray bottle off of the shelf | STEP 3: turn left then walk straight towards the door then turn left and walk straight towards the toilet | STEP 4: put the cleaning spray bottle on top of the toilet | STEP 5: turn left then walk straight towards the tub then turn left and walk to the shelf and look up | STEP 6: pick up the spray bottle on the top shelf", "output": ["STEP 7: turn left towards the door and walk straight then turn left again and walk straight towards the toilet"]} +{"id": "trial_T20190908_110528_569140-0%7", "input": "clean up the spray bottles and put them on top of the toilet | STEP 1: turn around towards the tub then turn left and walk straight to the shelf | STEP 2: pick up the cleaning spray bottle off of the shelf | STEP 3: turn left then walk straight towards the door then turn left and walk straight towards the toilet | STEP 4: put the cleaning spray bottle on top of the toilet | STEP 5: turn left then walk straight towards the tub then turn left and walk to the shelf and look up | STEP 6: pick up the spray bottle on the top shelf | STEP 7: turn left towards the door and walk straight then turn left again and walk straight towards the toilet", "output": ["STEP 8: put the cleaning spray bottle on the top of the toilet next to the toilet paper"]} +{"id": "trial_T20190908_110528_569140-0%8", "input": "clean up the spray bottles and put them on top of the toilet | STEP 1: turn around towards the tub then turn left and walk straight to the shelf | STEP 2: pick up the cleaning spray bottle off of the shelf | STEP 3: turn left then walk straight towards the door then turn left and walk straight towards the toilet | STEP 4: put the cleaning spray bottle on top of the toilet | STEP 5: turn left then walk straight towards the tub then turn left and walk to the shelf and look up | STEP 6: pick up the spray bottle on the top shelf | STEP 7: turn left towards the door and walk straight then turn left again and walk straight towards the toilet | STEP 8: put the cleaning spray bottle on the top of the toilet next to the toilet paper", "output": ["END"]} +{"id": "trial_T20190908_110528_569140-1%0", "input": "To move two spray bottles to the back of the toilet. ", "output": ["STEP 1: Turn around and walk over to the right side of the shelves. "]} +{"id": "trial_T20190908_110528_569140-1%1", "input": "To move two spray bottles to the back of the toilet. | STEP 1: Turn around and walk over to the right side of the shelves. ", "output": ["STEP 2: Pick up the blue spray bottle to the right of the tissues. "]} +{"id": "trial_T20190908_110528_569140-1%2", "input": "To move two spray bottles to the back of the toilet. | STEP 1: Turn around and walk over to the right side of the shelves. | STEP 2: Pick up the blue spray bottle to the right of the tissues. ", "output": ["STEP 3: Turn left, turn left at the door and face the back of the toilet. "]} +{"id": "trial_T20190908_110528_569140-1%3", "input": "To move two spray bottles to the back of the toilet. | STEP 1: Turn around and walk over to the right side of the shelves. | STEP 2: Pick up the blue spray bottle to the right of the tissues. | STEP 3: Turn left, turn left at the door and face the back of the toilet. ", "output": ["STEP 4: Put the spray bottle down on the back of the toilet to the right of the toilet paper. "]} +{"id": "trial_T20190908_110528_569140-1%4", "input": "To move two spray bottles to the back of the toilet. | STEP 1: Turn around and walk over to the right side of the shelves. | STEP 2: Pick up the blue spray bottle to the right of the tissues. | STEP 3: Turn left, turn left at the door and face the back of the toilet. | STEP 4: Put the spray bottle down on the back of the toilet to the right of the toilet paper. ", "output": ["STEP 5: Turn around and walk back over to the shelves, look up at the top shelf. "]} +{"id": "trial_T20190908_110528_569140-1%5", "input": "To move two spray bottles to the back of the toilet. | STEP 1: Turn around and walk over to the right side of the shelves. | STEP 2: Pick up the blue spray bottle to the right of the tissues. | STEP 3: Turn left, turn left at the door and face the back of the toilet. | STEP 4: Put the spray bottle down on the back of the toilet to the right of the toilet paper. | STEP 5: Turn around and walk back over to the shelves, look up at the top shelf. ", "output": ["STEP 6: Pick up the blue spray bottle from the top shelf. "]} +{"id": "trial_T20190908_110528_569140-1%6", "input": "To move two spray bottles to the back of the toilet. | STEP 1: Turn around and walk over to the right side of the shelves. | STEP 2: Pick up the blue spray bottle to the right of the tissues. | STEP 3: Turn left, turn left at the door and face the back of the toilet. | STEP 4: Put the spray bottle down on the back of the toilet to the right of the toilet paper. | STEP 5: Turn around and walk back over to the shelves, look up at the top shelf. | STEP 6: Pick up the blue spray bottle from the top shelf. ", "output": ["STEP 7: Turn left and walk back over to the back of the toilet. "]} +{"id": "trial_T20190908_110528_569140-1%7", "input": "To move two spray bottles to the back of the toilet. | STEP 1: Turn around and walk over to the right side of the shelves. | STEP 2: Pick up the blue spray bottle to the right of the tissues. | STEP 3: Turn left, turn left at the door and face the back of the toilet. | STEP 4: Put the spray bottle down on the back of the toilet to the right of the toilet paper. | STEP 5: Turn around and walk back over to the shelves, look up at the top shelf. | STEP 6: Pick up the blue spray bottle from the top shelf. | STEP 7: Turn left and walk back over to the back of the toilet. ", "output": ["STEP 8: Put the spray bottle down on the back of the toilet to the left of the toilet paper roll. "]} +{"id": "trial_T20190908_110528_569140-1%8", "input": "To move two spray bottles to the back of the toilet. | STEP 1: Turn around and walk over to the right side of the shelves. | STEP 2: Pick up the blue spray bottle to the right of the tissues. | STEP 3: Turn left, turn left at the door and face the back of the toilet. | STEP 4: Put the spray bottle down on the back of the toilet to the right of the toilet paper. | STEP 5: Turn around and walk back over to the shelves, look up at the top shelf. | STEP 6: Pick up the blue spray bottle from the top shelf. | STEP 7: Turn left and walk back over to the back of the toilet. | STEP 8: Put the spray bottle down on the back of the toilet to the left of the toilet paper roll. ", "output": ["END"]} +{"id": "trial_T20190909_151314_319375-1%0", "input": "put chilled potato on the table", "output": ["STEP 1: walk forward, turn right to face counter"]} +{"id": "trial_T20190909_151314_319375-1%1", "input": "put chilled potato on the table | STEP 1: walk forward, turn right to face counter", "output": ["STEP 2: pick up the potato that is on the counter"]} +{"id": "trial_T20190909_151314_319375-1%2", "input": "put chilled potato on the table | STEP 1: walk forward, turn right to face counter | STEP 2: pick up the potato that is on the counter", "output": ["STEP 3: turn right, walk forward, turn right to face fridge"]} +{"id": "trial_T20190909_151314_319375-1%3", "input": "put chilled potato on the table | STEP 1: walk forward, turn right to face counter | STEP 2: pick up the potato that is on the counter | STEP 3: turn right, walk forward, turn right to face fridge", "output": ["STEP 4: put potato in fridge, wait a minute, take potato out"]} +{"id": "trial_T20190909_151314_319375-1%4", "input": "put chilled potato on the table | STEP 1: walk forward, turn right to face counter | STEP 2: pick up the potato that is on the counter | STEP 3: turn right, walk forward, turn right to face fridge | STEP 4: put potato in fridge, wait a minute, take potato out", "output": ["STEP 5: turn right, walk across room to table"]} +{"id": "trial_T20190909_151314_319375-1%5", "input": "put chilled potato on the table | STEP 1: walk forward, turn right to face counter | STEP 2: pick up the potato that is on the counter | STEP 3: turn right, walk forward, turn right to face fridge | STEP 4: put potato in fridge, wait a minute, take potato out | STEP 5: turn right, walk across room to table", "output": ["STEP 6: put the potato on the table"]} +{"id": "trial_T20190909_151314_319375-1%6", "input": "put chilled potato on the table | STEP 1: walk forward, turn right to face counter | STEP 2: pick up the potato that is on the counter | STEP 3: turn right, walk forward, turn right to face fridge | STEP 4: put potato in fridge, wait a minute, take potato out | STEP 5: turn right, walk across room to table | STEP 6: put the potato on the table", "output": ["END"]} +{"id": "trial_T20190909_151529_898092-1%0", "input": "Place a chilled potato on a table.", "output": ["STEP 1: Turn right past the counters, then turn left and walk to the table."]} +{"id": "trial_T20190909_151529_898092-1%1", "input": "Place a chilled potato on a table. | STEP 1: Turn right past the counters, then turn left and walk to the table.", "output": ["STEP 2: Pick up the potato on the table."]} +{"id": "trial_T20190909_151529_898092-1%2", "input": "Place a chilled potato on a table. | STEP 1: Turn right past the counters, then turn left and walk to the table. | STEP 2: Pick up the potato on the table.", "output": ["STEP 3: Turn around and veer right into the kitchen, all the way down to the fridge on the right."]} +{"id": "trial_T20190909_151529_898092-1%3", "input": "Place a chilled potato on a table. | STEP 1: Turn right past the counters, then turn left and walk to the table. | STEP 2: Pick up the potato on the table. | STEP 3: Turn around and veer right into the kitchen, all the way down to the fridge on the right.", "output": ["STEP 4: Place the potato in the fridge and close the door. Wait a moment and take the potato out again."]} +{"id": "trial_T20190909_151529_898092-1%4", "input": "Place a chilled potato on a table. | STEP 1: Turn right past the counters, then turn left and walk to the table. | STEP 2: Pick up the potato on the table. | STEP 3: Turn around and veer right into the kitchen, all the way down to the fridge on the right. | STEP 4: Place the potato in the fridge and close the door. Wait a moment and take the potato out again.", "output": ["STEP 5: Turn right and walk past the counters again, and turn left, walking back to the table."]} +{"id": "trial_T20190909_151529_898092-1%5", "input": "Place a chilled potato on a table. | STEP 1: Turn right past the counters, then turn left and walk to the table. | STEP 2: Pick up the potato on the table. | STEP 3: Turn around and veer right into the kitchen, all the way down to the fridge on the right. | STEP 4: Place the potato in the fridge and close the door. Wait a moment and take the potato out again. | STEP 5: Turn right and walk past the counters again, and turn left, walking back to the table.", "output": ["STEP 6: Place the potato on the table in front of the handle of the spatula."]} +{"id": "trial_T20190909_151529_898092-1%6", "input": "Place a chilled potato on a table. | STEP 1: Turn right past the counters, then turn left and walk to the table. | STEP 2: Pick up the potato on the table. | STEP 3: Turn around and veer right into the kitchen, all the way down to the fridge on the right. | STEP 4: Place the potato in the fridge and close the door. Wait a moment and take the potato out again. | STEP 5: Turn right and walk past the counters again, and turn left, walking back to the table. | STEP 6: Place the potato on the table in front of the handle of the spatula.", "output": ["END"]} +{"id": "trial_T20190909_095018_345409-1%0", "input": "Put a clean kettle in the cabinet.", "output": ["STEP 1: Turn right, go across the room and turn right to the counter with the potato on it."]} +{"id": "trial_T20190909_095018_345409-1%1", "input": "Put a clean kettle in the cabinet. | STEP 1: Turn right, go across the room and turn right to the counter with the potato on it.", "output": ["STEP 2: Open the cabinet above the counter and pick up the kettle."]} +{"id": "trial_T20190909_095018_345409-1%2", "input": "Put a clean kettle in the cabinet. | STEP 1: Turn right, go across the room and turn right to the counter with the potato on it. | STEP 2: Open the cabinet above the counter and pick up the kettle.", "output": ["STEP 3: Turn around to the sink."]} +{"id": "trial_T20190909_095018_345409-1%3", "input": "Put a clean kettle in the cabinet. | STEP 1: Turn right, go across the room and turn right to the counter with the potato on it. | STEP 2: Open the cabinet above the counter and pick up the kettle. | STEP 3: Turn around to the sink.", "output": ["STEP 4: Put the kettle in the sink, rinse it and pick it back up."]} +{"id": "trial_T20190909_095018_345409-1%4", "input": "Put a clean kettle in the cabinet. | STEP 1: Turn right, go across the room and turn right to the counter with the potato on it. | STEP 2: Open the cabinet above the counter and pick up the kettle. | STEP 3: Turn around to the sink. | STEP 4: Put the kettle in the sink, rinse it and pick it back up.", "output": ["STEP 5: Turn around towards the counter."]} +{"id": "trial_T20190909_095018_345409-1%5", "input": "Put a clean kettle in the cabinet. | STEP 1: Turn right, go across the room and turn right to the counter with the potato on it. | STEP 2: Open the cabinet above the counter and pick up the kettle. | STEP 3: Turn around to the sink. | STEP 4: Put the kettle in the sink, rinse it and pick it back up. | STEP 5: Turn around towards the counter.", "output": ["STEP 6: Put the kettle in the cabinet below the counter."]} +{"id": "trial_T20190909_095018_345409-1%6", "input": "Put a clean kettle in the cabinet. | STEP 1: Turn right, go across the room and turn right to the counter with the potato on it. | STEP 2: Open the cabinet above the counter and pick up the kettle. | STEP 3: Turn around to the sink. | STEP 4: Put the kettle in the sink, rinse it and pick it back up. | STEP 5: Turn around towards the counter. | STEP 6: Put the kettle in the cabinet below the counter.", "output": ["END"]} +{"id": "trial_T20190908_075019_091188-1%0", "input": "Wash the knife and put it on the table. ", "output": ["STEP 1: Turn left to go to the front of the counter on the left side of the stove. "]} +{"id": "trial_T20190908_075019_091188-1%1", "input": "Wash the knife and put it on the table. | STEP 1: Turn left to go to the front of the counter on the left side of the stove. ", "output": ["STEP 2: Pick up the knife in front of the salt shaker."]} +{"id": "trial_T20190908_075019_091188-1%2", "input": "Wash the knife and put it on the table. | STEP 1: Turn left to go to the front of the counter on the left side of the stove. | STEP 2: Pick up the knife in front of the salt shaker.", "output": ["STEP 3: Turn around and go to the sink on the opposite side. "]} +{"id": "trial_T20190908_075019_091188-1%3", "input": "Wash the knife and put it on the table. | STEP 1: Turn left to go to the front of the counter on the left side of the stove. | STEP 2: Pick up the knife in front of the salt shaker. | STEP 3: Turn around and go to the sink on the opposite side. ", "output": ["STEP 4: Wash the knife under running water in the sink and take it out. "]} +{"id": "trial_T20190908_075019_091188-1%4", "input": "Wash the knife and put it on the table. | STEP 1: Turn left to go to the front of the counter on the left side of the stove. | STEP 2: Pick up the knife in front of the salt shaker. | STEP 3: Turn around and go to the sink on the opposite side. | STEP 4: Wash the knife under running water in the sink and take it out. ", "output": ["STEP 5: Turn right to go to the round table with a gray cover. "]} +{"id": "trial_T20190908_075019_091188-1%5", "input": "Wash the knife and put it on the table. | STEP 1: Turn left to go to the front of the counter on the left side of the stove. | STEP 2: Pick up the knife in front of the salt shaker. | STEP 3: Turn around and go to the sink on the opposite side. | STEP 4: Wash the knife under running water in the sink and take it out. | STEP 5: Turn right to go to the round table with a gray cover. ", "output": ["STEP 6: Place the knife next to the salt shaker on the table. "]} +{"id": "trial_T20190908_075019_091188-1%6", "input": "Wash the knife and put it on the table. | STEP 1: Turn left to go to the front of the counter on the left side of the stove. | STEP 2: Pick up the knife in front of the salt shaker. | STEP 3: Turn around and go to the sink on the opposite side. | STEP 4: Wash the knife under running water in the sink and take it out. | STEP 5: Turn right to go to the round table with a gray cover. | STEP 6: Place the knife next to the salt shaker on the table. ", "output": ["END"]} +{"id": "trial_T20190908_075019_091188-2%0", "input": "Rinse a knife and place it on a table.", "output": ["STEP 1: Turn to the left and go across the room to the far right counter."]} +{"id": "trial_T20190908_075019_091188-2%1", "input": "Rinse a knife and place it on a table. | STEP 1: Turn to the left and go across the room to the far right counter.", "output": ["STEP 2: Pick up the knife from the center of the counter."]} +{"id": "trial_T20190908_075019_091188-2%2", "input": "Rinse a knife and place it on a table. | STEP 1: Turn to the left and go across the room to the far right counter. | STEP 2: Pick up the knife from the center of the counter.", "output": ["STEP 3: Carry the knife and turn around to the sink."]} +{"id": "trial_T20190908_075019_091188-2%3", "input": "Rinse a knife and place it on a table. | STEP 1: Turn to the left and go across the room to the far right counter. | STEP 2: Pick up the knife from the center of the counter. | STEP 3: Carry the knife and turn around to the sink.", "output": ["STEP 4: Place the knife in the sink, turn the water on and off. Pick up the knife."]} +{"id": "trial_T20190908_075019_091188-2%4", "input": "Rinse a knife and place it on a table. | STEP 1: Turn to the left and go across the room to the far right counter. | STEP 2: Pick up the knife from the center of the counter. | STEP 3: Carry the knife and turn around to the sink. | STEP 4: Place the knife in the sink, turn the water on and off. Pick up the knife.", "output": ["STEP 5: Hold the knife and take a few steps to the right, to the round table."]} +{"id": "trial_T20190908_075019_091188-2%5", "input": "Rinse a knife and place it on a table. | STEP 1: Turn to the left and go across the room to the far right counter. | STEP 2: Pick up the knife from the center of the counter. | STEP 3: Carry the knife and turn around to the sink. | STEP 4: Place the knife in the sink, turn the water on and off. Pick up the knife. | STEP 5: Hold the knife and take a few steps to the right, to the round table.", "output": ["STEP 6: Place the knife on the front side of the table."]} +{"id": "trial_T20190908_075019_091188-2%6", "input": "Rinse a knife and place it on a table. | STEP 1: Turn to the left and go across the room to the far right counter. | STEP 2: Pick up the knife from the center of the counter. | STEP 3: Carry the knife and turn around to the sink. | STEP 4: Place the knife in the sink, turn the water on and off. Pick up the knife. | STEP 5: Hold the knife and take a few steps to the right, to the round table. | STEP 6: Place the knife on the front side of the table.", "output": ["END"]} +{"id": "trial_T20190912_012111_529445-1%0", "input": "place two pens in the dresser drawer", "output": ["STEP 1: turn around and walk over to tall cabinet near the opposite corner of the room"]} +{"id": "trial_T20190912_012111_529445-1%1", "input": "place two pens in the dresser drawer | STEP 1: turn around and walk over to tall cabinet near the opposite corner of the room", "output": ["STEP 2: grab the pen off of the cabinet"]} +{"id": "trial_T20190912_012111_529445-1%2", "input": "place two pens in the dresser drawer | STEP 1: turn around and walk over to tall cabinet near the opposite corner of the room | STEP 2: grab the pen off of the cabinet", "output": ["STEP 3: turn around and walk over to the dresser on the left side of the bed"]} +{"id": "trial_T20190912_012111_529445-1%3", "input": "place two pens in the dresser drawer | STEP 1: turn around and walk over to tall cabinet near the opposite corner of the room | STEP 2: grab the pen off of the cabinet | STEP 3: turn around and walk over to the dresser on the left side of the bed", "output": ["STEP 4: put the pen inside the drawer second to the left of the top row"]} +{"id": "trial_T20190912_012111_529445-1%4", "input": "place two pens in the dresser drawer | STEP 1: turn around and walk over to tall cabinet near the opposite corner of the room | STEP 2: grab the pen off of the cabinet | STEP 3: turn around and walk over to the dresser on the left side of the bed | STEP 4: put the pen inside the drawer second to the left of the top row", "output": ["STEP 5: turn around and move over to the dresser at the foot of the bed"]} +{"id": "trial_T20190912_012111_529445-1%5", "input": "place two pens in the dresser drawer | STEP 1: turn around and walk over to tall cabinet near the opposite corner of the room | STEP 2: grab the pen off of the cabinet | STEP 3: turn around and walk over to the dresser on the left side of the bed | STEP 4: put the pen inside the drawer second to the left of the top row | STEP 5: turn around and move over to the dresser at the foot of the bed", "output": ["STEP 6: grab a pen off of the top of the dresser"]} +{"id": "trial_T20190912_012111_529445-1%6", "input": "place two pens in the dresser drawer | STEP 1: turn around and walk over to tall cabinet near the opposite corner of the room | STEP 2: grab the pen off of the cabinet | STEP 3: turn around and walk over to the dresser on the left side of the bed | STEP 4: put the pen inside the drawer second to the left of the top row | STEP 5: turn around and move over to the dresser at the foot of the bed | STEP 6: grab a pen off of the top of the dresser", "output": ["STEP 7: move to the right and maneuver back over to the dresser ahead"]} +{"id": "trial_T20190912_012111_529445-1%7", "input": "place two pens in the dresser drawer | STEP 1: turn around and walk over to tall cabinet near the opposite corner of the room | STEP 2: grab the pen off of the cabinet | STEP 3: turn around and walk over to the dresser on the left side of the bed | STEP 4: put the pen inside the drawer second to the left of the top row | STEP 5: turn around and move over to the dresser at the foot of the bed | STEP 6: grab a pen off of the top of the dresser | STEP 7: move to the right and maneuver back over to the dresser ahead", "output": ["STEP 8: place the pen in the same drawer the other pen was placed"]} +{"id": "trial_T20190912_012111_529445-1%8", "input": "place two pens in the dresser drawer | STEP 1: turn around and walk over to tall cabinet near the opposite corner of the room | STEP 2: grab the pen off of the cabinet | STEP 3: turn around and walk over to the dresser on the left side of the bed | STEP 4: put the pen inside the drawer second to the left of the top row | STEP 5: turn around and move over to the dresser at the foot of the bed | STEP 6: grab a pen off of the top of the dresser | STEP 7: move to the right and maneuver back over to the dresser ahead | STEP 8: place the pen in the same drawer the other pen was placed", "output": ["END"]} +{"id": "trial_T20190912_012111_529445-2%0", "input": "Place two pens inside of a drawer.", "output": ["STEP 1: Walk to the shelves"]} +{"id": "trial_T20190912_012111_529445-2%1", "input": "Place two pens inside of a drawer. | STEP 1: Walk to the shelves", "output": ["STEP 2: Pick up the pen from the shelf"]} +{"id": "trial_T20190912_012111_529445-2%2", "input": "Place two pens inside of a drawer. | STEP 1: Walk to the shelves | STEP 2: Pick up the pen from the shelf", "output": ["STEP 3: Walk to the drawers"]} +{"id": "trial_T20190912_012111_529445-2%3", "input": "Place two pens inside of a drawer. | STEP 1: Walk to the shelves | STEP 2: Pick up the pen from the shelf | STEP 3: Walk to the drawers", "output": ["STEP 4: Open a drawer and place the pen inside"]} +{"id": "trial_T20190912_012111_529445-2%4", "input": "Place two pens inside of a drawer. | STEP 1: Walk to the shelves | STEP 2: Pick up the pen from the shelf | STEP 3: Walk to the drawers | STEP 4: Open a drawer and place the pen inside", "output": ["STEP 5: Close the drawer and walk to the dresser"]} +{"id": "trial_T20190912_012111_529445-2%5", "input": "Place two pens inside of a drawer. | STEP 1: Walk to the shelves | STEP 2: Pick up the pen from the shelf | STEP 3: Walk to the drawers | STEP 4: Open a drawer and place the pen inside | STEP 5: Close the drawer and walk to the dresser", "output": ["STEP 6: Pick up a pen from the dresser"]} +{"id": "trial_T20190912_012111_529445-2%6", "input": "Place two pens inside of a drawer. | STEP 1: Walk to the shelves | STEP 2: Pick up the pen from the shelf | STEP 3: Walk to the drawers | STEP 4: Open a drawer and place the pen inside | STEP 5: Close the drawer and walk to the dresser | STEP 6: Pick up a pen from the dresser", "output": ["STEP 7: Walk to the drawers"]} +{"id": "trial_T20190912_012111_529445-2%7", "input": "Place two pens inside of a drawer. | STEP 1: Walk to the shelves | STEP 2: Pick up the pen from the shelf | STEP 3: Walk to the drawers | STEP 4: Open a drawer and place the pen inside | STEP 5: Close the drawer and walk to the dresser | STEP 6: Pick up a pen from the dresser | STEP 7: Walk to the drawers", "output": ["STEP 8: Open the same drawer and place the pen inside"]} +{"id": "trial_T20190912_012111_529445-2%8", "input": "Place two pens inside of a drawer. | STEP 1: Walk to the shelves | STEP 2: Pick up the pen from the shelf | STEP 3: Walk to the drawers | STEP 4: Open a drawer and place the pen inside | STEP 5: Close the drawer and walk to the dresser | STEP 6: Pick up a pen from the dresser | STEP 7: Walk to the drawers | STEP 8: Open the same drawer and place the pen inside", "output": ["END"]} +{"id": "trial_T20190909_042124_419116-0%0", "input": "Put a cleaned fork in a drawer left of the stove. ", "output": ["STEP 1: Turn left, move to the round table. "]} +{"id": "trial_T20190909_042124_419116-0%1", "input": "Put a cleaned fork in a drawer left of the stove. | STEP 1: Turn left, move to the round table. ", "output": ["STEP 2: Pick up the fork on the table."]} +{"id": "trial_T20190909_042124_419116-0%2", "input": "Put a cleaned fork in a drawer left of the stove. | STEP 1: Turn left, move to the round table. | STEP 2: Pick up the fork on the table.", "output": ["STEP 3: Turn around, go forward, turn right, go forward, turn right to face the sink."]} +{"id": "trial_T20190909_042124_419116-0%3", "input": "Put a cleaned fork in a drawer left of the stove. | STEP 1: Turn left, move to the round table. | STEP 2: Pick up the fork on the table. | STEP 3: Turn around, go forward, turn right, go forward, turn right to face the sink.", "output": ["STEP 4: Wash the fork in the sink."]} +{"id": "trial_T20190909_042124_419116-0%4", "input": "Put a cleaned fork in a drawer left of the stove. | STEP 1: Turn left, move to the round table. | STEP 2: Pick up the fork on the table. | STEP 3: Turn around, go forward, turn right, go forward, turn right to face the sink. | STEP 4: Wash the fork in the sink.", "output": ["STEP 5: Bring the cleaned fork to the drawer behind you, left of the stove."]} +{"id": "trial_T20190909_042124_419116-0%5", "input": "Put a cleaned fork in a drawer left of the stove. | STEP 1: Turn left, move to the round table. | STEP 2: Pick up the fork on the table. | STEP 3: Turn around, go forward, turn right, go forward, turn right to face the sink. | STEP 4: Wash the fork in the sink. | STEP 5: Bring the cleaned fork to the drawer behind you, left of the stove.", "output": ["STEP 6: Put the cleaned fork in the drawer left of the stove. "]} +{"id": "trial_T20190909_042124_419116-0%6", "input": "Put a cleaned fork in a drawer left of the stove. | STEP 1: Turn left, move to the round table. | STEP 2: Pick up the fork on the table. | STEP 3: Turn around, go forward, turn right, go forward, turn right to face the sink. | STEP 4: Wash the fork in the sink. | STEP 5: Bring the cleaned fork to the drawer behind you, left of the stove. | STEP 6: Put the cleaned fork in the drawer left of the stove. ", "output": ["END"]} +{"id": "trial_T20190909_042124_419116-2%0", "input": "Place a clean fork in a drawer.", "output": ["STEP 1: Turn left and walk to the table."]} +{"id": "trial_T20190909_042124_419116-2%1", "input": "Place a clean fork in a drawer. | STEP 1: Turn left and walk to the table.", "output": ["STEP 2: Pick up the fork on the able."]} +{"id": "trial_T20190909_042124_419116-2%2", "input": "Place a clean fork in a drawer. | STEP 1: Turn left and walk to the table. | STEP 2: Pick up the fork on the able.", "output": ["STEP 3: Turn around and walk around the side of the counter to the front of the sink."]} +{"id": "trial_T20190909_042124_419116-2%3", "input": "Place a clean fork in a drawer. | STEP 1: Turn left and walk to the table. | STEP 2: Pick up the fork on the able. | STEP 3: Turn around and walk around the side of the counter to the front of the sink.", "output": ["STEP 4: Rinse off the fork in the sink."]} +{"id": "trial_T20190909_042124_419116-2%4", "input": "Place a clean fork in a drawer. | STEP 1: Turn left and walk to the table. | STEP 2: Pick up the fork on the able. | STEP 3: Turn around and walk around the side of the counter to the front of the sink. | STEP 4: Rinse off the fork in the sink.", "output": ["STEP 5: Turn around and walk to the counter to the left of the stove."]} +{"id": "trial_T20190909_042124_419116-2%5", "input": "Place a clean fork in a drawer. | STEP 1: Turn left and walk to the table. | STEP 2: Pick up the fork on the able. | STEP 3: Turn around and walk around the side of the counter to the front of the sink. | STEP 4: Rinse off the fork in the sink. | STEP 5: Turn around and walk to the counter to the left of the stove.", "output": ["STEP 6: Place the fork in the drawer under the counter."]} +{"id": "trial_T20190909_042124_419116-2%6", "input": "Place a clean fork in a drawer. | STEP 1: Turn left and walk to the table. | STEP 2: Pick up the fork on the able. | STEP 3: Turn around and walk around the side of the counter to the front of the sink. | STEP 4: Rinse off the fork in the sink. | STEP 5: Turn around and walk to the counter to the left of the stove. | STEP 6: Place the fork in the drawer under the counter.", "output": ["END"]} +{"id": "trial_T20190906_184817_053664-2%0", "input": "place a microwaved cup in a kitchen cabinet", "output": ["STEP 1: walk over to the kitchen counter to the right of the stove"]} +{"id": "trial_T20190906_184817_053664-2%1", "input": "place a microwaved cup in a kitchen cabinet | STEP 1: walk over to the kitchen counter to the right of the stove", "output": ["STEP 2: grab a cup from the cabinet underneath the counter"]} +{"id": "trial_T20190906_184817_053664-2%2", "input": "place a microwaved cup in a kitchen cabinet | STEP 1: walk over to the kitchen counter to the right of the stove | STEP 2: grab a cup from the cabinet underneath the counter", "output": ["STEP 3: turn around and walk over to the kitchen stove"]} +{"id": "trial_T20190906_184817_053664-2%3", "input": "place a microwaved cup in a kitchen cabinet | STEP 1: walk over to the kitchen counter to the right of the stove | STEP 2: grab a cup from the cabinet underneath the counter | STEP 3: turn around and walk over to the kitchen stove", "output": ["STEP 4: place the cup in the microwave above the kitchen stove, turn it on, and when it's done take it out"]} +{"id": "trial_T20190906_184817_053664-2%4", "input": "place a microwaved cup in a kitchen cabinet | STEP 1: walk over to the kitchen counter to the right of the stove | STEP 2: grab a cup from the cabinet underneath the counter | STEP 3: turn around and walk over to the kitchen stove | STEP 4: place the cup in the microwave above the kitchen stove, turn it on, and when it's done take it out", "output": ["STEP 5: turn around and face the cabinets behind you"]} +{"id": "trial_T20190906_184817_053664-2%5", "input": "place a microwaved cup in a kitchen cabinet | STEP 1: walk over to the kitchen counter to the right of the stove | STEP 2: grab a cup from the cabinet underneath the counter | STEP 3: turn around and walk over to the kitchen stove | STEP 4: place the cup in the microwave above the kitchen stove, turn it on, and when it's done take it out | STEP 5: turn around and face the cabinets behind you", "output": ["STEP 6: put the cup in the upper cabinet on the left"]} +{"id": "trial_T20190906_184817_053664-2%6", "input": "place a microwaved cup in a kitchen cabinet | STEP 1: walk over to the kitchen counter to the right of the stove | STEP 2: grab a cup from the cabinet underneath the counter | STEP 3: turn around and walk over to the kitchen stove | STEP 4: place the cup in the microwave above the kitchen stove, turn it on, and when it's done take it out | STEP 5: turn around and face the cabinets behind you | STEP 6: put the cup in the upper cabinet on the left", "output": ["END"]} +{"id": "trial_T20190907_002937_112931-1%0", "input": "Put the cooked tomato slice in the fridge ", "output": ["STEP 1: Turn around and walk to the kitchen sink"]} +{"id": "trial_T20190907_002937_112931-1%1", "input": "Put the cooked tomato slice in the fridge | STEP 1: Turn around and walk to the kitchen sink", "output": ["STEP 2: Pick up the knife from the kitchen sink"]} +{"id": "trial_T20190907_002937_112931-1%2", "input": "Put the cooked tomato slice in the fridge | STEP 1: Turn around and walk to the kitchen sink | STEP 2: Pick up the knife from the kitchen sink", "output": ["STEP 3: Turn and move slightly to the right side of the sink"]} +{"id": "trial_T20190907_002937_112931-1%3", "input": "Put the cooked tomato slice in the fridge | STEP 1: Turn around and walk to the kitchen sink | STEP 2: Pick up the knife from the kitchen sink | STEP 3: Turn and move slightly to the right side of the sink", "output": ["STEP 4: Use the knife to slice the red tomato in the sink"]} +{"id": "trial_T20190907_002937_112931-1%4", "input": "Put the cooked tomato slice in the fridge | STEP 1: Turn around and walk to the kitchen sink | STEP 2: Pick up the knife from the kitchen sink | STEP 3: Turn and move slightly to the right side of the sink | STEP 4: Use the knife to slice the red tomato in the sink", "output": ["STEP 5: Put the knife down in the kitchen sink"]} +{"id": "trial_T20190907_002937_112931-1%5", "input": "Put the cooked tomato slice in the fridge | STEP 1: Turn around and walk to the kitchen sink | STEP 2: Pick up the knife from the kitchen sink | STEP 3: Turn and move slightly to the right side of the sink | STEP 4: Use the knife to slice the red tomato in the sink | STEP 5: Put the knife down in the kitchen sink", "output": ["STEP 6: Pick up a slice of tomato from the sink"]} +{"id": "trial_T20190907_002937_112931-1%6", "input": "Put the cooked tomato slice in the fridge | STEP 1: Turn around and walk to the kitchen sink | STEP 2: Pick up the knife from the kitchen sink | STEP 3: Turn and move slightly to the right side of the sink | STEP 4: Use the knife to slice the red tomato in the sink | STEP 5: Put the knife down in the kitchen sink | STEP 6: Pick up a slice of tomato from the sink", "output": ["STEP 7: Turn around and approach the microwave above the stove"]} +{"id": "trial_T20190907_002937_112931-1%7", "input": "Put the cooked tomato slice in the fridge | STEP 1: Turn around and walk to the kitchen sink | STEP 2: Pick up the knife from the kitchen sink | STEP 3: Turn and move slightly to the right side of the sink | STEP 4: Use the knife to slice the red tomato in the sink | STEP 5: Put the knife down in the kitchen sink | STEP 6: Pick up a slice of tomato from the sink | STEP 7: Turn around and approach the microwave above the stove", "output": ["STEP 8: Cook the tomato in the microwave and remove it"]} +{"id": "trial_T20190907_002937_112931-1%8", "input": "Put the cooked tomato slice in the fridge | STEP 1: Turn around and walk to the kitchen sink | STEP 2: Pick up the knife from the kitchen sink | STEP 3: Turn and move slightly to the right side of the sink | STEP 4: Use the knife to slice the red tomato in the sink | STEP 5: Put the knife down in the kitchen sink | STEP 6: Pick up a slice of tomato from the sink | STEP 7: Turn around and approach the microwave above the stove | STEP 8: Cook the tomato in the microwave and remove it", "output": ["STEP 9: Turn right and walk through the kitchen to the fridge"]} +{"id": "trial_T20190907_002937_112931-1%9", "input": "Put the cooked tomato slice in the fridge | STEP 1: Turn around and walk to the kitchen sink | STEP 2: Pick up the knife from the kitchen sink | STEP 3: Turn and move slightly to the right side of the sink | STEP 4: Use the knife to slice the red tomato in the sink | STEP 5: Put the knife down in the kitchen sink | STEP 6: Pick up a slice of tomato from the sink | STEP 7: Turn around and approach the microwave above the stove | STEP 8: Cook the tomato in the microwave and remove it | STEP 9: Turn right and walk through the kitchen to the fridge", "output": ["STEP 10: Put the tomato slice in the fridge in front of the drinking glass"]} +{"id": "trial_T20190907_002937_112931-1%10", "input": "Put the cooked tomato slice in the fridge | STEP 1: Turn around and walk to the kitchen sink | STEP 2: Pick up the knife from the kitchen sink | STEP 3: Turn and move slightly to the right side of the sink | STEP 4: Use the knife to slice the red tomato in the sink | STEP 5: Put the knife down in the kitchen sink | STEP 6: Pick up a slice of tomato from the sink | STEP 7: Turn around and approach the microwave above the stove | STEP 8: Cook the tomato in the microwave and remove it | STEP 9: Turn right and walk through the kitchen to the fridge | STEP 10: Put the tomato slice in the fridge in front of the drinking glass", "output": ["END"]} +{"id": "trial_T20190907_002937_112931-2%0", "input": "Get a slice of tomato into the microwave, next cool it in the fridge.", "output": ["STEP 1: Turn to the left and walk towards the sink, turn to face the sink"]} +{"id": "trial_T20190907_002937_112931-2%1", "input": "Get a slice of tomato into the microwave, next cool it in the fridge. | STEP 1: Turn to the left and walk towards the sink, turn to face the sink", "output": ["STEP 2: Pick up the knife out of the sink"]} +{"id": "trial_T20190907_002937_112931-2%2", "input": "Get a slice of tomato into the microwave, next cool it in the fridge. | STEP 1: Turn to the left and walk towards the sink, turn to face the sink | STEP 2: Pick up the knife out of the sink", "output": ["STEP 3: Go to the other side of the sink with the knife"]} +{"id": "trial_T20190907_002937_112931-2%3", "input": "Get a slice of tomato into the microwave, next cool it in the fridge. | STEP 1: Turn to the left and walk towards the sink, turn to face the sink | STEP 2: Pick up the knife out of the sink | STEP 3: Go to the other side of the sink with the knife", "output": ["STEP 4: Put the knife back in the sink"]} +{"id": "trial_T20190907_002937_112931-2%4", "input": "Get a slice of tomato into the microwave, next cool it in the fridge. | STEP 1: Turn to the left and walk towards the sink, turn to face the sink | STEP 2: Pick up the knife out of the sink | STEP 3: Go to the other side of the sink with the knife | STEP 4: Put the knife back in the sink", "output": ["STEP 5: Pick up a slice of tomato"]} +{"id": "trial_T20190907_002937_112931-2%5", "input": "Get a slice of tomato into the microwave, next cool it in the fridge. | STEP 1: Turn to the left and walk towards the sink, turn to face the sink | STEP 2: Pick up the knife out of the sink | STEP 3: Go to the other side of the sink with the knife | STEP 4: Put the knife back in the sink | STEP 5: Pick up a slice of tomato", "output": ["STEP 6: Turn towards the left while holding the tomato"]} +{"id": "trial_T20190907_002937_112931-2%6", "input": "Get a slice of tomato into the microwave, next cool it in the fridge. | STEP 1: Turn to the left and walk towards the sink, turn to face the sink | STEP 2: Pick up the knife out of the sink | STEP 3: Go to the other side of the sink with the knife | STEP 4: Put the knife back in the sink | STEP 5: Pick up a slice of tomato | STEP 6: Turn towards the left while holding the tomato", "output": ["STEP 7: Turn left then right then left again and go on toward the microwave"]} +{"id": "trial_T20190907_002937_112931-2%7", "input": "Get a slice of tomato into the microwave, next cool it in the fridge. | STEP 1: Turn to the left and walk towards the sink, turn to face the sink | STEP 2: Pick up the knife out of the sink | STEP 3: Go to the other side of the sink with the knife | STEP 4: Put the knife back in the sink | STEP 5: Pick up a slice of tomato | STEP 6: Turn towards the left while holding the tomato | STEP 7: Turn left then right then left again and go on toward the microwave", "output": ["STEP 8: Put the tomato in the microwave and turn it on for a few seconds, then take it out"]} +{"id": "trial_T20190907_002937_112931-2%8", "input": "Get a slice of tomato into the microwave, next cool it in the fridge. | STEP 1: Turn to the left and walk towards the sink, turn to face the sink | STEP 2: Pick up the knife out of the sink | STEP 3: Go to the other side of the sink with the knife | STEP 4: Put the knife back in the sink | STEP 5: Pick up a slice of tomato | STEP 6: Turn towards the left while holding the tomato | STEP 7: Turn left then right then left again and go on toward the microwave | STEP 8: Put the tomato in the microwave and turn it on for a few seconds, then take it out", "output": ["STEP 9: Turn right and walk to the fridge"]} +{"id": "trial_T20190907_002937_112931-2%9", "input": "Get a slice of tomato into the microwave, next cool it in the fridge. | STEP 1: Turn to the left and walk towards the sink, turn to face the sink | STEP 2: Pick up the knife out of the sink | STEP 3: Go to the other side of the sink with the knife | STEP 4: Put the knife back in the sink | STEP 5: Pick up a slice of tomato | STEP 6: Turn towards the left while holding the tomato | STEP 7: Turn left then right then left again and go on toward the microwave | STEP 8: Put the tomato in the microwave and turn it on for a few seconds, then take it out | STEP 9: Turn right and walk to the fridge", "output": ["STEP 10: Open the fridge, put the tomato in it and close the door"]} +{"id": "trial_T20190907_002937_112931-2%10", "input": "Get a slice of tomato into the microwave, next cool it in the fridge. | STEP 1: Turn to the left and walk towards the sink, turn to face the sink | STEP 2: Pick up the knife out of the sink | STEP 3: Go to the other side of the sink with the knife | STEP 4: Put the knife back in the sink | STEP 5: Pick up a slice of tomato | STEP 6: Turn towards the left while holding the tomato | STEP 7: Turn left then right then left again and go on toward the microwave | STEP 8: Put the tomato in the microwave and turn it on for a few seconds, then take it out | STEP 9: Turn right and walk to the fridge | STEP 10: Open the fridge, put the tomato in it and close the door", "output": ["END"]} +{"id": "trial_T20190911_002050_142268-2%0", "input": "place two pencil's down on top of the desk in the corner of the room", "output": ["STEP 1: move forwards to the foot of the bed, then turn left to face the cabinet to the left"]} +{"id": "trial_T20190911_002050_142268-2%1", "input": "place two pencil's down on top of the desk in the corner of the room | STEP 1: move forwards to the foot of the bed, then turn left to face the cabinet to the left", "output": ["STEP 2: grab the pencil off of the top of the cabinet there"]} +{"id": "trial_T20190911_002050_142268-2%2", "input": "place two pencil's down on top of the desk in the corner of the room | STEP 1: move forwards to the foot of the bed, then turn left to face the cabinet to the left | STEP 2: grab the pencil off of the top of the cabinet there", "output": ["STEP 3: turn around and walk to the desk on the right side corner at the end of the room"]} +{"id": "trial_T20190911_002050_142268-2%3", "input": "place two pencil's down on top of the desk in the corner of the room | STEP 1: move forwards to the foot of the bed, then turn left to face the cabinet to the left | STEP 2: grab the pencil off of the top of the cabinet there | STEP 3: turn around and walk to the desk on the right side corner at the end of the room", "output": ["STEP 4: place the pencil down on top of the desk there"]} +{"id": "trial_T20190911_002050_142268-2%4", "input": "place two pencil's down on top of the desk in the corner of the room | STEP 1: move forwards to the foot of the bed, then turn left to face the cabinet to the left | STEP 2: grab the pencil off of the top of the cabinet there | STEP 3: turn around and walk to the desk on the right side corner at the end of the room | STEP 4: place the pencil down on top of the desk there", "output": ["STEP 5: turn right and walk back over to the cabinet at the foot of the bed again"]} +{"id": "trial_T20190911_002050_142268-2%5", "input": "place two pencil's down on top of the desk in the corner of the room | STEP 1: move forwards to the foot of the bed, then turn left to face the cabinet to the left | STEP 2: grab the pencil off of the top of the cabinet there | STEP 3: turn around and walk to the desk on the right side corner at the end of the room | STEP 4: place the pencil down on top of the desk there | STEP 5: turn right and walk back over to the cabinet at the foot of the bed again", "output": ["STEP 6: grab a pencil off of the cabinet"]} +{"id": "trial_T20190911_002050_142268-2%6", "input": "place two pencil's down on top of the desk in the corner of the room | STEP 1: move forwards to the foot of the bed, then turn left to face the cabinet to the left | STEP 2: grab the pencil off of the top of the cabinet there | STEP 3: turn around and walk to the desk on the right side corner at the end of the room | STEP 4: place the pencil down on top of the desk there | STEP 5: turn right and walk back over to the cabinet at the foot of the bed again | STEP 6: grab a pencil off of the cabinet", "output": ["STEP 7: turn around and walk to the desk on the right side corner of the end of the room"]} +{"id": "trial_T20190911_002050_142268-2%7", "input": "place two pencil's down on top of the desk in the corner of the room | STEP 1: move forwards to the foot of the bed, then turn left to face the cabinet to the left | STEP 2: grab the pencil off of the top of the cabinet there | STEP 3: turn around and walk to the desk on the right side corner at the end of the room | STEP 4: place the pencil down on top of the desk there | STEP 5: turn right and walk back over to the cabinet at the foot of the bed again | STEP 6: grab a pencil off of the cabinet | STEP 7: turn around and walk to the desk on the right side corner of the end of the room", "output": ["STEP 8: place the pencil down on top of the desk"]} +{"id": "trial_T20190911_002050_142268-2%8", "input": "place two pencil's down on top of the desk in the corner of the room | STEP 1: move forwards to the foot of the bed, then turn left to face the cabinet to the left | STEP 2: grab the pencil off of the top of the cabinet there | STEP 3: turn around and walk to the desk on the right side corner at the end of the room | STEP 4: place the pencil down on top of the desk there | STEP 5: turn right and walk back over to the cabinet at the foot of the bed again | STEP 6: grab a pencil off of the cabinet | STEP 7: turn around and walk to the desk on the right side corner of the end of the room | STEP 8: place the pencil down on top of the desk", "output": ["END"]} +{"id": "trial_T20190907_084623_989691-0%0", "input": "put the two candles on the vanity in the bottom right cabinet", "output": ["STEP 1: turn right to the vanity"]} +{"id": "trial_T20190907_084623_989691-0%1", "input": "put the two candles on the vanity in the bottom right cabinet | STEP 1: turn right to the vanity", "output": ["STEP 2: grab the candle on the vanity"]} +{"id": "trial_T20190907_084623_989691-0%2", "input": "put the two candles on the vanity in the bottom right cabinet | STEP 1: turn right to the vanity | STEP 2: grab the candle on the vanity", "output": ["STEP 3: turn around, turn around"]} +{"id": "trial_T20190907_084623_989691-0%3", "input": "put the two candles on the vanity in the bottom right cabinet | STEP 1: turn right to the vanity | STEP 2: grab the candle on the vanity | STEP 3: turn around, turn around", "output": ["STEP 4: open the bottom right cabinet, put the candle in, close the cabinet"]} +{"id": "trial_T20190907_084623_989691-0%4", "input": "put the two candles on the vanity in the bottom right cabinet | STEP 1: turn right to the vanity | STEP 2: grab the candle on the vanity | STEP 3: turn around, turn around | STEP 4: open the bottom right cabinet, put the candle in, close the cabinet", "output": ["STEP 5: walk to the right a little "]} +{"id": "trial_T20190907_084623_989691-0%5", "input": "put the two candles on the vanity in the bottom right cabinet | STEP 1: turn right to the vanity | STEP 2: grab the candle on the vanity | STEP 3: turn around, turn around | STEP 4: open the bottom right cabinet, put the candle in, close the cabinet | STEP 5: walk to the right a little ", "output": ["STEP 6: grab the candle on the vanity"]} +{"id": "trial_T20190907_084623_989691-0%6", "input": "put the two candles on the vanity in the bottom right cabinet | STEP 1: turn right to the vanity | STEP 2: grab the candle on the vanity | STEP 3: turn around, turn around | STEP 4: open the bottom right cabinet, put the candle in, close the cabinet | STEP 5: walk to the right a little | STEP 6: grab the candle on the vanity", "output": ["STEP 7: turn around, turn around"]} +{"id": "trial_T20190907_084623_989691-0%7", "input": "put the two candles on the vanity in the bottom right cabinet | STEP 1: turn right to the vanity | STEP 2: grab the candle on the vanity | STEP 3: turn around, turn around | STEP 4: open the bottom right cabinet, put the candle in, close the cabinet | STEP 5: walk to the right a little | STEP 6: grab the candle on the vanity | STEP 7: turn around, turn around", "output": ["STEP 8: open the bottom right cabinet, put the candle in, close the cabinet"]} +{"id": "trial_T20190907_084623_989691-0%8", "input": "put the two candles on the vanity in the bottom right cabinet | STEP 1: turn right to the vanity | STEP 2: grab the candle on the vanity | STEP 3: turn around, turn around | STEP 4: open the bottom right cabinet, put the candle in, close the cabinet | STEP 5: walk to the right a little | STEP 6: grab the candle on the vanity | STEP 7: turn around, turn around | STEP 8: open the bottom right cabinet, put the candle in, close the cabinet", "output": ["END"]} +{"id": "trial_T20190907_084623_989691-2%0", "input": "Put two candle holders in the cabinet under the sink. ", "output": ["STEP 1: Turn right and go to the sink on the left."]} +{"id": "trial_T20190907_084623_989691-2%1", "input": "Put two candle holders in the cabinet under the sink. | STEP 1: Turn right and go to the sink on the left.", "output": ["STEP 2: Pick up a candle holder on the counter. "]} +{"id": "trial_T20190907_084623_989691-2%2", "input": "Put two candle holders in the cabinet under the sink. | STEP 1: Turn right and go to the sink on the left. | STEP 2: Pick up a candle holder on the counter. ", "output": ["STEP 3: Turn and go to the cabinet under the sink on the right."]} +{"id": "trial_T20190907_084623_989691-2%3", "input": "Put two candle holders in the cabinet under the sink. | STEP 1: Turn right and go to the sink on the left. | STEP 2: Pick up a candle holder on the counter. | STEP 3: Turn and go to the cabinet under the sink on the right.", "output": ["STEP 4: Put the candle holder in the cabinet"]} +{"id": "trial_T20190907_084623_989691-2%4", "input": "Put two candle holders in the cabinet under the sink. | STEP 1: Turn right and go to the sink on the left. | STEP 2: Pick up a candle holder on the counter. | STEP 3: Turn and go to the cabinet under the sink on the right. | STEP 4: Put the candle holder in the cabinet", "output": ["STEP 5: Turn and go to the sink on the right. "]} +{"id": "trial_T20190907_084623_989691-2%5", "input": "Put two candle holders in the cabinet under the sink. | STEP 1: Turn right and go to the sink on the left. | STEP 2: Pick up a candle holder on the counter. | STEP 3: Turn and go to the cabinet under the sink on the right. | STEP 4: Put the candle holder in the cabinet | STEP 5: Turn and go to the sink on the right. ", "output": ["STEP 6: Pick up a candle holder on the counter. "]} +{"id": "trial_T20190907_084623_989691-2%6", "input": "Put two candle holders in the cabinet under the sink. | STEP 1: Turn right and go to the sink on the left. | STEP 2: Pick up a candle holder on the counter. | STEP 3: Turn and go to the cabinet under the sink on the right. | STEP 4: Put the candle holder in the cabinet | STEP 5: Turn and go to the sink on the right. | STEP 6: Pick up a candle holder on the counter. ", "output": ["STEP 7: Turn and go to the cabinet."]} +{"id": "trial_T20190907_084623_989691-2%7", "input": "Put two candle holders in the cabinet under the sink. | STEP 1: Turn right and go to the sink on the left. | STEP 2: Pick up a candle holder on the counter. | STEP 3: Turn and go to the cabinet under the sink on the right. | STEP 4: Put the candle holder in the cabinet | STEP 5: Turn and go to the sink on the right. | STEP 6: Pick up a candle holder on the counter. | STEP 7: Turn and go to the cabinet.", "output": ["STEP 8: Put the candle holder in the cabinet under the sink. "]} +{"id": "trial_T20190907_084623_989691-2%8", "input": "Put two candle holders in the cabinet under the sink. | STEP 1: Turn right and go to the sink on the left. | STEP 2: Pick up a candle holder on the counter. | STEP 3: Turn and go to the cabinet under the sink on the right. | STEP 4: Put the candle holder in the cabinet | STEP 5: Turn and go to the sink on the right. | STEP 6: Pick up a candle holder on the counter. | STEP 7: Turn and go to the cabinet. | STEP 8: Put the candle holder in the cabinet under the sink. ", "output": ["END"]} +{"id": "trial_T20190907_084623_989691-3%0", "input": "To move two candles to the cabinet below the sink on the right side. ", "output": ["STEP 1: Turn right, face the sink on the left side, look towards the back of the sink. "]} +{"id": "trial_T20190907_084623_989691-3%1", "input": "To move two candles to the cabinet below the sink on the right side. | STEP 1: Turn right, face the sink on the left side, look towards the back of the sink. ", "output": ["STEP 2: Pick up the candle to the right of the sink, and to the left of the spray bottle. "]} +{"id": "trial_T20190907_084623_989691-3%2", "input": "To move two candles to the cabinet below the sink on the right side. | STEP 1: Turn right, face the sink on the left side, look towards the back of the sink. | STEP 2: Pick up the candle to the right of the sink, and to the left of the spray bottle. ", "output": ["STEP 3: Look down at the cabinets below the sink on the right side. "]} +{"id": "trial_T20190907_084623_989691-3%3", "input": "To move two candles to the cabinet below the sink on the right side. | STEP 1: Turn right, face the sink on the left side, look towards the back of the sink. | STEP 2: Pick up the candle to the right of the sink, and to the left of the spray bottle. | STEP 3: Look down at the cabinets below the sink on the right side. ", "output": ["STEP 4: Open the cabinet door all the way to the right, place the candle to the left of the lip stick, close the cabinet door. "]} +{"id": "trial_T20190907_084623_989691-3%4", "input": "To move two candles to the cabinet below the sink on the right side. | STEP 1: Turn right, face the sink on the left side, look towards the back of the sink. | STEP 2: Pick up the candle to the right of the sink, and to the left of the spray bottle. | STEP 3: Look down at the cabinets below the sink on the right side. | STEP 4: Open the cabinet door all the way to the right, place the candle to the left of the lip stick, close the cabinet door. ", "output": ["STEP 5: Move to the front of the sink on the right side. "]} +{"id": "trial_T20190907_084623_989691-3%5", "input": "To move two candles to the cabinet below the sink on the right side. | STEP 1: Turn right, face the sink on the left side, look towards the back of the sink. | STEP 2: Pick up the candle to the right of the sink, and to the left of the spray bottle. | STEP 3: Look down at the cabinets below the sink on the right side. | STEP 4: Open the cabinet door all the way to the right, place the candle to the left of the lip stick, close the cabinet door. | STEP 5: Move to the front of the sink on the right side. ", "output": ["STEP 6: Pick up the candle to the right of the sink, and behind the rag. "]} +{"id": "trial_T20190907_084623_989691-3%6", "input": "To move two candles to the cabinet below the sink on the right side. | STEP 1: Turn right, face the sink on the left side, look towards the back of the sink. | STEP 2: Pick up the candle to the right of the sink, and to the left of the spray bottle. | STEP 3: Look down at the cabinets below the sink on the right side. | STEP 4: Open the cabinet door all the way to the right, place the candle to the left of the lip stick, close the cabinet door. | STEP 5: Move to the front of the sink on the right side. | STEP 6: Pick up the candle to the right of the sink, and behind the rag. ", "output": ["STEP 7: Look down at the cabinets below the sink on the right side. "]} +{"id": "trial_T20190907_084623_989691-3%7", "input": "To move two candles to the cabinet below the sink on the right side. | STEP 1: Turn right, face the sink on the left side, look towards the back of the sink. | STEP 2: Pick up the candle to the right of the sink, and to the left of the spray bottle. | STEP 3: Look down at the cabinets below the sink on the right side. | STEP 4: Open the cabinet door all the way to the right, place the candle to the left of the lip stick, close the cabinet door. | STEP 5: Move to the front of the sink on the right side. | STEP 6: Pick up the candle to the right of the sink, and behind the rag. | STEP 7: Look down at the cabinets below the sink on the right side. ", "output": ["STEP 8: Open the cabinet door all the way to the right, place the candle in the cabinet and to the right of the first candle, close the cabinet door. "]} +{"id": "trial_T20190907_084623_989691-3%8", "input": "To move two candles to the cabinet below the sink on the right side. | STEP 1: Turn right, face the sink on the left side, look towards the back of the sink. | STEP 2: Pick up the candle to the right of the sink, and to the left of the spray bottle. | STEP 3: Look down at the cabinets below the sink on the right side. | STEP 4: Open the cabinet door all the way to the right, place the candle to the left of the lip stick, close the cabinet door. | STEP 5: Move to the front of the sink on the right side. | STEP 6: Pick up the candle to the right of the sink, and behind the rag. | STEP 7: Look down at the cabinets below the sink on the right side. | STEP 8: Open the cabinet door all the way to the right, place the candle in the cabinet and to the right of the first candle, close the cabinet door. ", "output": ["END"]} +{"id": "trial_T20190907_084623_989691-4%0", "input": "Put two candles in the bottom, right cupboard, underneath the sink closest to the wall. ", "output": ["STEP 1: Turn to your right, towards the sink. "]} +{"id": "trial_T20190907_084623_989691-4%1", "input": "Put two candles in the bottom, right cupboard, underneath the sink closest to the wall. | STEP 1: Turn to your right, towards the sink. ", "output": ["STEP 2: Pick up the candle that is on the counter, between the sink and the white spray bottle. "]} +{"id": "trial_T20190907_084623_989691-4%2", "input": "Put two candles in the bottom, right cupboard, underneath the sink closest to the wall. | STEP 1: Turn to your right, towards the sink. | STEP 2: Pick up the candle that is on the counter, between the sink and the white spray bottle. ", "output": ["STEP 3: Step back from the sink, and to your right, so that you are standing in front of the sink closest to the wall. "]} +{"id": "trial_T20190907_084623_989691-4%3", "input": "Put two candles in the bottom, right cupboard, underneath the sink closest to the wall. | STEP 1: Turn to your right, towards the sink. | STEP 2: Pick up the candle that is on the counter, between the sink and the white spray bottle. | STEP 3: Step back from the sink, and to your right, so that you are standing in front of the sink closest to the wall. ", "output": ["STEP 4: Place the candle in the bottom, far right, cupboard, underneath the sink. "]} +{"id": "trial_T20190907_084623_989691-4%4", "input": "Put two candles in the bottom, right cupboard, underneath the sink closest to the wall. | STEP 1: Turn to your right, towards the sink. | STEP 2: Pick up the candle that is on the counter, between the sink and the white spray bottle. | STEP 3: Step back from the sink, and to your right, so that you are standing in front of the sink closest to the wall. | STEP 4: Place the candle in the bottom, far right, cupboard, underneath the sink. ", "output": ["STEP 5: Walk back to the sink closest to the right wall."]} +{"id": "trial_T20190907_084623_989691-4%5", "input": "Put two candles in the bottom, right cupboard, underneath the sink closest to the wall. | STEP 1: Turn to your right, towards the sink. | STEP 2: Pick up the candle that is on the counter, between the sink and the white spray bottle. | STEP 3: Step back from the sink, and to your right, so that you are standing in front of the sink closest to the wall. | STEP 4: Place the candle in the bottom, far right, cupboard, underneath the sink. | STEP 5: Walk back to the sink closest to the right wall.", "output": ["STEP 6: Pick up the candle holder, on the counter, between the sink and the right wall. "]} +{"id": "trial_T20190907_084623_989691-4%6", "input": "Put two candles in the bottom, right cupboard, underneath the sink closest to the wall. | STEP 1: Turn to your right, towards the sink. | STEP 2: Pick up the candle that is on the counter, between the sink and the white spray bottle. | STEP 3: Step back from the sink, and to your right, so that you are standing in front of the sink closest to the wall. | STEP 4: Place the candle in the bottom, far right, cupboard, underneath the sink. | STEP 5: Walk back to the sink closest to the right wall. | STEP 6: Pick up the candle holder, on the counter, between the sink and the right wall. ", "output": ["STEP 7: Step back, away from the sink again, but still facing it. "]} +{"id": "trial_T20190907_084623_989691-4%7", "input": "Put two candles in the bottom, right cupboard, underneath the sink closest to the wall. | STEP 1: Turn to your right, towards the sink. | STEP 2: Pick up the candle that is on the counter, between the sink and the white spray bottle. | STEP 3: Step back from the sink, and to your right, so that you are standing in front of the sink closest to the wall. | STEP 4: Place the candle in the bottom, far right, cupboard, underneath the sink. | STEP 5: Walk back to the sink closest to the right wall. | STEP 6: Pick up the candle holder, on the counter, between the sink and the right wall. | STEP 7: Step back, away from the sink again, but still facing it. ", "output": ["STEP 8: Place the candle in the right, bottom cupboard, to the right of the one previously placed in there. "]} +{"id": "trial_T20190907_084623_989691-4%8", "input": "Put two candles in the bottom, right cupboard, underneath the sink closest to the wall. | STEP 1: Turn to your right, towards the sink. | STEP 2: Pick up the candle that is on the counter, between the sink and the white spray bottle. | STEP 3: Step back from the sink, and to your right, so that you are standing in front of the sink closest to the wall. | STEP 4: Place the candle in the bottom, far right, cupboard, underneath the sink. | STEP 5: Walk back to the sink closest to the right wall. | STEP 6: Pick up the candle holder, on the counter, between the sink and the right wall. | STEP 7: Step back, away from the sink again, but still facing it. | STEP 8: Place the candle in the right, bottom cupboard, to the right of the one previously placed in there. ", "output": ["END"]} +{"id": "trial_T20190907_114712_088303-2%0", "input": "Fill the pot with water from the sink. ", "output": ["STEP 1: Turn around and go to the cupboard."]} +{"id": "trial_T20190907_114712_088303-2%1", "input": "Fill the pot with water from the sink. | STEP 1: Turn around and go to the cupboard.", "output": ["STEP 2: Take the pot out of the cupboard. "]} +{"id": "trial_T20190907_114712_088303-2%2", "input": "Fill the pot with water from the sink. | STEP 1: Turn around and go to the cupboard. | STEP 2: Take the pot out of the cupboard. ", "output": ["STEP 3: Turn around and go to the sink."]} +{"id": "trial_T20190907_114712_088303-2%3", "input": "Fill the pot with water from the sink. | STEP 1: Turn around and go to the cupboard. | STEP 2: Take the pot out of the cupboard. | STEP 3: Turn around and go to the sink.", "output": ["STEP 4: Fill the pot with water and take the pot out of the sink."]} +{"id": "trial_T20190907_114712_088303-2%4", "input": "Fill the pot with water from the sink. | STEP 1: Turn around and go to the cupboard. | STEP 2: Take the pot out of the cupboard. | STEP 3: Turn around and go to the sink. | STEP 4: Fill the pot with water and take the pot out of the sink.", "output": ["STEP 5: Turn and go to the counter by the stove. "]} +{"id": "trial_T20190907_114712_088303-2%5", "input": "Fill the pot with water from the sink. | STEP 1: Turn around and go to the cupboard. | STEP 2: Take the pot out of the cupboard. | STEP 3: Turn around and go to the sink. | STEP 4: Fill the pot with water and take the pot out of the sink. | STEP 5: Turn and go to the counter by the stove. ", "output": ["STEP 6: Put the pot by the toaster on the counter."]} +{"id": "trial_T20190907_114712_088303-2%6", "input": "Fill the pot with water from the sink. | STEP 1: Turn around and go to the cupboard. | STEP 2: Take the pot out of the cupboard. | STEP 3: Turn around and go to the sink. | STEP 4: Fill the pot with water and take the pot out of the sink. | STEP 5: Turn and go to the counter by the stove. | STEP 6: Put the pot by the toaster on the counter.", "output": ["END"]} +{"id": "trial_T20190907_114712_088303-3%0", "input": "Place a bucket filled with water in front of the toaster on the counter.", "output": ["STEP 1: Walk forward to the cabinets to the left of the tomato on the counter."]} +{"id": "trial_T20190907_114712_088303-3%1", "input": "Place a bucket filled with water in front of the toaster on the counter. | STEP 1: Walk forward to the cabinets to the left of the tomato on the counter.", "output": ["STEP 2: Pick up the bucket from the lower cabinet."]} +{"id": "trial_T20190907_114712_088303-3%2", "input": "Place a bucket filled with water in front of the toaster on the counter. | STEP 1: Walk forward to the cabinets to the left of the tomato on the counter. | STEP 2: Pick up the bucket from the lower cabinet.", "output": ["STEP 3: Turn around and walk to the sink."]} +{"id": "trial_T20190907_114712_088303-3%3", "input": "Place a bucket filled with water in front of the toaster on the counter. | STEP 1: Walk forward to the cabinets to the left of the tomato on the counter. | STEP 2: Pick up the bucket from the lower cabinet. | STEP 3: Turn around and walk to the sink.", "output": ["STEP 4: Place the bucket in the sink, fill it with water and then pick the bucket up from the sink."]} +{"id": "trial_T20190907_114712_088303-3%4", "input": "Place a bucket filled with water in front of the toaster on the counter. | STEP 1: Walk forward to the cabinets to the left of the tomato on the counter. | STEP 2: Pick up the bucket from the lower cabinet. | STEP 3: Turn around and walk to the sink. | STEP 4: Place the bucket in the sink, fill it with water and then pick the bucket up from the sink.", "output": ["STEP 5: Turn left and walk to the toaster."]} +{"id": "trial_T20190907_114712_088303-3%5", "input": "Place a bucket filled with water in front of the toaster on the counter. | STEP 1: Walk forward to the cabinets to the left of the tomato on the counter. | STEP 2: Pick up the bucket from the lower cabinet. | STEP 3: Turn around and walk to the sink. | STEP 4: Place the bucket in the sink, fill it with water and then pick the bucket up from the sink. | STEP 5: Turn left and walk to the toaster.", "output": ["STEP 6: Place the bucket in front of the toaster on the counter."]} +{"id": "trial_T20190907_114712_088303-3%6", "input": "Place a bucket filled with water in front of the toaster on the counter. | STEP 1: Walk forward to the cabinets to the left of the tomato on the counter. | STEP 2: Pick up the bucket from the lower cabinet. | STEP 3: Turn around and walk to the sink. | STEP 4: Place the bucket in the sink, fill it with water and then pick the bucket up from the sink. | STEP 5: Turn left and walk to the toaster. | STEP 6: Place the bucket in front of the toaster on the counter.", "output": ["END"]} +{"id": "trial_T20190908_061532_690447-1%0", "input": "Place a chilled egg in a microwave.", "output": ["STEP 1: Turn around and walk to the black stove ahead."]} +{"id": "trial_T20190908_061532_690447-1%1", "input": "Place a chilled egg in a microwave. | STEP 1: Turn around and walk to the black stove ahead.", "output": ["STEP 2: Open the microwave above the stove, remove the egg from inside and close the door."]} +{"id": "trial_T20190908_061532_690447-1%2", "input": "Place a chilled egg in a microwave. | STEP 1: Turn around and walk to the black stove ahead. | STEP 2: Open the microwave above the stove, remove the egg from inside and close the door.", "output": ["STEP 3: Turn right and walk to the fridge to the right."]} +{"id": "trial_T20190908_061532_690447-1%3", "input": "Place a chilled egg in a microwave. | STEP 1: Turn around and walk to the black stove ahead. | STEP 2: Open the microwave above the stove, remove the egg from inside and close the door. | STEP 3: Turn right and walk to the fridge to the right.", "output": ["STEP 4: Put the egg inside the fridge on the second shelf in front of the glass, chill it for seven seconds, remove it and close the door."]} +{"id": "trial_T20190908_061532_690447-1%4", "input": "Place a chilled egg in a microwave. | STEP 1: Turn around and walk to the black stove ahead. | STEP 2: Open the microwave above the stove, remove the egg from inside and close the door. | STEP 3: Turn right and walk to the fridge to the right. | STEP 4: Put the egg inside the fridge on the second shelf in front of the glass, chill it for seven seconds, remove it and close the door.", "output": ["STEP 5: Turn right and walk to the stove on the right."]} +{"id": "trial_T20190908_061532_690447-1%5", "input": "Place a chilled egg in a microwave. | STEP 1: Turn around and walk to the black stove ahead. | STEP 2: Open the microwave above the stove, remove the egg from inside and close the door. | STEP 3: Turn right and walk to the fridge to the right. | STEP 4: Put the egg inside the fridge on the second shelf in front of the glass, chill it for seven seconds, remove it and close the door. | STEP 5: Turn right and walk to the stove on the right.", "output": ["STEP 6: Put the chilled egg inside the microwave and close the door."]} +{"id": "trial_T20190908_061532_690447-1%6", "input": "Place a chilled egg in a microwave. | STEP 1: Turn around and walk to the black stove ahead. | STEP 2: Open the microwave above the stove, remove the egg from inside and close the door. | STEP 3: Turn right and walk to the fridge to the right. | STEP 4: Put the egg inside the fridge on the second shelf in front of the glass, chill it for seven seconds, remove it and close the door. | STEP 5: Turn right and walk to the stove on the right. | STEP 6: Put the chilled egg inside the microwave and close the door.", "output": ["END"]} +{"id": "trial_T20190908_061532_690447-2%0", "input": "Put a chilled egg in the microwave.", "output": ["STEP 1: move to the stove behind you"]} +{"id": "trial_T20190908_061532_690447-2%1", "input": "Put a chilled egg in the microwave. | STEP 1: move to the stove behind you", "output": ["STEP 2: pick up a egg from the microwave"]} +{"id": "trial_T20190908_061532_690447-2%2", "input": "Put a chilled egg in the microwave. | STEP 1: move to the stove behind you | STEP 2: pick up a egg from the microwave", "output": ["STEP 3: move to the fridge to the right of you"]} +{"id": "trial_T20190908_061532_690447-2%3", "input": "Put a chilled egg in the microwave. | STEP 1: move to the stove behind you | STEP 2: pick up a egg from the microwave | STEP 3: move to the fridge to the right of you", "output": ["STEP 4: chill the egg in the fridge for a moment"]} +{"id": "trial_T20190908_061532_690447-2%4", "input": "Put a chilled egg in the microwave. | STEP 1: move to the stove behind you | STEP 2: pick up a egg from the microwave | STEP 3: move to the fridge to the right of you | STEP 4: chill the egg in the fridge for a moment", "output": ["STEP 5: move to the stove to the right of you"]} +{"id": "trial_T20190908_061532_690447-2%5", "input": "Put a chilled egg in the microwave. | STEP 1: move to the stove behind you | STEP 2: pick up a egg from the microwave | STEP 3: move to the fridge to the right of you | STEP 4: chill the egg in the fridge for a moment | STEP 5: move to the stove to the right of you", "output": ["STEP 6: put the egg in the microwave"]} +{"id": "trial_T20190908_061532_690447-2%6", "input": "Put a chilled egg in the microwave. | STEP 1: move to the stove behind you | STEP 2: pick up a egg from the microwave | STEP 3: move to the fridge to the right of you | STEP 4: chill the egg in the fridge for a moment | STEP 5: move to the stove to the right of you | STEP 6: put the egg in the microwave", "output": ["END"]} +{"id": "trial_T20190907_193714_370263-0%0", "input": "Turn a lamp on with a computer in hand.", "output": ["STEP 1: Go left and then right to stand at the side of the bed."]} +{"id": "trial_T20190907_193714_370263-0%1", "input": "Turn a lamp on with a computer in hand. | STEP 1: Go left and then right to stand at the side of the bed.", "output": ["STEP 2: Close the computer on the right and pick it up from the bed."]} +{"id": "trial_T20190907_193714_370263-0%2", "input": "Turn a lamp on with a computer in hand. | STEP 1: Go left and then right to stand at the side of the bed. | STEP 2: Close the computer on the right and pick it up from the bed.", "output": ["STEP 3: Go right and then stand at the white table with the lamp."]} +{"id": "trial_T20190907_193714_370263-0%3", "input": "Turn a lamp on with a computer in hand. | STEP 1: Go left and then right to stand at the side of the bed. | STEP 2: Close the computer on the right and pick it up from the bed. | STEP 3: Go right and then stand at the white table with the lamp.", "output": ["STEP 4: Turn the lamp on."]} +{"id": "trial_T20190907_193714_370263-0%4", "input": "Turn a lamp on with a computer in hand. | STEP 1: Go left and then right to stand at the side of the bed. | STEP 2: Close the computer on the right and pick it up from the bed. | STEP 3: Go right and then stand at the white table with the lamp. | STEP 4: Turn the lamp on.", "output": ["END"]} +{"id": "trial_T20190908_102822_137277-1%0", "input": "Pick up apple, warm in microwave, put apple in sink.", "output": ["STEP 1: Proceed to area to the left of the sink on your right. Turn right to face sink."]} +{"id": "trial_T20190908_102822_137277-1%1", "input": "Pick up apple, warm in microwave, put apple in sink. | STEP 1: Proceed to area to the left of the sink on your right. Turn right to face sink.", "output": ["STEP 2: Pick up apple from counter, to the right of the sponge and spoon."]} +{"id": "trial_T20190908_102822_137277-1%2", "input": "Pick up apple, warm in microwave, put apple in sink. | STEP 1: Proceed to area to the left of the sink on your right. Turn right to face sink. | STEP 2: Pick up apple from counter, to the right of the sponge and spoon.", "output": ["STEP 3: Turn left, go to wall. Turn left, go to oven and microwave."]} +{"id": "trial_T20190908_102822_137277-1%3", "input": "Pick up apple, warm in microwave, put apple in sink. | STEP 1: Proceed to area to the left of the sink on your right. Turn right to face sink. | STEP 2: Pick up apple from counter, to the right of the sponge and spoon. | STEP 3: Turn left, go to wall. Turn left, go to oven and microwave.", "output": ["STEP 4: Open microwave door, place apple to right of mug, close door. Wait three seconds, open microwave door, remove apple, close door."]} +{"id": "trial_T20190908_102822_137277-1%4", "input": "Pick up apple, warm in microwave, put apple in sink. | STEP 1: Proceed to area to the left of the sink on your right. Turn right to face sink. | STEP 2: Pick up apple from counter, to the right of the sponge and spoon. | STEP 3: Turn left, go to wall. Turn left, go to oven and microwave. | STEP 4: Open microwave door, place apple to right of mug, close door. Wait three seconds, open microwave door, remove apple, close door.", "output": ["STEP 5: Turn left, proceed to sink on right, turn left to face sink."]} +{"id": "trial_T20190908_102822_137277-1%5", "input": "Pick up apple, warm in microwave, put apple in sink. | STEP 1: Proceed to area to the left of the sink on your right. Turn right to face sink. | STEP 2: Pick up apple from counter, to the right of the sponge and spoon. | STEP 3: Turn left, go to wall. Turn left, go to oven and microwave. | STEP 4: Open microwave door, place apple to right of mug, close door. Wait three seconds, open microwave door, remove apple, close door. | STEP 5: Turn left, proceed to sink on right, turn left to face sink.", "output": ["STEP 6: Place apple in sink below other apple."]} +{"id": "trial_T20190908_102822_137277-1%6", "input": "Pick up apple, warm in microwave, put apple in sink. | STEP 1: Proceed to area to the left of the sink on your right. Turn right to face sink. | STEP 2: Pick up apple from counter, to the right of the sponge and spoon. | STEP 3: Turn left, go to wall. Turn left, go to oven and microwave. | STEP 4: Open microwave door, place apple to right of mug, close door. Wait three seconds, open microwave door, remove apple, close door. | STEP 5: Turn left, proceed to sink on right, turn left to face sink. | STEP 6: Place apple in sink below other apple.", "output": ["END"]} +{"id": "trial_T20190918_203809_534089-2%0", "input": "place a kettle filled with water on the gas", "output": ["STEP 1: move around to the gas"]} +{"id": "trial_T20190918_203809_534089-2%1", "input": "place a kettle filled with water on the gas | STEP 1: move around to the gas", "output": ["STEP 2: pick up the kettle from the gas"]} +{"id": "trial_T20190918_203809_534089-2%2", "input": "place a kettle filled with water on the gas | STEP 1: move around to the gas | STEP 2: pick up the kettle from the gas", "output": ["STEP 3: turn around to the sink"]} +{"id": "trial_T20190918_203809_534089-2%3", "input": "place a kettle filled with water on the gas | STEP 1: move around to the gas | STEP 2: pick up the kettle from the gas | STEP 3: turn around to the sink", "output": ["STEP 4: fill the kettle with water"]} +{"id": "trial_T20190918_203809_534089-2%4", "input": "place a kettle filled with water on the gas | STEP 1: move around to the gas | STEP 2: pick up the kettle from the gas | STEP 3: turn around to the sink | STEP 4: fill the kettle with water", "output": ["STEP 5: turn around to the gas"]} +{"id": "trial_T20190918_203809_534089-2%5", "input": "place a kettle filled with water on the gas | STEP 1: move around to the gas | STEP 2: pick up the kettle from the gas | STEP 3: turn around to the sink | STEP 4: fill the kettle with water | STEP 5: turn around to the gas", "output": ["STEP 6: place the kettle on the gas"]} +{"id": "trial_T20190918_203809_534089-2%6", "input": "place a kettle filled with water on the gas | STEP 1: move around to the gas | STEP 2: pick up the kettle from the gas | STEP 3: turn around to the sink | STEP 4: fill the kettle with water | STEP 5: turn around to the gas | STEP 6: place the kettle on the gas", "output": ["END"]} +{"id": "trial_T20190908_113123_156403-0%0", "input": "Clean the dirty place setting, and put it back on the table. ", "output": ["STEP 1: Turn right, walk to the window, then turn left and walk till you hit the table. "]} +{"id": "trial_T20190908_113123_156403-0%1", "input": "Clean the dirty place setting, and put it back on the table. | STEP 1: Turn right, walk to the window, then turn left and walk till you hit the table. ", "output": ["STEP 2: Pick up the the glass and the utensils from the table."]} +{"id": "trial_T20190908_113123_156403-0%2", "input": "Clean the dirty place setting, and put it back on the table. | STEP 1: Turn right, walk to the window, then turn left and walk till you hit the table. | STEP 2: Pick up the the glass and the utensils from the table.", "output": ["STEP 3: Turn around, walk forward one step, turn right, and walk forward until the sink is directly to your right."]} +{"id": "trial_T20190908_113123_156403-0%3", "input": "Clean the dirty place setting, and put it back on the table. | STEP 1: Turn right, walk to the window, then turn left and walk till you hit the table. | STEP 2: Pick up the the glass and the utensils from the table. | STEP 3: Turn around, walk forward one step, turn right, and walk forward until the sink is directly to your right.", "output": ["STEP 4: Place the utensils and glass in the sink, rinse them off, and pick them up again."]} +{"id": "trial_T20190908_113123_156403-0%4", "input": "Clean the dirty place setting, and put it back on the table. | STEP 1: Turn right, walk to the window, then turn left and walk till you hit the table. | STEP 2: Pick up the the glass and the utensils from the table. | STEP 3: Turn around, walk forward one step, turn right, and walk forward until the sink is directly to your right. | STEP 4: Place the utensils and glass in the sink, rinse them off, and pick them up again.", "output": ["STEP 5: Turn around, walk to the window,. then turn left and walk to the table. "]} +{"id": "trial_T20190908_113123_156403-0%5", "input": "Clean the dirty place setting, and put it back on the table. | STEP 1: Turn right, walk to the window, then turn left and walk till you hit the table. | STEP 2: Pick up the the glass and the utensils from the table. | STEP 3: Turn around, walk forward one step, turn right, and walk forward until the sink is directly to your right. | STEP 4: Place the utensils and glass in the sink, rinse them off, and pick them up again. | STEP 5: Turn around, walk to the window,. then turn left and walk to the table. ", "output": ["STEP 6: Place the clean utensils and glass on the table."]} +{"id": "trial_T20190908_113123_156403-0%6", "input": "Clean the dirty place setting, and put it back on the table. | STEP 1: Turn right, walk to the window, then turn left and walk till you hit the table. | STEP 2: Pick up the the glass and the utensils from the table. | STEP 3: Turn around, walk forward one step, turn right, and walk forward until the sink is directly to your right. | STEP 4: Place the utensils and glass in the sink, rinse them off, and pick them up again. | STEP 5: Turn around, walk to the window,. then turn left and walk to the table. | STEP 6: Place the clean utensils and glass on the table.", "output": ["END"]} +{"id": "trial_T20190908_044829_272756-2%0", "input": "Put two remote on the couch", "output": ["STEP 1: Turn left then move forward turn right face the side table"]} +{"id": "trial_T20190908_044829_272756-2%1", "input": "Put two remote on the couch | STEP 1: Turn left then move forward turn right face the side table", "output": ["STEP 2: Pick up the remote on the side table"]} +{"id": "trial_T20190908_044829_272756-2%2", "input": "Put two remote on the couch | STEP 1: Turn left then move forward turn right face the side table | STEP 2: Pick up the remote on the side table", "output": ["STEP 3: Turn right then turn left on the couch beside the side table"]} +{"id": "trial_T20190908_044829_272756-2%3", "input": "Put two remote on the couch | STEP 1: Turn left then move forward turn right face the side table | STEP 2: Pick up the remote on the side table | STEP 3: Turn right then turn left on the couch beside the side table", "output": ["STEP 4: Put the remote on the edge of the couch"]} +{"id": "trial_T20190908_044829_272756-2%4", "input": "Put two remote on the couch | STEP 1: Turn left then move forward turn right face the side table | STEP 2: Pick up the remote on the side table | STEP 3: Turn right then turn left on the couch beside the side table | STEP 4: Put the remote on the edge of the couch", "output": ["STEP 5: Turn right move forward then turn right face the center table "]} +{"id": "trial_T20190908_044829_272756-2%5", "input": "Put two remote on the couch | STEP 1: Turn left then move forward turn right face the side table | STEP 2: Pick up the remote on the side table | STEP 3: Turn right then turn left on the couch beside the side table | STEP 4: Put the remote on the edge of the couch | STEP 5: Turn right move forward then turn right face the center table ", "output": ["STEP 6: Pick up the remote on the center table"]} +{"id": "trial_T20190908_044829_272756-2%6", "input": "Put two remote on the couch | STEP 1: Turn left then move forward turn right face the side table | STEP 2: Pick up the remote on the side table | STEP 3: Turn right then turn left on the couch beside the side table | STEP 4: Put the remote on the edge of the couch | STEP 5: Turn right move forward then turn right face the center table | STEP 6: Pick up the remote on the center table", "output": ["STEP 7: Turn right move forward then head to the same couch "]} +{"id": "trial_T20190908_044829_272756-2%7", "input": "Put two remote on the couch | STEP 1: Turn left then move forward turn right face the side table | STEP 2: Pick up the remote on the side table | STEP 3: Turn right then turn left on the couch beside the side table | STEP 4: Put the remote on the edge of the couch | STEP 5: Turn right move forward then turn right face the center table | STEP 6: Pick up the remote on the center table | STEP 7: Turn right move forward then head to the same couch ", "output": ["STEP 8: Place the remote right beside the first remote"]} +{"id": "trial_T20190908_044829_272756-2%8", "input": "Put two remote on the couch | STEP 1: Turn left then move forward turn right face the side table | STEP 2: Pick up the remote on the side table | STEP 3: Turn right then turn left on the couch beside the side table | STEP 4: Put the remote on the edge of the couch | STEP 5: Turn right move forward then turn right face the center table | STEP 6: Pick up the remote on the center table | STEP 7: Turn right move forward then head to the same couch | STEP 8: Place the remote right beside the first remote", "output": ["END"]} +{"id": "trial_T20190909_014356_818830-0%0", "input": "Heat up a slice of apple in the microwave to put in the sink.", "output": ["STEP 1: Turn around, making a left to face the countertop to the right of the stove."]} +{"id": "trial_T20190909_014356_818830-0%1", "input": "Heat up a slice of apple in the microwave to put in the sink. | STEP 1: Turn around, making a left to face the countertop to the right of the stove.", "output": ["STEP 2: Pick up the knife from the countertop."]} +{"id": "trial_T20190909_014356_818830-0%2", "input": "Heat up a slice of apple in the microwave to put in the sink. | STEP 1: Turn around, making a left to face the countertop to the right of the stove. | STEP 2: Pick up the knife from the countertop.", "output": ["STEP 3: Turn around to face the coffee machine."]} +{"id": "trial_T20190909_014356_818830-0%3", "input": "Heat up a slice of apple in the microwave to put in the sink. | STEP 1: Turn around, making a left to face the countertop to the right of the stove. | STEP 2: Pick up the knife from the countertop. | STEP 3: Turn around to face the coffee machine.", "output": ["STEP 4: Slice the apple in front of the coffee machine with the knife."]} +{"id": "trial_T20190909_014356_818830-0%4", "input": "Heat up a slice of apple in the microwave to put in the sink. | STEP 1: Turn around, making a left to face the countertop to the right of the stove. | STEP 2: Pick up the knife from the countertop. | STEP 3: Turn around to face the coffee machine. | STEP 4: Slice the apple in front of the coffee machine with the knife.", "output": ["STEP 5: Turn right to walk to the sink."]} +{"id": "trial_T20190909_014356_818830-0%5", "input": "Heat up a slice of apple in the microwave to put in the sink. | STEP 1: Turn around, making a left to face the countertop to the right of the stove. | STEP 2: Pick up the knife from the countertop. | STEP 3: Turn around to face the coffee machine. | STEP 4: Slice the apple in front of the coffee machine with the knife. | STEP 5: Turn right to walk to the sink.", "output": ["STEP 6: Put the knife in the sink."]} +{"id": "trial_T20190909_014356_818830-0%6", "input": "Heat up a slice of apple in the microwave to put in the sink. | STEP 1: Turn around, making a left to face the countertop to the right of the stove. | STEP 2: Pick up the knife from the countertop. | STEP 3: Turn around to face the coffee machine. | STEP 4: Slice the apple in front of the coffee machine with the knife. | STEP 5: Turn right to walk to the sink. | STEP 6: Put the knife in the sink.", "output": ["STEP 7: Turn left to walk to the coffee machine."]} +{"id": "trial_T20190909_014356_818830-0%7", "input": "Heat up a slice of apple in the microwave to put in the sink. | STEP 1: Turn around, making a left to face the countertop to the right of the stove. | STEP 2: Pick up the knife from the countertop. | STEP 3: Turn around to face the coffee machine. | STEP 4: Slice the apple in front of the coffee machine with the knife. | STEP 5: Turn right to walk to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn left to walk to the coffee machine.", "output": ["STEP 8: Pick up a slice of apple from the counter."]} +{"id": "trial_T20190909_014356_818830-0%8", "input": "Heat up a slice of apple in the microwave to put in the sink. | STEP 1: Turn around, making a left to face the countertop to the right of the stove. | STEP 2: Pick up the knife from the countertop. | STEP 3: Turn around to face the coffee machine. | STEP 4: Slice the apple in front of the coffee machine with the knife. | STEP 5: Turn right to walk to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn left to walk to the coffee machine. | STEP 8: Pick up a slice of apple from the counter.", "output": ["STEP 9: Turn to face the microwave."]} +{"id": "trial_T20190909_014356_818830-0%9", "input": "Heat up a slice of apple in the microwave to put in the sink. | STEP 1: Turn around, making a left to face the countertop to the right of the stove. | STEP 2: Pick up the knife from the countertop. | STEP 3: Turn around to face the coffee machine. | STEP 4: Slice the apple in front of the coffee machine with the knife. | STEP 5: Turn right to walk to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn left to walk to the coffee machine. | STEP 8: Pick up a slice of apple from the counter. | STEP 9: Turn to face the microwave.", "output": ["STEP 10: Heat up the apple slice in the microwave, removing it afterwards."]} +{"id": "trial_T20190909_014356_818830-0%10", "input": "Heat up a slice of apple in the microwave to put in the sink. | STEP 1: Turn around, making a left to face the countertop to the right of the stove. | STEP 2: Pick up the knife from the countertop. | STEP 3: Turn around to face the coffee machine. | STEP 4: Slice the apple in front of the coffee machine with the knife. | STEP 5: Turn right to walk to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn left to walk to the coffee machine. | STEP 8: Pick up a slice of apple from the counter. | STEP 9: Turn to face the microwave. | STEP 10: Heat up the apple slice in the microwave, removing it afterwards.", "output": ["STEP 11: Turn left to walk to the sink."]} +{"id": "trial_T20190909_014356_818830-0%11", "input": "Heat up a slice of apple in the microwave to put in the sink. | STEP 1: Turn around, making a left to face the countertop to the right of the stove. | STEP 2: Pick up the knife from the countertop. | STEP 3: Turn around to face the coffee machine. | STEP 4: Slice the apple in front of the coffee machine with the knife. | STEP 5: Turn right to walk to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn left to walk to the coffee machine. | STEP 8: Pick up a slice of apple from the counter. | STEP 9: Turn to face the microwave. | STEP 10: Heat up the apple slice in the microwave, removing it afterwards. | STEP 11: Turn left to walk to the sink.", "output": ["STEP 12: Put the apple slice in the sink."]} +{"id": "trial_T20190909_014356_818830-0%12", "input": "Heat up a slice of apple in the microwave to put in the sink. | STEP 1: Turn around, making a left to face the countertop to the right of the stove. | STEP 2: Pick up the knife from the countertop. | STEP 3: Turn around to face the coffee machine. | STEP 4: Slice the apple in front of the coffee machine with the knife. | STEP 5: Turn right to walk to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn left to walk to the coffee machine. | STEP 8: Pick up a slice of apple from the counter. | STEP 9: Turn to face the microwave. | STEP 10: Heat up the apple slice in the microwave, removing it afterwards. | STEP 11: Turn left to walk to the sink. | STEP 12: Put the apple slice in the sink.", "output": ["END"]} +{"id": "trial_T20190907_034220_566125-1%0", "input": "Set a clean bar of soap on the back of the toilet.", "output": ["STEP 1: Walk over to the vanity."]} +{"id": "trial_T20190907_034220_566125-1%1", "input": "Set a clean bar of soap on the back of the toilet. | STEP 1: Walk over to the vanity.", "output": ["STEP 2: Take a bar of soap out of the cabinet under the sink."]} +{"id": "trial_T20190907_034220_566125-1%2", "input": "Set a clean bar of soap on the back of the toilet. | STEP 1: Walk over to the vanity. | STEP 2: Take a bar of soap out of the cabinet under the sink.", "output": ["STEP 3: Go to the sink."]} +{"id": "trial_T20190907_034220_566125-1%3", "input": "Set a clean bar of soap on the back of the toilet. | STEP 1: Walk over to the vanity. | STEP 2: Take a bar of soap out of the cabinet under the sink. | STEP 3: Go to the sink.", "output": ["STEP 4: Rinse off the soap in the sink."]} +{"id": "trial_T20190907_034220_566125-1%4", "input": "Set a clean bar of soap on the back of the toilet. | STEP 1: Walk over to the vanity. | STEP 2: Take a bar of soap out of the cabinet under the sink. | STEP 3: Go to the sink. | STEP 4: Rinse off the soap in the sink.", "output": ["STEP 5: Take the rinsed soap to the toilet across the room."]} +{"id": "trial_T20190907_034220_566125-1%5", "input": "Set a clean bar of soap on the back of the toilet. | STEP 1: Walk over to the vanity. | STEP 2: Take a bar of soap out of the cabinet under the sink. | STEP 3: Go to the sink. | STEP 4: Rinse off the soap in the sink. | STEP 5: Take the rinsed soap to the toilet across the room.", "output": ["STEP 6: Set the rinsed soap down on the back of the toilet."]} +{"id": "trial_T20190907_034220_566125-1%6", "input": "Set a clean bar of soap on the back of the toilet. | STEP 1: Walk over to the vanity. | STEP 2: Take a bar of soap out of the cabinet under the sink. | STEP 3: Go to the sink. | STEP 4: Rinse off the soap in the sink. | STEP 5: Take the rinsed soap to the toilet across the room. | STEP 6: Set the rinsed soap down on the back of the toilet.", "output": ["END"]} +{"id": "trial_T20190907_215056_750312-2%0", "input": "Slice some lettuce and cool it in the refrigerator for disposal ", "output": ["STEP 1: turn around, then go left and straight to the wall. Then look left at the counter top"]} +{"id": "trial_T20190907_215056_750312-2%1", "input": "Slice some lettuce and cool it in the refrigerator for disposal | STEP 1: turn around, then go left and straight to the wall. Then look left at the counter top", "output": ["STEP 2: pick up the knife to the right of the bread"]} +{"id": "trial_T20190907_215056_750312-2%2", "input": "Slice some lettuce and cool it in the refrigerator for disposal | STEP 1: turn around, then go left and straight to the wall. Then look left at the counter top | STEP 2: pick up the knife to the right of the bread", "output": ["STEP 3: face the lettuce on the counter top"]} +{"id": "trial_T20190907_215056_750312-2%3", "input": "Slice some lettuce and cool it in the refrigerator for disposal | STEP 1: turn around, then go left and straight to the wall. Then look left at the counter top | STEP 2: pick up the knife to the right of the bread | STEP 3: face the lettuce on the counter top", "output": ["STEP 4: slice the lettuce on the counter top"]} +{"id": "trial_T20190907_215056_750312-2%4", "input": "Slice some lettuce and cool it in the refrigerator for disposal | STEP 1: turn around, then go left and straight to the wall. Then look left at the counter top | STEP 2: pick up the knife to the right of the bread | STEP 3: face the lettuce on the counter top | STEP 4: slice the lettuce on the counter top", "output": ["STEP 5: turn around and face the refrigerator"]} +{"id": "trial_T20190907_215056_750312-2%5", "input": "Slice some lettuce and cool it in the refrigerator for disposal | STEP 1: turn around, then go left and straight to the wall. Then look left at the counter top | STEP 2: pick up the knife to the right of the bread | STEP 3: face the lettuce on the counter top | STEP 4: slice the lettuce on the counter top | STEP 5: turn around and face the refrigerator", "output": ["STEP 6: open the door and place the knife in front of the apple"]} +{"id": "trial_T20190907_215056_750312-2%6", "input": "Slice some lettuce and cool it in the refrigerator for disposal | STEP 1: turn around, then go left and straight to the wall. Then look left at the counter top | STEP 2: pick up the knife to the right of the bread | STEP 3: face the lettuce on the counter top | STEP 4: slice the lettuce on the counter top | STEP 5: turn around and face the refrigerator | STEP 6: open the door and place the knife in front of the apple", "output": ["STEP 7: turn around and face the opposite counter top"]} +{"id": "trial_T20190907_215056_750312-2%7", "input": "Slice some lettuce and cool it in the refrigerator for disposal | STEP 1: turn around, then go left and straight to the wall. Then look left at the counter top | STEP 2: pick up the knife to the right of the bread | STEP 3: face the lettuce on the counter top | STEP 4: slice the lettuce on the counter top | STEP 5: turn around and face the refrigerator | STEP 6: open the door and place the knife in front of the apple | STEP 7: turn around and face the opposite counter top", "output": ["STEP 8: pick up a slice of lettuce on the counter top"]} +{"id": "trial_T20190907_215056_750312-2%8", "input": "Slice some lettuce and cool it in the refrigerator for disposal | STEP 1: turn around, then go left and straight to the wall. Then look left at the counter top | STEP 2: pick up the knife to the right of the bread | STEP 3: face the lettuce on the counter top | STEP 4: slice the lettuce on the counter top | STEP 5: turn around and face the refrigerator | STEP 6: open the door and place the knife in front of the apple | STEP 7: turn around and face the opposite counter top | STEP 8: pick up a slice of lettuce on the counter top", "output": ["STEP 9: return to the refrigerator "]} +{"id": "trial_T20190907_215056_750312-2%9", "input": "Slice some lettuce and cool it in the refrigerator for disposal | STEP 1: turn around, then go left and straight to the wall. Then look left at the counter top | STEP 2: pick up the knife to the right of the bread | STEP 3: face the lettuce on the counter top | STEP 4: slice the lettuce on the counter top | STEP 5: turn around and face the refrigerator | STEP 6: open the door and place the knife in front of the apple | STEP 7: turn around and face the opposite counter top | STEP 8: pick up a slice of lettuce on the counter top | STEP 9: return to the refrigerator ", "output": ["STEP 10: place the lettuce in the refrigerator on the top shelf, close the door for a few seconds, and then take the lettuce out of the refrigerator"]} +{"id": "trial_T20190907_215056_750312-2%10", "input": "Slice some lettuce and cool it in the refrigerator for disposal | STEP 1: turn around, then go left and straight to the wall. Then look left at the counter top | STEP 2: pick up the knife to the right of the bread | STEP 3: face the lettuce on the counter top | STEP 4: slice the lettuce on the counter top | STEP 5: turn around and face the refrigerator | STEP 6: open the door and place the knife in front of the apple | STEP 7: turn around and face the opposite counter top | STEP 8: pick up a slice of lettuce on the counter top | STEP 9: return to the refrigerator | STEP 10: place the lettuce in the refrigerator on the top shelf, close the door for a few seconds, and then take the lettuce out of the refrigerator", "output": ["STEP 11: go to the window on the other side of the room and face the bin"]} +{"id": "trial_T20190907_215056_750312-2%11", "input": "Slice some lettuce and cool it in the refrigerator for disposal | STEP 1: turn around, then go left and straight to the wall. Then look left at the counter top | STEP 2: pick up the knife to the right of the bread | STEP 3: face the lettuce on the counter top | STEP 4: slice the lettuce on the counter top | STEP 5: turn around and face the refrigerator | STEP 6: open the door and place the knife in front of the apple | STEP 7: turn around and face the opposite counter top | STEP 8: pick up a slice of lettuce on the counter top | STEP 9: return to the refrigerator | STEP 10: place the lettuce in the refrigerator on the top shelf, close the door for a few seconds, and then take the lettuce out of the refrigerator | STEP 11: go to the window on the other side of the room and face the bin", "output": ["STEP 12: throw the lettuce in the bin"]} +{"id": "trial_T20190907_215056_750312-2%12", "input": "Slice some lettuce and cool it in the refrigerator for disposal | STEP 1: turn around, then go left and straight to the wall. Then look left at the counter top | STEP 2: pick up the knife to the right of the bread | STEP 3: face the lettuce on the counter top | STEP 4: slice the lettuce on the counter top | STEP 5: turn around and face the refrigerator | STEP 6: open the door and place the knife in front of the apple | STEP 7: turn around and face the opposite counter top | STEP 8: pick up a slice of lettuce on the counter top | STEP 9: return to the refrigerator | STEP 10: place the lettuce in the refrigerator on the top shelf, close the door for a few seconds, and then take the lettuce out of the refrigerator | STEP 11: go to the window on the other side of the room and face the bin | STEP 12: throw the lettuce in the bin", "output": ["END"]} +{"id": "trial_T20190907_224726_173646-1%0", "input": "Put two slices of bread from two different loaves on the table.", "output": ["STEP 1: Take a step forward then turn left and walk to the counter to the left of the stove."]} +{"id": "trial_T20190907_224726_173646-1%1", "input": "Put two slices of bread from two different loaves on the table. | STEP 1: Take a step forward then turn left and walk to the counter to the left of the stove.", "output": ["STEP 2: Pick up the yellow handled knife that's in front of you."]} +{"id": "trial_T20190907_224726_173646-1%2", "input": "Put two slices of bread from two different loaves on the table. | STEP 1: Take a step forward then turn left and walk to the counter to the left of the stove. | STEP 2: Pick up the yellow handled knife that's in front of you.", "output": ["STEP 3: Turn right then take a step to your right then walk to the two loaves of bread on the counter to your left."]} +{"id": "trial_T20190907_224726_173646-1%3", "input": "Put two slices of bread from two different loaves on the table. | STEP 1: Take a step forward then turn left and walk to the counter to the left of the stove. | STEP 2: Pick up the yellow handled knife that's in front of you. | STEP 3: Turn right then take a step to your right then walk to the two loaves of bread on the counter to your left.", "output": ["STEP 4: Cut the top loaf of bread of the two loaves sitting lined up into slices."]} +{"id": "trial_T20190907_224726_173646-1%4", "input": "Put two slices of bread from two different loaves on the table. | STEP 1: Take a step forward then turn left and walk to the counter to the left of the stove. | STEP 2: Pick up the yellow handled knife that's in front of you. | STEP 3: Turn right then take a step to your right then walk to the two loaves of bread on the counter to your left. | STEP 4: Cut the top loaf of bread of the two loaves sitting lined up into slices.", "output": ["STEP 5: Turn left and walk to the wall then turn left and walk to the small circular table."]} +{"id": "trial_T20190907_224726_173646-1%5", "input": "Put two slices of bread from two different loaves on the table. | STEP 1: Take a step forward then turn left and walk to the counter to the left of the stove. | STEP 2: Pick up the yellow handled knife that's in front of you. | STEP 3: Turn right then take a step to your right then walk to the two loaves of bread on the counter to your left. | STEP 4: Cut the top loaf of bread of the two loaves sitting lined up into slices. | STEP 5: Turn left and walk to the wall then turn left and walk to the small circular table.", "output": ["STEP 6: Put the knife on the table."]} +{"id": "trial_T20190907_224726_173646-1%6", "input": "Put two slices of bread from two different loaves on the table. | STEP 1: Take a step forward then turn left and walk to the counter to the left of the stove. | STEP 2: Pick up the yellow handled knife that's in front of you. | STEP 3: Turn right then take a step to your right then walk to the two loaves of bread on the counter to your left. | STEP 4: Cut the top loaf of bread of the two loaves sitting lined up into slices. | STEP 5: Turn left and walk to the wall then turn left and walk to the small circular table. | STEP 6: Put the knife on the table.", "output": ["STEP 7: Walk back to the bread."]} +{"id": "trial_T20190907_224726_173646-1%7", "input": "Put two slices of bread from two different loaves on the table. | STEP 1: Take a step forward then turn left and walk to the counter to the left of the stove. | STEP 2: Pick up the yellow handled knife that's in front of you. | STEP 3: Turn right then take a step to your right then walk to the two loaves of bread on the counter to your left. | STEP 4: Cut the top loaf of bread of the two loaves sitting lined up into slices. | STEP 5: Turn left and walk to the wall then turn left and walk to the small circular table. | STEP 6: Put the knife on the table. | STEP 7: Walk back to the bread.", "output": ["STEP 8: Pick up a slice of bread."]} +{"id": "trial_T20190907_224726_173646-1%8", "input": "Put two slices of bread from two different loaves on the table. | STEP 1: Take a step forward then turn left and walk to the counter to the left of the stove. | STEP 2: Pick up the yellow handled knife that's in front of you. | STEP 3: Turn right then take a step to your right then walk to the two loaves of bread on the counter to your left. | STEP 4: Cut the top loaf of bread of the two loaves sitting lined up into slices. | STEP 5: Turn left and walk to the wall then turn left and walk to the small circular table. | STEP 6: Put the knife on the table. | STEP 7: Walk back to the bread. | STEP 8: Pick up a slice of bread.", "output": ["STEP 9: Go back to the small circular table."]} +{"id": "trial_T20190907_224726_173646-1%9", "input": "Put two slices of bread from two different loaves on the table. | STEP 1: Take a step forward then turn left and walk to the counter to the left of the stove. | STEP 2: Pick up the yellow handled knife that's in front of you. | STEP 3: Turn right then take a step to your right then walk to the two loaves of bread on the counter to your left. | STEP 4: Cut the top loaf of bread of the two loaves sitting lined up into slices. | STEP 5: Turn left and walk to the wall then turn left and walk to the small circular table. | STEP 6: Put the knife on the table. | STEP 7: Walk back to the bread. | STEP 8: Pick up a slice of bread. | STEP 9: Go back to the small circular table.", "output": ["STEP 10: Pick up the yellow handled knife again."]} +{"id": "trial_T20190907_224726_173646-1%10", "input": "Put two slices of bread from two different loaves on the table. | STEP 1: Take a step forward then turn left and walk to the counter to the left of the stove. | STEP 2: Pick up the yellow handled knife that's in front of you. | STEP 3: Turn right then take a step to your right then walk to the two loaves of bread on the counter to your left. | STEP 4: Cut the top loaf of bread of the two loaves sitting lined up into slices. | STEP 5: Turn left and walk to the wall then turn left and walk to the small circular table. | STEP 6: Put the knife on the table. | STEP 7: Walk back to the bread. | STEP 8: Pick up a slice of bread. | STEP 9: Go back to the small circular table. | STEP 10: Pick up the yellow handled knife again.", "output": ["STEP 11: Walk back to the bread."]} +{"id": "trial_T20190907_224726_173646-1%11", "input": "Put two slices of bread from two different loaves on the table. | STEP 1: Take a step forward then turn left and walk to the counter to the left of the stove. | STEP 2: Pick up the yellow handled knife that's in front of you. | STEP 3: Turn right then take a step to your right then walk to the two loaves of bread on the counter to your left. | STEP 4: Cut the top loaf of bread of the two loaves sitting lined up into slices. | STEP 5: Turn left and walk to the wall then turn left and walk to the small circular table. | STEP 6: Put the knife on the table. | STEP 7: Walk back to the bread. | STEP 8: Pick up a slice of bread. | STEP 9: Go back to the small circular table. | STEP 10: Pick up the yellow handled knife again. | STEP 11: Walk back to the bread.", "output": ["STEP 12: Cut the bottom loaf of the two loaves that are lined up into slices now."]} +{"id": "trial_T20190907_224726_173646-1%12", "input": "Put two slices of bread from two different loaves on the table. | STEP 1: Take a step forward then turn left and walk to the counter to the left of the stove. | STEP 2: Pick up the yellow handled knife that's in front of you. | STEP 3: Turn right then take a step to your right then walk to the two loaves of bread on the counter to your left. | STEP 4: Cut the top loaf of bread of the two loaves sitting lined up into slices. | STEP 5: Turn left and walk to the wall then turn left and walk to the small circular table. | STEP 6: Put the knife on the table. | STEP 7: Walk back to the bread. | STEP 8: Pick up a slice of bread. | STEP 9: Go back to the small circular table. | STEP 10: Pick up the yellow handled knife again. | STEP 11: Walk back to the bread. | STEP 12: Cut the bottom loaf of the two loaves that are lined up into slices now.", "output": ["STEP 13: Go back to the small circular table."]} +{"id": "trial_T20190907_224726_173646-1%13", "input": "Put two slices of bread from two different loaves on the table. | STEP 1: Take a step forward then turn left and walk to the counter to the left of the stove. | STEP 2: Pick up the yellow handled knife that's in front of you. | STEP 3: Turn right then take a step to your right then walk to the two loaves of bread on the counter to your left. | STEP 4: Cut the top loaf of bread of the two loaves sitting lined up into slices. | STEP 5: Turn left and walk to the wall then turn left and walk to the small circular table. | STEP 6: Put the knife on the table. | STEP 7: Walk back to the bread. | STEP 8: Pick up a slice of bread. | STEP 9: Go back to the small circular table. | STEP 10: Pick up the yellow handled knife again. | STEP 11: Walk back to the bread. | STEP 12: Cut the bottom loaf of the two loaves that are lined up into slices now. | STEP 13: Go back to the small circular table.", "output": ["STEP 14: Put the bread on the table."]} +{"id": "trial_T20190907_224726_173646-1%14", "input": "Put two slices of bread from two different loaves on the table. | STEP 1: Take a step forward then turn left and walk to the counter to the left of the stove. | STEP 2: Pick up the yellow handled knife that's in front of you. | STEP 3: Turn right then take a step to your right then walk to the two loaves of bread on the counter to your left. | STEP 4: Cut the top loaf of bread of the two loaves sitting lined up into slices. | STEP 5: Turn left and walk to the wall then turn left and walk to the small circular table. | STEP 6: Put the knife on the table. | STEP 7: Walk back to the bread. | STEP 8: Pick up a slice of bread. | STEP 9: Go back to the small circular table. | STEP 10: Pick up the yellow handled knife again. | STEP 11: Walk back to the bread. | STEP 12: Cut the bottom loaf of the two loaves that are lined up into slices now. | STEP 13: Go back to the small circular table. | STEP 14: Put the bread on the table.", "output": ["STEP 15: Pick up the knife again."]} +{"id": "trial_T20190907_224726_173646-1%15", "input": "Put two slices of bread from two different loaves on the table. | STEP 1: Take a step forward then turn left and walk to the counter to the left of the stove. | STEP 2: Pick up the yellow handled knife that's in front of you. | STEP 3: Turn right then take a step to your right then walk to the two loaves of bread on the counter to your left. | STEP 4: Cut the top loaf of bread of the two loaves sitting lined up into slices. | STEP 5: Turn left and walk to the wall then turn left and walk to the small circular table. | STEP 6: Put the knife on the table. | STEP 7: Walk back to the bread. | STEP 8: Pick up a slice of bread. | STEP 9: Go back to the small circular table. | STEP 10: Pick up the yellow handled knife again. | STEP 11: Walk back to the bread. | STEP 12: Cut the bottom loaf of the two loaves that are lined up into slices now. | STEP 13: Go back to the small circular table. | STEP 14: Put the bread on the table. | STEP 15: Pick up the knife again.", "output": ["STEP 16: Go back to the bread"]} +{"id": "trial_T20190907_224726_173646-1%16", "input": "Put two slices of bread from two different loaves on the table. | STEP 1: Take a step forward then turn left and walk to the counter to the left of the stove. | STEP 2: Pick up the yellow handled knife that's in front of you. | STEP 3: Turn right then take a step to your right then walk to the two loaves of bread on the counter to your left. | STEP 4: Cut the top loaf of bread of the two loaves sitting lined up into slices. | STEP 5: Turn left and walk to the wall then turn left and walk to the small circular table. | STEP 6: Put the knife on the table. | STEP 7: Walk back to the bread. | STEP 8: Pick up a slice of bread. | STEP 9: Go back to the small circular table. | STEP 10: Pick up the yellow handled knife again. | STEP 11: Walk back to the bread. | STEP 12: Cut the bottom loaf of the two loaves that are lined up into slices now. | STEP 13: Go back to the small circular table. | STEP 14: Put the bread on the table. | STEP 15: Pick up the knife again. | STEP 16: Go back to the bread", "output": ["STEP 17: Pick up a slice of bread from the bottom loaf."]} +{"id": "trial_T20190907_224726_173646-1%17", "input": "Put two slices of bread from two different loaves on the table. | STEP 1: Take a step forward then turn left and walk to the counter to the left of the stove. | STEP 2: Pick up the yellow handled knife that's in front of you. | STEP 3: Turn right then take a step to your right then walk to the two loaves of bread on the counter to your left. | STEP 4: Cut the top loaf of bread of the two loaves sitting lined up into slices. | STEP 5: Turn left and walk to the wall then turn left and walk to the small circular table. | STEP 6: Put the knife on the table. | STEP 7: Walk back to the bread. | STEP 8: Pick up a slice of bread. | STEP 9: Go back to the small circular table. | STEP 10: Pick up the yellow handled knife again. | STEP 11: Walk back to the bread. | STEP 12: Cut the bottom loaf of the two loaves that are lined up into slices now. | STEP 13: Go back to the small circular table. | STEP 14: Put the bread on the table. | STEP 15: Pick up the knife again. | STEP 16: Go back to the bread | STEP 17: Pick up a slice of bread from the bottom loaf.", "output": ["STEP 18: Go back to the circular table."]} +{"id": "trial_T20190907_224726_173646-1%18", "input": "Put two slices of bread from two different loaves on the table. | STEP 1: Take a step forward then turn left and walk to the counter to the left of the stove. | STEP 2: Pick up the yellow handled knife that's in front of you. | STEP 3: Turn right then take a step to your right then walk to the two loaves of bread on the counter to your left. | STEP 4: Cut the top loaf of bread of the two loaves sitting lined up into slices. | STEP 5: Turn left and walk to the wall then turn left and walk to the small circular table. | STEP 6: Put the knife on the table. | STEP 7: Walk back to the bread. | STEP 8: Pick up a slice of bread. | STEP 9: Go back to the small circular table. | STEP 10: Pick up the yellow handled knife again. | STEP 11: Walk back to the bread. | STEP 12: Cut the bottom loaf of the two loaves that are lined up into slices now. | STEP 13: Go back to the small circular table. | STEP 14: Put the bread on the table. | STEP 15: Pick up the knife again. | STEP 16: Go back to the bread | STEP 17: Pick up a slice of bread from the bottom loaf. | STEP 18: Go back to the circular table.", "output": ["STEP 19: Put the slice of bread on the able."]} +{"id": "trial_T20190907_224726_173646-1%19", "input": "Put two slices of bread from two different loaves on the table. | STEP 1: Take a step forward then turn left and walk to the counter to the left of the stove. | STEP 2: Pick up the yellow handled knife that's in front of you. | STEP 3: Turn right then take a step to your right then walk to the two loaves of bread on the counter to your left. | STEP 4: Cut the top loaf of bread of the two loaves sitting lined up into slices. | STEP 5: Turn left and walk to the wall then turn left and walk to the small circular table. | STEP 6: Put the knife on the table. | STEP 7: Walk back to the bread. | STEP 8: Pick up a slice of bread. | STEP 9: Go back to the small circular table. | STEP 10: Pick up the yellow handled knife again. | STEP 11: Walk back to the bread. | STEP 12: Cut the bottom loaf of the two loaves that are lined up into slices now. | STEP 13: Go back to the small circular table. | STEP 14: Put the bread on the table. | STEP 15: Pick up the knife again. | STEP 16: Go back to the bread | STEP 17: Pick up a slice of bread from the bottom loaf. | STEP 18: Go back to the circular table. | STEP 19: Put the slice of bread on the able.", "output": ["END"]} +{"id": "trial_T20190907_071825_279908-1%0", "input": "place a purple spray bottle on to the reservoir of the toilet", "output": ["STEP 1: turn right and walk to the shelves along the wall and look up"]} +{"id": "trial_T20190907_071825_279908-1%1", "input": "place a purple spray bottle on to the reservoir of the toilet | STEP 1: turn right and walk to the shelves along the wall and look up", "output": ["STEP 2: pick up the purple spray bottle on the top shelf"]} +{"id": "trial_T20190907_071825_279908-1%2", "input": "place a purple spray bottle on to the reservoir of the toilet | STEP 1: turn right and walk to the shelves along the wall and look up | STEP 2: pick up the purple spray bottle on the top shelf", "output": ["STEP 3: look back down turn left and walk to the toilet"]} +{"id": "trial_T20190907_071825_279908-1%3", "input": "place a purple spray bottle on to the reservoir of the toilet | STEP 1: turn right and walk to the shelves along the wall and look up | STEP 2: pick up the purple spray bottle on the top shelf | STEP 3: look back down turn left and walk to the toilet", "output": ["STEP 4: place the purple spray bottle on to the reservoir of the toilet"]} +{"id": "trial_T20190907_071825_279908-1%4", "input": "place a purple spray bottle on to the reservoir of the toilet | STEP 1: turn right and walk to the shelves along the wall and look up | STEP 2: pick up the purple spray bottle on the top shelf | STEP 3: look back down turn left and walk to the toilet | STEP 4: place the purple spray bottle on to the reservoir of the toilet", "output": ["END"]} +{"id": "trial_T20190908_125548_566238-2%0", "input": "Move two spray bottles to the top of the toilet", "output": ["STEP 1: Go to the green bin"]} +{"id": "trial_T20190908_125548_566238-2%1", "input": "Move two spray bottles to the top of the toilet | STEP 1: Go to the green bin", "output": ["STEP 2: Pick up the spray bottle from the bin"]} +{"id": "trial_T20190908_125548_566238-2%2", "input": "Move two spray bottles to the top of the toilet | STEP 1: Go to the green bin | STEP 2: Pick up the spray bottle from the bin", "output": ["STEP 3: Go to the toilet"]} +{"id": "trial_T20190908_125548_566238-2%3", "input": "Move two spray bottles to the top of the toilet | STEP 1: Go to the green bin | STEP 2: Pick up the spray bottle from the bin | STEP 3: Go to the toilet", "output": ["STEP 4: Put the spray bottle on top of toilet"]} +{"id": "trial_T20190908_125548_566238-2%4", "input": "Move two spray bottles to the top of the toilet | STEP 1: Go to the green bin | STEP 2: Pick up the spray bottle from the bin | STEP 3: Go to the toilet | STEP 4: Put the spray bottle on top of toilet", "output": ["STEP 5: Go to the sink"]} +{"id": "trial_T20190908_125548_566238-2%5", "input": "Move two spray bottles to the top of the toilet | STEP 1: Go to the green bin | STEP 2: Pick up the spray bottle from the bin | STEP 3: Go to the toilet | STEP 4: Put the spray bottle on top of toilet | STEP 5: Go to the sink", "output": ["STEP 6: Pick up the spray bottle"]} +{"id": "trial_T20190908_125548_566238-2%6", "input": "Move two spray bottles to the top of the toilet | STEP 1: Go to the green bin | STEP 2: Pick up the spray bottle from the bin | STEP 3: Go to the toilet | STEP 4: Put the spray bottle on top of toilet | STEP 5: Go to the sink | STEP 6: Pick up the spray bottle", "output": ["STEP 7: Go to the toilet"]} +{"id": "trial_T20190908_125548_566238-2%7", "input": "Move two spray bottles to the top of the toilet | STEP 1: Go to the green bin | STEP 2: Pick up the spray bottle from the bin | STEP 3: Go to the toilet | STEP 4: Put the spray bottle on top of toilet | STEP 5: Go to the sink | STEP 6: Pick up the spray bottle | STEP 7: Go to the toilet", "output": ["STEP 8: Put the spray bottle on top of toilet"]} +{"id": "trial_T20190908_125548_566238-2%8", "input": "Move two spray bottles to the top of the toilet | STEP 1: Go to the green bin | STEP 2: Pick up the spray bottle from the bin | STEP 3: Go to the toilet | STEP 4: Put the spray bottle on top of toilet | STEP 5: Go to the sink | STEP 6: Pick up the spray bottle | STEP 7: Go to the toilet | STEP 8: Put the spray bottle on top of toilet", "output": ["END"]} +{"id": "trial_T20190910_181024_991905-0%0", "input": "pick up the credit cards and set them on the coffee table", "output": ["STEP 1: cross the room to the desk in the corner beside the chair"]} +{"id": "trial_T20190910_181024_991905-0%1", "input": "pick up the credit cards and set them on the coffee table | STEP 1: cross the room to the desk in the corner beside the chair", "output": ["STEP 2: pick up the card sitting closest to the edge of the desk"]} +{"id": "trial_T20190910_181024_991905-0%2", "input": "pick up the credit cards and set them on the coffee table | STEP 1: cross the room to the desk in the corner beside the chair | STEP 2: pick up the card sitting closest to the edge of the desk", "output": ["STEP 3: turn around and go to the coffee table"]} +{"id": "trial_T20190910_181024_991905-0%3", "input": "pick up the credit cards and set them on the coffee table | STEP 1: cross the room to the desk in the corner beside the chair | STEP 2: pick up the card sitting closest to the edge of the desk | STEP 3: turn around and go to the coffee table", "output": ["STEP 4: place the credit card on the coffee table"]} +{"id": "trial_T20190910_181024_991905-0%4", "input": "pick up the credit cards and set them on the coffee table | STEP 1: cross the room to the desk in the corner beside the chair | STEP 2: pick up the card sitting closest to the edge of the desk | STEP 3: turn around and go to the coffee table | STEP 4: place the credit card on the coffee table", "output": ["STEP 5: turn around to the couch behind the coffee table"]} +{"id": "trial_T20190910_181024_991905-0%5", "input": "pick up the credit cards and set them on the coffee table | STEP 1: cross the room to the desk in the corner beside the chair | STEP 2: pick up the card sitting closest to the edge of the desk | STEP 3: turn around and go to the coffee table | STEP 4: place the credit card on the coffee table | STEP 5: turn around to the couch behind the coffee table", "output": ["STEP 6: pick up the credit card under the remote sitting on the couch"]} +{"id": "trial_T20190910_181024_991905-0%6", "input": "pick up the credit cards and set them on the coffee table | STEP 1: cross the room to the desk in the corner beside the chair | STEP 2: pick up the card sitting closest to the edge of the desk | STEP 3: turn around and go to the coffee table | STEP 4: place the credit card on the coffee table | STEP 5: turn around to the couch behind the coffee table | STEP 6: pick up the credit card under the remote sitting on the couch", "output": ["STEP 7: turn back around to the coffee table in front of the couch"]} +{"id": "trial_T20190910_181024_991905-0%7", "input": "pick up the credit cards and set them on the coffee table | STEP 1: cross the room to the desk in the corner beside the chair | STEP 2: pick up the card sitting closest to the edge of the desk | STEP 3: turn around and go to the coffee table | STEP 4: place the credit card on the coffee table | STEP 5: turn around to the couch behind the coffee table | STEP 6: pick up the credit card under the remote sitting on the couch | STEP 7: turn back around to the coffee table in front of the couch", "output": ["STEP 8: set the card on the coffee table beside the other card"]} +{"id": "trial_T20190910_181024_991905-0%8", "input": "pick up the credit cards and set them on the coffee table | STEP 1: cross the room to the desk in the corner beside the chair | STEP 2: pick up the card sitting closest to the edge of the desk | STEP 3: turn around and go to the coffee table | STEP 4: place the credit card on the coffee table | STEP 5: turn around to the couch behind the coffee table | STEP 6: pick up the credit card under the remote sitting on the couch | STEP 7: turn back around to the coffee table in front of the couch | STEP 8: set the card on the coffee table beside the other card", "output": ["END"]} +{"id": "trial_T20190908_123519_305249-2%0", "input": "Wash a soap bar to use in the tub.", "output": ["STEP 1: Walk to the edge of the kitchen sink on your left."]} +{"id": "trial_T20190908_123519_305249-2%1", "input": "Wash a soap bar to use in the tub. | STEP 1: Walk to the edge of the kitchen sink on your left.", "output": ["STEP 2: Grab a soap bar from the trash can."]} +{"id": "trial_T20190908_123519_305249-2%2", "input": "Wash a soap bar to use in the tub. | STEP 1: Walk to the edge of the kitchen sink on your left. | STEP 2: Grab a soap bar from the trash can.", "output": ["STEP 3: Put the soap bar under the faucet, wash it, then grab it."]} +{"id": "trial_T20190908_123519_305249-2%3", "input": "Wash a soap bar to use in the tub. | STEP 1: Walk to the edge of the kitchen sink on your left. | STEP 2: Grab a soap bar from the trash can. | STEP 3: Put the soap bar under the faucet, wash it, then grab it.", "output": ["STEP 4: Walk to the tub on your left."]} +{"id": "trial_T20190908_123519_305249-2%4", "input": "Wash a soap bar to use in the tub. | STEP 1: Walk to the edge of the kitchen sink on your left. | STEP 2: Grab a soap bar from the trash can. | STEP 3: Put the soap bar under the faucet, wash it, then grab it. | STEP 4: Walk to the tub on your left.", "output": ["STEP 5: Place the soap bar in the tub."]} +{"id": "trial_T20190908_123519_305249-2%5", "input": "Wash a soap bar to use in the tub. | STEP 1: Walk to the edge of the kitchen sink on your left. | STEP 2: Grab a soap bar from the trash can. | STEP 3: Put the soap bar under the faucet, wash it, then grab it. | STEP 4: Walk to the tub on your left. | STEP 5: Place the soap bar in the tub.", "output": ["END"]} +{"id": "trial_T20190908_101253_622525-1%0", "input": "Put a heated tomato in the fridge. ", "output": ["STEP 1: Turn around, go to the counter right of the stove."]} +{"id": "trial_T20190908_101253_622525-1%1", "input": "Put a heated tomato in the fridge. | STEP 1: Turn around, go to the counter right of the stove.", "output": ["STEP 2: Pick up the tomato on the counter. "]} +{"id": "trial_T20190908_101253_622525-1%2", "input": "Put a heated tomato in the fridge. | STEP 1: Turn around, go to the counter right of the stove. | STEP 2: Pick up the tomato on the counter. ", "output": ["STEP 3: Turn all the way around, then bring the tomato to the microwave above the stove to your right. "]} +{"id": "trial_T20190908_101253_622525-1%3", "input": "Put a heated tomato in the fridge. | STEP 1: Turn around, go to the counter right of the stove. | STEP 2: Pick up the tomato on the counter. | STEP 3: Turn all the way around, then bring the tomato to the microwave above the stove to your right. ", "output": ["STEP 4: Heat the tomato in the mike above the stove. "]} +{"id": "trial_T20190908_101253_622525-1%4", "input": "Put a heated tomato in the fridge. | STEP 1: Turn around, go to the counter right of the stove. | STEP 2: Pick up the tomato on the counter. | STEP 3: Turn all the way around, then bring the tomato to the microwave above the stove to your right. | STEP 4: Heat the tomato in the mike above the stove. ", "output": ["STEP 5: Bring the heated tomato back and to the right, to the fridge. "]} +{"id": "trial_T20190908_101253_622525-1%5", "input": "Put a heated tomato in the fridge. | STEP 1: Turn around, go to the counter right of the stove. | STEP 2: Pick up the tomato on the counter. | STEP 3: Turn all the way around, then bring the tomato to the microwave above the stove to your right. | STEP 4: Heat the tomato in the mike above the stove. | STEP 5: Bring the heated tomato back and to the right, to the fridge. ", "output": ["STEP 6: Put the tomato in the fridge. "]} +{"id": "trial_T20190908_101253_622525-1%6", "input": "Put a heated tomato in the fridge. | STEP 1: Turn around, go to the counter right of the stove. | STEP 2: Pick up the tomato on the counter. | STEP 3: Turn all the way around, then bring the tomato to the microwave above the stove to your right. | STEP 4: Heat the tomato in the mike above the stove. | STEP 5: Bring the heated tomato back and to the right, to the fridge. | STEP 6: Put the tomato in the fridge. ", "output": ["END"]} +{"id": "trial_T20190908_101253_622525-2%0", "input": "To heat a tomato as well as store it in the fridge.", "output": ["STEP 1: Turn around and face the tomato on the counter."]} +{"id": "trial_T20190908_101253_622525-2%1", "input": "To heat a tomato as well as store it in the fridge. | STEP 1: Turn around and face the tomato on the counter.", "output": ["STEP 2: Pick up the tomato on the counter."]} +{"id": "trial_T20190908_101253_622525-2%2", "input": "To heat a tomato as well as store it in the fridge. | STEP 1: Turn around and face the tomato on the counter. | STEP 2: Pick up the tomato on the counter.", "output": ["STEP 3: Take a step to the left and face the microwave above the stove."]} +{"id": "trial_T20190908_101253_622525-2%3", "input": "To heat a tomato as well as store it in the fridge. | STEP 1: Turn around and face the tomato on the counter. | STEP 2: Pick up the tomato on the counter. | STEP 3: Take a step to the left and face the microwave above the stove.", "output": ["STEP 4: Heat the tomato in the microwave and then remove it."]} +{"id": "trial_T20190908_101253_622525-2%4", "input": "To heat a tomato as well as store it in the fridge. | STEP 1: Turn around and face the tomato on the counter. | STEP 2: Pick up the tomato on the counter. | STEP 3: Take a step to the left and face the microwave above the stove. | STEP 4: Heat the tomato in the microwave and then remove it.", "output": ["STEP 5: Turn right and walk across the room, then turn right to face the fridge."]} +{"id": "trial_T20190908_101253_622525-2%5", "input": "To heat a tomato as well as store it in the fridge. | STEP 1: Turn around and face the tomato on the counter. | STEP 2: Pick up the tomato on the counter. | STEP 3: Take a step to the left and face the microwave above the stove. | STEP 4: Heat the tomato in the microwave and then remove it. | STEP 5: Turn right and walk across the room, then turn right to face the fridge.", "output": ["STEP 6: Place the tomato in the fridge."]} +{"id": "trial_T20190908_101253_622525-2%6", "input": "To heat a tomato as well as store it in the fridge. | STEP 1: Turn around and face the tomato on the counter. | STEP 2: Pick up the tomato on the counter. | STEP 3: Take a step to the left and face the microwave above the stove. | STEP 4: Heat the tomato in the microwave and then remove it. | STEP 5: Turn right and walk across the room, then turn right to face the fridge. | STEP 6: Place the tomato in the fridge.", "output": ["END"]} +{"id": "trial_T20190907_102539_772009-0%0", "input": "Place a piece of rinsed lettuce on the table with the gray tablecloth.", "output": ["STEP 1: Turn around and walk to the table with the gray tablecloth on it."]} +{"id": "trial_T20190907_102539_772009-0%1", "input": "Place a piece of rinsed lettuce on the table with the gray tablecloth. | STEP 1: Turn around and walk to the table with the gray tablecloth on it.", "output": ["STEP 2: Pick up the knife from the table."]} +{"id": "trial_T20190907_102539_772009-0%2", "input": "Place a piece of rinsed lettuce on the table with the gray tablecloth. | STEP 1: Turn around and walk to the table with the gray tablecloth on it. | STEP 2: Pick up the knife from the table.", "output": ["STEP 3: Walk to the lettuce on the table with the gray tablecloth."]} +{"id": "trial_T20190907_102539_772009-0%3", "input": "Place a piece of rinsed lettuce on the table with the gray tablecloth. | STEP 1: Turn around and walk to the table with the gray tablecloth on it. | STEP 2: Pick up the knife from the table. | STEP 3: Walk to the lettuce on the table with the gray tablecloth.", "output": ["STEP 4: Cut up the lettuce on the table."]} +{"id": "trial_T20190907_102539_772009-0%4", "input": "Place a piece of rinsed lettuce on the table with the gray tablecloth. | STEP 1: Turn around and walk to the table with the gray tablecloth on it. | STEP 2: Pick up the knife from the table. | STEP 3: Walk to the lettuce on the table with the gray tablecloth. | STEP 4: Cut up the lettuce on the table.", "output": ["STEP 5: Turn around and walk to the cabinet just to the left of the oven."]} +{"id": "trial_T20190907_102539_772009-0%5", "input": "Place a piece of rinsed lettuce on the table with the gray tablecloth. | STEP 1: Turn around and walk to the table with the gray tablecloth on it. | STEP 2: Pick up the knife from the table. | STEP 3: Walk to the lettuce on the table with the gray tablecloth. | STEP 4: Cut up the lettuce on the table. | STEP 5: Turn around and walk to the cabinet just to the left of the oven.", "output": ["STEP 6: Place the knife inside the cabinet and then close the cabinet."]} +{"id": "trial_T20190907_102539_772009-0%6", "input": "Place a piece of rinsed lettuce on the table with the gray tablecloth. | STEP 1: Turn around and walk to the table with the gray tablecloth on it. | STEP 2: Pick up the knife from the table. | STEP 3: Walk to the lettuce on the table with the gray tablecloth. | STEP 4: Cut up the lettuce on the table. | STEP 5: Turn around and walk to the cabinet just to the left of the oven. | STEP 6: Place the knife inside the cabinet and then close the cabinet.", "output": ["STEP 7: Turn around and walk to the table with the gray tablecloth."]} +{"id": "trial_T20190907_102539_772009-0%7", "input": "Place a piece of rinsed lettuce on the table with the gray tablecloth. | STEP 1: Turn around and walk to the table with the gray tablecloth on it. | STEP 2: Pick up the knife from the table. | STEP 3: Walk to the lettuce on the table with the gray tablecloth. | STEP 4: Cut up the lettuce on the table. | STEP 5: Turn around and walk to the cabinet just to the left of the oven. | STEP 6: Place the knife inside the cabinet and then close the cabinet. | STEP 7: Turn around and walk to the table with the gray tablecloth.", "output": ["STEP 8: Pick up a piece of lettuce from the table."]} +{"id": "trial_T20190907_102539_772009-0%8", "input": "Place a piece of rinsed lettuce on the table with the gray tablecloth. | STEP 1: Turn around and walk to the table with the gray tablecloth on it. | STEP 2: Pick up the knife from the table. | STEP 3: Walk to the lettuce on the table with the gray tablecloth. | STEP 4: Cut up the lettuce on the table. | STEP 5: Turn around and walk to the cabinet just to the left of the oven. | STEP 6: Place the knife inside the cabinet and then close the cabinet. | STEP 7: Turn around and walk to the table with the gray tablecloth. | STEP 8: Pick up a piece of lettuce from the table.", "output": ["STEP 9: Turn around and walk to the sink on your right."]} +{"id": "trial_T20190907_102539_772009-0%9", "input": "Place a piece of rinsed lettuce on the table with the gray tablecloth. | STEP 1: Turn around and walk to the table with the gray tablecloth on it. | STEP 2: Pick up the knife from the table. | STEP 3: Walk to the lettuce on the table with the gray tablecloth. | STEP 4: Cut up the lettuce on the table. | STEP 5: Turn around and walk to the cabinet just to the left of the oven. | STEP 6: Place the knife inside the cabinet and then close the cabinet. | STEP 7: Turn around and walk to the table with the gray tablecloth. | STEP 8: Pick up a piece of lettuce from the table. | STEP 9: Turn around and walk to the sink on your right.", "output": ["STEP 10: Rinse the lettuce in the sink and then pick the piece of lettuce up."]} +{"id": "trial_T20190907_102539_772009-0%10", "input": "Place a piece of rinsed lettuce on the table with the gray tablecloth. | STEP 1: Turn around and walk to the table with the gray tablecloth on it. | STEP 2: Pick up the knife from the table. | STEP 3: Walk to the lettuce on the table with the gray tablecloth. | STEP 4: Cut up the lettuce on the table. | STEP 5: Turn around and walk to the cabinet just to the left of the oven. | STEP 6: Place the knife inside the cabinet and then close the cabinet. | STEP 7: Turn around and walk to the table with the gray tablecloth. | STEP 8: Pick up a piece of lettuce from the table. | STEP 9: Turn around and walk to the sink on your right. | STEP 10: Rinse the lettuce in the sink and then pick the piece of lettuce up.", "output": ["STEP 11: Turn right and walk to the table with the gray tablecloth."]} +{"id": "trial_T20190907_102539_772009-0%11", "input": "Place a piece of rinsed lettuce on the table with the gray tablecloth. | STEP 1: Turn around and walk to the table with the gray tablecloth on it. | STEP 2: Pick up the knife from the table. | STEP 3: Walk to the lettuce on the table with the gray tablecloth. | STEP 4: Cut up the lettuce on the table. | STEP 5: Turn around and walk to the cabinet just to the left of the oven. | STEP 6: Place the knife inside the cabinet and then close the cabinet. | STEP 7: Turn around and walk to the table with the gray tablecloth. | STEP 8: Pick up a piece of lettuce from the table. | STEP 9: Turn around and walk to the sink on your right. | STEP 10: Rinse the lettuce in the sink and then pick the piece of lettuce up. | STEP 11: Turn right and walk to the table with the gray tablecloth.", "output": ["STEP 12: Place the piece of lettuce on the table."]} +{"id": "trial_T20190907_102539_772009-0%12", "input": "Place a piece of rinsed lettuce on the table with the gray tablecloth. | STEP 1: Turn around and walk to the table with the gray tablecloth on it. | STEP 2: Pick up the knife from the table. | STEP 3: Walk to the lettuce on the table with the gray tablecloth. | STEP 4: Cut up the lettuce on the table. | STEP 5: Turn around and walk to the cabinet just to the left of the oven. | STEP 6: Place the knife inside the cabinet and then close the cabinet. | STEP 7: Turn around and walk to the table with the gray tablecloth. | STEP 8: Pick up a piece of lettuce from the table. | STEP 9: Turn around and walk to the sink on your right. | STEP 10: Rinse the lettuce in the sink and then pick the piece of lettuce up. | STEP 11: Turn right and walk to the table with the gray tablecloth. | STEP 12: Place the piece of lettuce on the table.", "output": ["END"]} +{"id": "trial_T20190907_102539_772009-3%0", "input": "Place a washed piece of lettuce on the table next to the orange.", "output": ["STEP 1: Turn around and go to the chair on the right next to the window."]} +{"id": "trial_T20190907_102539_772009-3%1", "input": "Place a washed piece of lettuce on the table next to the orange. | STEP 1: Turn around and go to the chair on the right next to the window.", "output": ["STEP 2: Pick up the knife that is under the orange that is on top of the table."]} +{"id": "trial_T20190907_102539_772009-3%2", "input": "Place a washed piece of lettuce on the table next to the orange. | STEP 1: Turn around and go to the chair on the right next to the window. | STEP 2: Pick up the knife that is under the orange that is on top of the table.", "output": ["STEP 3: Turn around and go to the table next to you."]} +{"id": "trial_T20190907_102539_772009-3%3", "input": "Place a washed piece of lettuce on the table next to the orange. | STEP 1: Turn around and go to the chair on the right next to the window. | STEP 2: Pick up the knife that is under the orange that is on top of the table. | STEP 3: Turn around and go to the table next to you.", "output": ["STEP 4: Cut the heart of lettuce that is to the right of the spoon"]} +{"id": "trial_T20190907_102539_772009-3%4", "input": "Place a washed piece of lettuce on the table next to the orange. | STEP 1: Turn around and go to the chair on the right next to the window. | STEP 2: Pick up the knife that is under the orange that is on top of the table. | STEP 3: Turn around and go to the table next to you. | STEP 4: Cut the heart of lettuce that is to the right of the spoon", "output": ["STEP 5: turn around and go to the stove."]} +{"id": "trial_T20190907_102539_772009-3%5", "input": "Place a washed piece of lettuce on the table next to the orange. | STEP 1: Turn around and go to the chair on the right next to the window. | STEP 2: Pick up the knife that is under the orange that is on top of the table. | STEP 3: Turn around and go to the table next to you. | STEP 4: Cut the heart of lettuce that is to the right of the spoon | STEP 5: turn around and go to the stove.", "output": ["STEP 6: Place the knife inside the cabinet to the right of the stove."]} +{"id": "trial_T20190907_102539_772009-3%6", "input": "Place a washed piece of lettuce on the table next to the orange. | STEP 1: Turn around and go to the chair on the right next to the window. | STEP 2: Pick up the knife that is under the orange that is on top of the table. | STEP 3: Turn around and go to the table next to you. | STEP 4: Cut the heart of lettuce that is to the right of the spoon | STEP 5: turn around and go to the stove. | STEP 6: Place the knife inside the cabinet to the right of the stove.", "output": ["STEP 7: Go to the round table next the the chair by the window."]} +{"id": "trial_T20190907_102539_772009-3%7", "input": "Place a washed piece of lettuce on the table next to the orange. | STEP 1: Turn around and go to the chair on the right next to the window. | STEP 2: Pick up the knife that is under the orange that is on top of the table. | STEP 3: Turn around and go to the table next to you. | STEP 4: Cut the heart of lettuce that is to the right of the spoon | STEP 5: turn around and go to the stove. | STEP 6: Place the knife inside the cabinet to the right of the stove. | STEP 7: Go to the round table next the the chair by the window.", "output": ["STEP 8: Take a piece of lettuce"]} +{"id": "trial_T20190907_102539_772009-3%8", "input": "Place a washed piece of lettuce on the table next to the orange. | STEP 1: Turn around and go to the chair on the right next to the window. | STEP 2: Pick up the knife that is under the orange that is on top of the table. | STEP 3: Turn around and go to the table next to you. | STEP 4: Cut the heart of lettuce that is to the right of the spoon | STEP 5: turn around and go to the stove. | STEP 6: Place the knife inside the cabinet to the right of the stove. | STEP 7: Go to the round table next the the chair by the window. | STEP 8: Take a piece of lettuce", "output": ["STEP 9: Turn around and go to the sink"]} +{"id": "trial_T20190907_102539_772009-3%9", "input": "Place a washed piece of lettuce on the table next to the orange. | STEP 1: Turn around and go to the chair on the right next to the window. | STEP 2: Pick up the knife that is under the orange that is on top of the table. | STEP 3: Turn around and go to the table next to you. | STEP 4: Cut the heart of lettuce that is to the right of the spoon | STEP 5: turn around and go to the stove. | STEP 6: Place the knife inside the cabinet to the right of the stove. | STEP 7: Go to the round table next the the chair by the window. | STEP 8: Take a piece of lettuce | STEP 9: Turn around and go to the sink", "output": ["STEP 10: Washed the piece of lettuce in the sink."]} +{"id": "trial_T20190907_102539_772009-3%10", "input": "Place a washed piece of lettuce on the table next to the orange. | STEP 1: Turn around and go to the chair on the right next to the window. | STEP 2: Pick up the knife that is under the orange that is on top of the table. | STEP 3: Turn around and go to the table next to you. | STEP 4: Cut the heart of lettuce that is to the right of the spoon | STEP 5: turn around and go to the stove. | STEP 6: Place the knife inside the cabinet to the right of the stove. | STEP 7: Go to the round table next the the chair by the window. | STEP 8: Take a piece of lettuce | STEP 9: Turn around and go to the sink | STEP 10: Washed the piece of lettuce in the sink.", "output": ["STEP 11: Turn right an go to the chair next to the window."]} +{"id": "trial_T20190907_102539_772009-3%11", "input": "Place a washed piece of lettuce on the table next to the orange. | STEP 1: Turn around and go to the chair on the right next to the window. | STEP 2: Pick up the knife that is under the orange that is on top of the table. | STEP 3: Turn around and go to the table next to you. | STEP 4: Cut the heart of lettuce that is to the right of the spoon | STEP 5: turn around and go to the stove. | STEP 6: Place the knife inside the cabinet to the right of the stove. | STEP 7: Go to the round table next the the chair by the window. | STEP 8: Take a piece of lettuce | STEP 9: Turn around and go to the sink | STEP 10: Washed the piece of lettuce in the sink. | STEP 11: Turn right an go to the chair next to the window.", "output": ["STEP 12: Place the piece of lettuce on the table to the right of the orange."]} +{"id": "trial_T20190907_102539_772009-3%12", "input": "Place a washed piece of lettuce on the table next to the orange. | STEP 1: Turn around and go to the chair on the right next to the window. | STEP 2: Pick up the knife that is under the orange that is on top of the table. | STEP 3: Turn around and go to the table next to you. | STEP 4: Cut the heart of lettuce that is to the right of the spoon | STEP 5: turn around and go to the stove. | STEP 6: Place the knife inside the cabinet to the right of the stove. | STEP 7: Go to the round table next the the chair by the window. | STEP 8: Take a piece of lettuce | STEP 9: Turn around and go to the sink | STEP 10: Washed the piece of lettuce in the sink. | STEP 11: Turn right an go to the chair next to the window. | STEP 12: Place the piece of lettuce on the table to the right of the orange.", "output": ["END"]} +{"id": "trial_T20190907_102539_772009-4%0", "input": "To cut a vegetable into slices, store a piece in the cabinet, wash a piece in the sink plus return in to the table.", "output": ["STEP 1: Turn around, walk across the room and approach the kitchen table."]} +{"id": "trial_T20190907_102539_772009-4%1", "input": "To cut a vegetable into slices, store a piece in the cabinet, wash a piece in the sink plus return in to the table. | STEP 1: Turn around, walk across the room and approach the kitchen table.", "output": ["STEP 2: Pick up the knife of the kitchen table."]} +{"id": "trial_T20190907_102539_772009-4%2", "input": "To cut a vegetable into slices, store a piece in the cabinet, wash a piece in the sink plus return in to the table. | STEP 1: Turn around, walk across the room and approach the kitchen table. | STEP 2: Pick up the knife of the kitchen table.", "output": ["STEP 3: Face the large green vegetable on the table"]} +{"id": "trial_T20190907_102539_772009-4%3", "input": "To cut a vegetable into slices, store a piece in the cabinet, wash a piece in the sink plus return in to the table. | STEP 1: Turn around, walk across the room and approach the kitchen table. | STEP 2: Pick up the knife of the kitchen table. | STEP 3: Face the large green vegetable on the table", "output": ["STEP 4: Cut the large green vegetable on the table."]} +{"id": "trial_T20190907_102539_772009-4%4", "input": "To cut a vegetable into slices, store a piece in the cabinet, wash a piece in the sink plus return in to the table. | STEP 1: Turn around, walk across the room and approach the kitchen table. | STEP 2: Pick up the knife of the kitchen table. | STEP 3: Face the large green vegetable on the table | STEP 4: Cut the large green vegetable on the table.", "output": ["STEP 5: Turn around and walk to face the cabinet to the left of the stove."]} +{"id": "trial_T20190907_102539_772009-4%5", "input": "To cut a vegetable into slices, store a piece in the cabinet, wash a piece in the sink plus return in to the table. | STEP 1: Turn around, walk across the room and approach the kitchen table. | STEP 2: Pick up the knife of the kitchen table. | STEP 3: Face the large green vegetable on the table | STEP 4: Cut the large green vegetable on the table. | STEP 5: Turn around and walk to face the cabinet to the left of the stove.", "output": ["STEP 6: Place the slice of vegetable in the cabinet to the left of the stove."]} +{"id": "trial_T20190907_102539_772009-4%6", "input": "To cut a vegetable into slices, store a piece in the cabinet, wash a piece in the sink plus return in to the table. | STEP 1: Turn around, walk across the room and approach the kitchen table. | STEP 2: Pick up the knife of the kitchen table. | STEP 3: Face the large green vegetable on the table | STEP 4: Cut the large green vegetable on the table. | STEP 5: Turn around and walk to face the cabinet to the left of the stove. | STEP 6: Place the slice of vegetable in the cabinet to the left of the stove.", "output": ["STEP 7: Turn around and approach the table in the kitchen."]} +{"id": "trial_T20190907_102539_772009-4%7", "input": "To cut a vegetable into slices, store a piece in the cabinet, wash a piece in the sink plus return in to the table. | STEP 1: Turn around, walk across the room and approach the kitchen table. | STEP 2: Pick up the knife of the kitchen table. | STEP 3: Face the large green vegetable on the table | STEP 4: Cut the large green vegetable on the table. | STEP 5: Turn around and walk to face the cabinet to the left of the stove. | STEP 6: Place the slice of vegetable in the cabinet to the left of the stove. | STEP 7: Turn around and approach the table in the kitchen.", "output": ["STEP 8: Pick up a slice of the green vegetable on the table."]} +{"id": "trial_T20190907_102539_772009-4%8", "input": "To cut a vegetable into slices, store a piece in the cabinet, wash a piece in the sink plus return in to the table. | STEP 1: Turn around, walk across the room and approach the kitchen table. | STEP 2: Pick up the knife of the kitchen table. | STEP 3: Face the large green vegetable on the table | STEP 4: Cut the large green vegetable on the table. | STEP 5: Turn around and walk to face the cabinet to the left of the stove. | STEP 6: Place the slice of vegetable in the cabinet to the left of the stove. | STEP 7: Turn around and approach the table in the kitchen. | STEP 8: Pick up a slice of the green vegetable on the table.", "output": ["STEP 9: Turn around and walk around the corner to face the sink."]} +{"id": "trial_T20190907_102539_772009-4%9", "input": "To cut a vegetable into slices, store a piece in the cabinet, wash a piece in the sink plus return in to the table. | STEP 1: Turn around, walk across the room and approach the kitchen table. | STEP 2: Pick up the knife of the kitchen table. | STEP 3: Face the large green vegetable on the table | STEP 4: Cut the large green vegetable on the table. | STEP 5: Turn around and walk to face the cabinet to the left of the stove. | STEP 6: Place the slice of vegetable in the cabinet to the left of the stove. | STEP 7: Turn around and approach the table in the kitchen. | STEP 8: Pick up a slice of the green vegetable on the table. | STEP 9: Turn around and walk around the corner to face the sink.", "output": ["STEP 10: Place the slice of vegetable in the sink, wash it, then pick it back up."]} +{"id": "trial_T20190907_102539_772009-4%10", "input": "To cut a vegetable into slices, store a piece in the cabinet, wash a piece in the sink plus return in to the table. | STEP 1: Turn around, walk across the room and approach the kitchen table. | STEP 2: Pick up the knife of the kitchen table. | STEP 3: Face the large green vegetable on the table | STEP 4: Cut the large green vegetable on the table. | STEP 5: Turn around and walk to face the cabinet to the left of the stove. | STEP 6: Place the slice of vegetable in the cabinet to the left of the stove. | STEP 7: Turn around and approach the table in the kitchen. | STEP 8: Pick up a slice of the green vegetable on the table. | STEP 9: Turn around and walk around the corner to face the sink. | STEP 10: Place the slice of vegetable in the sink, wash it, then pick it back up.", "output": ["STEP 11: Walk around the right side of the sink to face the kitchen table."]} +{"id": "trial_T20190907_102539_772009-4%11", "input": "To cut a vegetable into slices, store a piece in the cabinet, wash a piece in the sink plus return in to the table. | STEP 1: Turn around, walk across the room and approach the kitchen table. | STEP 2: Pick up the knife of the kitchen table. | STEP 3: Face the large green vegetable on the table | STEP 4: Cut the large green vegetable on the table. | STEP 5: Turn around and walk to face the cabinet to the left of the stove. | STEP 6: Place the slice of vegetable in the cabinet to the left of the stove. | STEP 7: Turn around and approach the table in the kitchen. | STEP 8: Pick up a slice of the green vegetable on the table. | STEP 9: Turn around and walk around the corner to face the sink. | STEP 10: Place the slice of vegetable in the sink, wash it, then pick it back up. | STEP 11: Walk around the right side of the sink to face the kitchen table.", "output": ["STEP 12: Place the slice of vegetable on the front of the kitchen table."]} +{"id": "trial_T20190907_102539_772009-4%12", "input": "To cut a vegetable into slices, store a piece in the cabinet, wash a piece in the sink plus return in to the table. | STEP 1: Turn around, walk across the room and approach the kitchen table. | STEP 2: Pick up the knife of the kitchen table. | STEP 3: Face the large green vegetable on the table | STEP 4: Cut the large green vegetable on the table. | STEP 5: Turn around and walk to face the cabinet to the left of the stove. | STEP 6: Place the slice of vegetable in the cabinet to the left of the stove. | STEP 7: Turn around and approach the table in the kitchen. | STEP 8: Pick up a slice of the green vegetable on the table. | STEP 9: Turn around and walk around the corner to face the sink. | STEP 10: Place the slice of vegetable in the sink, wash it, then pick it back up. | STEP 11: Walk around the right side of the sink to face the kitchen table. | STEP 12: Place the slice of vegetable on the front of the kitchen table.", "output": ["END"]} +{"id": "trial_T20190907_042812_954786-2%0", "input": "Examine a grey box next to the light of a lamp.", "output": ["STEP 1: Walk towards the desk and turn right towards the dresser."]} +{"id": "trial_T20190907_042812_954786-2%1", "input": "Examine a grey box next to the light of a lamp. | STEP 1: Walk towards the desk and turn right towards the dresser.", "output": ["STEP 2: Pick up the grey box on the dresser."]} +{"id": "trial_T20190907_042812_954786-2%2", "input": "Examine a grey box next to the light of a lamp. | STEP 1: Walk towards the desk and turn right towards the dresser. | STEP 2: Pick up the grey box on the dresser.", "output": ["STEP 3: Turn around and walk towards the lamp on the desk."]} +{"id": "trial_T20190907_042812_954786-2%3", "input": "Examine a grey box next to the light of a lamp. | STEP 1: Walk towards the desk and turn right towards the dresser. | STEP 2: Pick up the grey box on the dresser. | STEP 3: Turn around and walk towards the lamp on the desk.", "output": ["STEP 4: Turn on the lamp."]} +{"id": "trial_T20190907_042812_954786-2%4", "input": "Examine a grey box next to the light of a lamp. | STEP 1: Walk towards the desk and turn right towards the dresser. | STEP 2: Pick up the grey box on the dresser. | STEP 3: Turn around and walk towards the lamp on the desk. | STEP 4: Turn on the lamp.", "output": ["END"]} +{"id": "trial_T20190909_003817_509851-1%0", "input": "Put a cleaned spoon on top of a spatula on a counter top.", "output": ["STEP 1: Turn left and walk forward slightly, then turn right towards the spoon on the counter top near the large knife and spatula."]} +{"id": "trial_T20190909_003817_509851-1%1", "input": "Put a cleaned spoon on top of a spatula on a counter top. | STEP 1: Turn left and walk forward slightly, then turn right towards the spoon on the counter top near the large knife and spatula.", "output": ["STEP 2: Pick up the spoon from the counter."]} +{"id": "trial_T20190909_003817_509851-1%2", "input": "Put a cleaned spoon on top of a spatula on a counter top. | STEP 1: Turn left and walk forward slightly, then turn right towards the spoon on the counter top near the large knife and spatula. | STEP 2: Pick up the spoon from the counter.", "output": ["STEP 3: Turn around and walk to the right to the sink."]} +{"id": "trial_T20190909_003817_509851-1%3", "input": "Put a cleaned spoon on top of a spatula on a counter top. | STEP 1: Turn left and walk forward slightly, then turn right towards the spoon on the counter top near the large knife and spatula. | STEP 2: Pick up the spoon from the counter. | STEP 3: Turn around and walk to the right to the sink.", "output": ["STEP 4: Put the spoon in the sink, rinse it off, and take it out of the sink."]} +{"id": "trial_T20190909_003817_509851-1%4", "input": "Put a cleaned spoon on top of a spatula on a counter top. | STEP 1: Turn left and walk forward slightly, then turn right towards the spoon on the counter top near the large knife and spatula. | STEP 2: Pick up the spoon from the counter. | STEP 3: Turn around and walk to the right to the sink. | STEP 4: Put the spoon in the sink, rinse it off, and take it out of the sink.", "output": ["STEP 5: Turn left, walk to the end of the counter, then turn left towards the bread on the other counter."]} +{"id": "trial_T20190909_003817_509851-1%5", "input": "Put a cleaned spoon on top of a spatula on a counter top. | STEP 1: Turn left and walk forward slightly, then turn right towards the spoon on the counter top near the large knife and spatula. | STEP 2: Pick up the spoon from the counter. | STEP 3: Turn around and walk to the right to the sink. | STEP 4: Put the spoon in the sink, rinse it off, and take it out of the sink. | STEP 5: Turn left, walk to the end of the counter, then turn left towards the bread on the other counter.", "output": ["STEP 6: Put the spoon on that counter, on top of the spatula that is touching the bread."]} +{"id": "trial_T20190909_003817_509851-1%6", "input": "Put a cleaned spoon on top of a spatula on a counter top. | STEP 1: Turn left and walk forward slightly, then turn right towards the spoon on the counter top near the large knife and spatula. | STEP 2: Pick up the spoon from the counter. | STEP 3: Turn around and walk to the right to the sink. | STEP 4: Put the spoon in the sink, rinse it off, and take it out of the sink. | STEP 5: Turn left, walk to the end of the counter, then turn left towards the bread on the other counter. | STEP 6: Put the spoon on that counter, on top of the spatula that is touching the bread.", "output": ["END"]} +{"id": "trial_T20190906_190741_530882-2%0", "input": "Grab the grey bowl on the corner table, turn on the lamp", "output": ["STEP 1: Turn right walk to the shelf, turn right walk to the corner table"]} +{"id": "trial_T20190906_190741_530882-2%1", "input": "Grab the grey bowl on the corner table, turn on the lamp | STEP 1: Turn right walk to the shelf, turn right walk to the corner table", "output": ["STEP 2: Grab the grey bowl on the table"]} +{"id": "trial_T20190906_190741_530882-2%2", "input": "Grab the grey bowl on the corner table, turn on the lamp | STEP 1: Turn right walk to the shelf, turn right walk to the corner table | STEP 2: Grab the grey bowl on the table", "output": ["STEP 3: Turn left and walk until corner table is at the center of the view"]} +{"id": "trial_T20190906_190741_530882-2%3", "input": "Grab the grey bowl on the corner table, turn on the lamp | STEP 1: Turn right walk to the shelf, turn right walk to the corner table | STEP 2: Grab the grey bowl on the table | STEP 3: Turn left and walk until corner table is at the center of the view", "output": ["STEP 4: Turn on the lamp on the table"]} +{"id": "trial_T20190906_190741_530882-2%4", "input": "Grab the grey bowl on the corner table, turn on the lamp | STEP 1: Turn right walk to the shelf, turn right walk to the corner table | STEP 2: Grab the grey bowl on the table | STEP 3: Turn left and walk until corner table is at the center of the view | STEP 4: Turn on the lamp on the table", "output": ["END"]} +{"id": "trial_T20190907_174408_206977-2%0", "input": "Rinse the washcloth in the sink and put it back in the tub.", "output": ["STEP 1: Walk to the tub."]} +{"id": "trial_T20190907_174408_206977-2%1", "input": "Rinse the washcloth in the sink and put it back in the tub. | STEP 1: Walk to the tub.", "output": ["STEP 2: Take the washcloth out of the tub."]} +{"id": "trial_T20190907_174408_206977-2%2", "input": "Rinse the washcloth in the sink and put it back in the tub. | STEP 1: Walk to the tub. | STEP 2: Take the washcloth out of the tub.", "output": ["STEP 3: Turn right and go to the sink."]} +{"id": "trial_T20190907_174408_206977-2%3", "input": "Rinse the washcloth in the sink and put it back in the tub. | STEP 1: Walk to the tub. | STEP 2: Take the washcloth out of the tub. | STEP 3: Turn right and go to the sink.", "output": ["STEP 4: Put the washcloth in the sink, wash it and pick it back up."]} +{"id": "trial_T20190907_174408_206977-2%4", "input": "Rinse the washcloth in the sink and put it back in the tub. | STEP 1: Walk to the tub. | STEP 2: Take the washcloth out of the tub. | STEP 3: Turn right and go to the sink. | STEP 4: Put the washcloth in the sink, wash it and pick it back up.", "output": ["STEP 5: Go back to the tub."]} +{"id": "trial_T20190907_174408_206977-2%5", "input": "Rinse the washcloth in the sink and put it back in the tub. | STEP 1: Walk to the tub. | STEP 2: Take the washcloth out of the tub. | STEP 3: Turn right and go to the sink. | STEP 4: Put the washcloth in the sink, wash it and pick it back up. | STEP 5: Go back to the tub.", "output": ["STEP 6: Put the washcloth back in the tub."]} +{"id": "trial_T20190907_174408_206977-2%6", "input": "Rinse the washcloth in the sink and put it back in the tub. | STEP 1: Walk to the tub. | STEP 2: Take the washcloth out of the tub. | STEP 3: Turn right and go to the sink. | STEP 4: Put the washcloth in the sink, wash it and pick it back up. | STEP 5: Go back to the tub. | STEP 6: Put the washcloth back in the tub.", "output": ["END"]} +{"id": "trial_T20190907_195646_153887-0%0", "input": "Put a slice of chilled potato inside the microwave.", "output": ["STEP 1: Turn right and face the kitchen counter with the paring knife."]} +{"id": "trial_T20190907_195646_153887-0%1", "input": "Put a slice of chilled potato inside the microwave. | STEP 1: Turn right and face the kitchen counter with the paring knife.", "output": ["STEP 2: Pick up the paring knife."]} +{"id": "trial_T20190907_195646_153887-0%2", "input": "Put a slice of chilled potato inside the microwave. | STEP 1: Turn right and face the kitchen counter with the paring knife. | STEP 2: Pick up the paring knife.", "output": ["STEP 3: Move the lettuce and slice the potato. "]} +{"id": "trial_T20190907_195646_153887-0%3", "input": "Put a slice of chilled potato inside the microwave. | STEP 1: Turn right and face the kitchen counter with the paring knife. | STEP 2: Pick up the paring knife. | STEP 3: Move the lettuce and slice the potato. ", "output": ["STEP 4: Turn around and go to the counter on the opposite side."]} +{"id": "trial_T20190907_195646_153887-0%4", "input": "Put a slice of chilled potato inside the microwave. | STEP 1: Turn right and face the kitchen counter with the paring knife. | STEP 2: Pick up the paring knife. | STEP 3: Move the lettuce and slice the potato. | STEP 4: Turn around and go to the counter on the opposite side.", "output": ["STEP 5: Open the right bottom cabinet and place the paring knife inside."]} +{"id": "trial_T20190907_195646_153887-0%5", "input": "Put a slice of chilled potato inside the microwave. | STEP 1: Turn right and face the kitchen counter with the paring knife. | STEP 2: Pick up the paring knife. | STEP 3: Move the lettuce and slice the potato. | STEP 4: Turn around and go to the counter on the opposite side. | STEP 5: Open the right bottom cabinet and place the paring knife inside.", "output": ["STEP 6: Turn around and go back to the kitchen counter with the sliced potato."]} +{"id": "trial_T20190907_195646_153887-0%6", "input": "Put a slice of chilled potato inside the microwave. | STEP 1: Turn right and face the kitchen counter with the paring knife. | STEP 2: Pick up the paring knife. | STEP 3: Move the lettuce and slice the potato. | STEP 4: Turn around and go to the counter on the opposite side. | STEP 5: Open the right bottom cabinet and place the paring knife inside. | STEP 6: Turn around and go back to the kitchen counter with the sliced potato.", "output": ["STEP 7: Take a slice of potato."]} +{"id": "trial_T20190907_195646_153887-0%7", "input": "Put a slice of chilled potato inside the microwave. | STEP 1: Turn right and face the kitchen counter with the paring knife. | STEP 2: Pick up the paring knife. | STEP 3: Move the lettuce and slice the potato. | STEP 4: Turn around and go to the counter on the opposite side. | STEP 5: Open the right bottom cabinet and place the paring knife inside. | STEP 6: Turn around and go back to the kitchen counter with the sliced potato. | STEP 7: Take a slice of potato.", "output": ["STEP 8: Turn around and go to the refrigerator on the left."]} +{"id": "trial_T20190907_195646_153887-0%8", "input": "Put a slice of chilled potato inside the microwave. | STEP 1: Turn right and face the kitchen counter with the paring knife. | STEP 2: Pick up the paring knife. | STEP 3: Move the lettuce and slice the potato. | STEP 4: Turn around and go to the counter on the opposite side. | STEP 5: Open the right bottom cabinet and place the paring knife inside. | STEP 6: Turn around and go back to the kitchen counter with the sliced potato. | STEP 7: Take a slice of potato. | STEP 8: Turn around and go to the refrigerator on the left.", "output": ["STEP 9: Chill the slice of potato inside the refrigerator and take it out. "]} +{"id": "trial_T20190907_195646_153887-0%9", "input": "Put a slice of chilled potato inside the microwave. | STEP 1: Turn right and face the kitchen counter with the paring knife. | STEP 2: Pick up the paring knife. | STEP 3: Move the lettuce and slice the potato. | STEP 4: Turn around and go to the counter on the opposite side. | STEP 5: Open the right bottom cabinet and place the paring knife inside. | STEP 6: Turn around and go back to the kitchen counter with the sliced potato. | STEP 7: Take a slice of potato. | STEP 8: Turn around and go to the refrigerator on the left. | STEP 9: Chill the slice of potato inside the refrigerator and take it out. ", "output": ["STEP 10: Turn around and go to the microwave above the stove. "]} +{"id": "trial_T20190907_195646_153887-0%10", "input": "Put a slice of chilled potato inside the microwave. | STEP 1: Turn right and face the kitchen counter with the paring knife. | STEP 2: Pick up the paring knife. | STEP 3: Move the lettuce and slice the potato. | STEP 4: Turn around and go to the counter on the opposite side. | STEP 5: Open the right bottom cabinet and place the paring knife inside. | STEP 6: Turn around and go back to the kitchen counter with the sliced potato. | STEP 7: Take a slice of potato. | STEP 8: Turn around and go to the refrigerator on the left. | STEP 9: Chill the slice of potato inside the refrigerator and take it out. | STEP 10: Turn around and go to the microwave above the stove. ", "output": ["STEP 11: Place the slice of potato inside the microwave. "]} +{"id": "trial_T20190907_195646_153887-0%11", "input": "Put a slice of chilled potato inside the microwave. | STEP 1: Turn right and face the kitchen counter with the paring knife. | STEP 2: Pick up the paring knife. | STEP 3: Move the lettuce and slice the potato. | STEP 4: Turn around and go to the counter on the opposite side. | STEP 5: Open the right bottom cabinet and place the paring knife inside. | STEP 6: Turn around and go back to the kitchen counter with the sliced potato. | STEP 7: Take a slice of potato. | STEP 8: Turn around and go to the refrigerator on the left. | STEP 9: Chill the slice of potato inside the refrigerator and take it out. | STEP 10: Turn around and go to the microwave above the stove. | STEP 11: Place the slice of potato inside the microwave. ", "output": ["END"]} +{"id": "trial_T20190908_121502_008775-2%0", "input": "Put a chilled slice of lettuce on the counter.", "output": ["STEP 1: Go to the sink on the right."]} +{"id": "trial_T20190908_121502_008775-2%1", "input": "Put a chilled slice of lettuce on the counter. | STEP 1: Go to the sink on the right.", "output": ["STEP 2: Pick up the knife in the sink."]} +{"id": "trial_T20190908_121502_008775-2%2", "input": "Put a chilled slice of lettuce on the counter. | STEP 1: Go to the sink on the right. | STEP 2: Pick up the knife in the sink.", "output": ["STEP 3: Turn right and go to the counter with the toaster on it."]} +{"id": "trial_T20190908_121502_008775-2%3", "input": "Put a chilled slice of lettuce on the counter. | STEP 1: Go to the sink on the right. | STEP 2: Pick up the knife in the sink. | STEP 3: Turn right and go to the counter with the toaster on it.", "output": ["STEP 4: Cut the lettuce on the counter."]} +{"id": "trial_T20190908_121502_008775-2%4", "input": "Put a chilled slice of lettuce on the counter. | STEP 1: Go to the sink on the right. | STEP 2: Pick up the knife in the sink. | STEP 3: Turn right and go to the counter with the toaster on it. | STEP 4: Cut the lettuce on the counter.", "output": ["STEP 5: Turn around to the counter with the bread on it."]} +{"id": "trial_T20190908_121502_008775-2%5", "input": "Put a chilled slice of lettuce on the counter. | STEP 1: Go to the sink on the right. | STEP 2: Pick up the knife in the sink. | STEP 3: Turn right and go to the counter with the toaster on it. | STEP 4: Cut the lettuce on the counter. | STEP 5: Turn around to the counter with the bread on it.", "output": ["STEP 6: Put the knife on the counter in front of the bread."]} +{"id": "trial_T20190908_121502_008775-2%6", "input": "Put a chilled slice of lettuce on the counter. | STEP 1: Go to the sink on the right. | STEP 2: Pick up the knife in the sink. | STEP 3: Turn right and go to the counter with the toaster on it. | STEP 4: Cut the lettuce on the counter. | STEP 5: Turn around to the counter with the bread on it. | STEP 6: Put the knife on the counter in front of the bread.", "output": ["STEP 7: Turn back around to the counter."]} +{"id": "trial_T20190908_121502_008775-2%7", "input": "Put a chilled slice of lettuce on the counter. | STEP 1: Go to the sink on the right. | STEP 2: Pick up the knife in the sink. | STEP 3: Turn right and go to the counter with the toaster on it. | STEP 4: Cut the lettuce on the counter. | STEP 5: Turn around to the counter with the bread on it. | STEP 6: Put the knife on the counter in front of the bread. | STEP 7: Turn back around to the counter.", "output": ["STEP 8: Pick up a slice of lettuce."]} +{"id": "trial_T20190908_121502_008775-2%8", "input": "Put a chilled slice of lettuce on the counter. | STEP 1: Go to the sink on the right. | STEP 2: Pick up the knife in the sink. | STEP 3: Turn right and go to the counter with the toaster on it. | STEP 4: Cut the lettuce on the counter. | STEP 5: Turn around to the counter with the bread on it. | STEP 6: Put the knife on the counter in front of the bread. | STEP 7: Turn back around to the counter. | STEP 8: Pick up a slice of lettuce.", "output": ["STEP 9: Turn left and go to the fridge."]} +{"id": "trial_T20190908_121502_008775-2%9", "input": "Put a chilled slice of lettuce on the counter. | STEP 1: Go to the sink on the right. | STEP 2: Pick up the knife in the sink. | STEP 3: Turn right and go to the counter with the toaster on it. | STEP 4: Cut the lettuce on the counter. | STEP 5: Turn around to the counter with the bread on it. | STEP 6: Put the knife on the counter in front of the bread. | STEP 7: Turn back around to the counter. | STEP 8: Pick up a slice of lettuce. | STEP 9: Turn left and go to the fridge.", "output": ["STEP 10: Put the slice of lettuce in the fridge, close the fridge and then pick the lettuce back up."]} +{"id": "trial_T20190908_121502_008775-2%10", "input": "Put a chilled slice of lettuce on the counter. | STEP 1: Go to the sink on the right. | STEP 2: Pick up the knife in the sink. | STEP 3: Turn right and go to the counter with the toaster on it. | STEP 4: Cut the lettuce on the counter. | STEP 5: Turn around to the counter with the bread on it. | STEP 6: Put the knife on the counter in front of the bread. | STEP 7: Turn back around to the counter. | STEP 8: Pick up a slice of lettuce. | STEP 9: Turn left and go to the fridge. | STEP 10: Put the slice of lettuce in the fridge, close the fridge and then pick the lettuce back up.", "output": ["STEP 11: Go back to the counter with the bread on it."]} +{"id": "trial_T20190908_121502_008775-2%11", "input": "Put a chilled slice of lettuce on the counter. | STEP 1: Go to the sink on the right. | STEP 2: Pick up the knife in the sink. | STEP 3: Turn right and go to the counter with the toaster on it. | STEP 4: Cut the lettuce on the counter. | STEP 5: Turn around to the counter with the bread on it. | STEP 6: Put the knife on the counter in front of the bread. | STEP 7: Turn back around to the counter. | STEP 8: Pick up a slice of lettuce. | STEP 9: Turn left and go to the fridge. | STEP 10: Put the slice of lettuce in the fridge, close the fridge and then pick the lettuce back up. | STEP 11: Go back to the counter with the bread on it.", "output": ["STEP 12: Put the slice of lettuce on the counter to the right of the knife."]} +{"id": "trial_T20190908_121502_008775-2%12", "input": "Put a chilled slice of lettuce on the counter. | STEP 1: Go to the sink on the right. | STEP 2: Pick up the knife in the sink. | STEP 3: Turn right and go to the counter with the toaster on it. | STEP 4: Cut the lettuce on the counter. | STEP 5: Turn around to the counter with the bread on it. | STEP 6: Put the knife on the counter in front of the bread. | STEP 7: Turn back around to the counter. | STEP 8: Pick up a slice of lettuce. | STEP 9: Turn left and go to the fridge. | STEP 10: Put the slice of lettuce in the fridge, close the fridge and then pick the lettuce back up. | STEP 11: Go back to the counter with the bread on it. | STEP 12: Put the slice of lettuce on the counter to the right of the knife.", "output": ["END"]} +{"id": "trial_T20190908_114146_991919-2%0", "input": "To move two bars of soap to the tub. ", "output": ["STEP 1: Turn right and face the back of the toilet. "]} +{"id": "trial_T20190908_114146_991919-2%1", "input": "To move two bars of soap to the tub. | STEP 1: Turn right and face the back of the toilet. ", "output": ["STEP 2: Pick up a bar of soap from the back of the toilet that's closest to you. "]} +{"id": "trial_T20190908_114146_991919-2%2", "input": "To move two bars of soap to the tub. | STEP 1: Turn right and face the back of the toilet. | STEP 2: Pick up a bar of soap from the back of the toilet that's closest to you. ", "output": ["STEP 3: Walk to the tub across the room. "]} +{"id": "trial_T20190908_114146_991919-2%3", "input": "To move two bars of soap to the tub. | STEP 1: Turn right and face the back of the toilet. | STEP 2: Pick up a bar of soap from the back of the toilet that's closest to you. | STEP 3: Walk to the tub across the room. ", "output": ["STEP 4: Place the bar of soap in the tub to the right of the yellow rag to the left. "]} +{"id": "trial_T20190908_114146_991919-2%4", "input": "To move two bars of soap to the tub. | STEP 1: Turn right and face the back of the toilet. | STEP 2: Pick up a bar of soap from the back of the toilet that's closest to you. | STEP 3: Walk to the tub across the room. | STEP 4: Place the bar of soap in the tub to the right of the yellow rag to the left. ", "output": ["STEP 5: Walk back over to the toilet and face the back of the toilet. "]} +{"id": "trial_T20190908_114146_991919-2%5", "input": "To move two bars of soap to the tub. | STEP 1: Turn right and face the back of the toilet. | STEP 2: Pick up a bar of soap from the back of the toilet that's closest to you. | STEP 3: Walk to the tub across the room. | STEP 4: Place the bar of soap in the tub to the right of the yellow rag to the left. | STEP 5: Walk back over to the toilet and face the back of the toilet. ", "output": ["STEP 6: Pick up the bar of soap in the upper left corner. "]} +{"id": "trial_T20190908_114146_991919-2%6", "input": "To move two bars of soap to the tub. | STEP 1: Turn right and face the back of the toilet. | STEP 2: Pick up a bar of soap from the back of the toilet that's closest to you. | STEP 3: Walk to the tub across the room. | STEP 4: Place the bar of soap in the tub to the right of the yellow rag to the left. | STEP 5: Walk back over to the toilet and face the back of the toilet. | STEP 6: Pick up the bar of soap in the upper left corner. ", "output": ["STEP 7: Walk back over to the tub. "]} +{"id": "trial_T20190908_114146_991919-2%7", "input": "To move two bars of soap to the tub. | STEP 1: Turn right and face the back of the toilet. | STEP 2: Pick up a bar of soap from the back of the toilet that's closest to you. | STEP 3: Walk to the tub across the room. | STEP 4: Place the bar of soap in the tub to the right of the yellow rag to the left. | STEP 5: Walk back over to the toilet and face the back of the toilet. | STEP 6: Pick up the bar of soap in the upper left corner. | STEP 7: Walk back over to the tub. ", "output": ["STEP 8: Place the bar of soap to the right of the first bar of soap. "]} +{"id": "trial_T20190908_114146_991919-2%8", "input": "To move two bars of soap to the tub. | STEP 1: Turn right and face the back of the toilet. | STEP 2: Pick up a bar of soap from the back of the toilet that's closest to you. | STEP 3: Walk to the tub across the room. | STEP 4: Place the bar of soap in the tub to the right of the yellow rag to the left. | STEP 5: Walk back over to the toilet and face the back of the toilet. | STEP 6: Pick up the bar of soap in the upper left corner. | STEP 7: Walk back over to the tub. | STEP 8: Place the bar of soap to the right of the first bar of soap. ", "output": ["END"]} +{"id": "trial_T20190907_004118_114555-0%0", "input": "Put a heated tomato on the counter to the right of the stove. ", "output": ["STEP 1: Move to the counter left of the stove."]} +{"id": "trial_T20190907_004118_114555-0%1", "input": "Put a heated tomato on the counter to the right of the stove. | STEP 1: Move to the counter left of the stove.", "output": ["STEP 2: Pick up the tomato from the counter. "]} +{"id": "trial_T20190907_004118_114555-0%2", "input": "Put a heated tomato on the counter to the right of the stove. | STEP 1: Move to the counter left of the stove. | STEP 2: Pick up the tomato from the counter. ", "output": ["STEP 3: Bring the tomato to the microwave."]} +{"id": "trial_T20190907_004118_114555-0%3", "input": "Put a heated tomato on the counter to the right of the stove. | STEP 1: Move to the counter left of the stove. | STEP 2: Pick up the tomato from the counter. | STEP 3: Bring the tomato to the microwave.", "output": ["STEP 4: Heat the tomato in the microwave."]} +{"id": "trial_T20190907_004118_114555-0%4", "input": "Put a heated tomato on the counter to the right of the stove. | STEP 1: Move to the counter left of the stove. | STEP 2: Pick up the tomato from the counter. | STEP 3: Bring the tomato to the microwave. | STEP 4: Heat the tomato in the microwave.", "output": ["STEP 5: Bring the tomato to the counter right of the stove."]} +{"id": "trial_T20190907_004118_114555-0%5", "input": "Put a heated tomato on the counter to the right of the stove. | STEP 1: Move to the counter left of the stove. | STEP 2: Pick up the tomato from the counter. | STEP 3: Bring the tomato to the microwave. | STEP 4: Heat the tomato in the microwave. | STEP 5: Bring the tomato to the counter right of the stove.", "output": ["STEP 6: Put the tomato on the counter to the right of the stove. "]} +{"id": "trial_T20190907_004118_114555-0%6", "input": "Put a heated tomato on the counter to the right of the stove. | STEP 1: Move to the counter left of the stove. | STEP 2: Pick up the tomato from the counter. | STEP 3: Bring the tomato to the microwave. | STEP 4: Heat the tomato in the microwave. | STEP 5: Bring the tomato to the counter right of the stove. | STEP 6: Put the tomato on the counter to the right of the stove. ", "output": ["END"]} +{"id": "trial_T20190907_115929_186552-2%0", "input": "Chill or cool down mug followed by drinking it", "output": ["STEP 1: Turn around and walk to the corner of the desk"]} +{"id": "trial_T20190907_115929_186552-2%1", "input": "Chill or cool down mug followed by drinking it | STEP 1: Turn around and walk to the corner of the desk", "output": ["STEP 2: Pick up the white coffee mug on the desk"]} +{"id": "trial_T20190907_115929_186552-2%2", "input": "Chill or cool down mug followed by drinking it | STEP 1: Turn around and walk to the corner of the desk | STEP 2: Pick up the white coffee mug on the desk", "output": ["STEP 3: Turn around and open the refrigerator"]} +{"id": "trial_T20190907_115929_186552-2%3", "input": "Chill or cool down mug followed by drinking it | STEP 1: Turn around and walk to the corner of the desk | STEP 2: Pick up the white coffee mug on the desk | STEP 3: Turn around and open the refrigerator", "output": ["STEP 4: Place the mug in the refrigerator, chill and then remove it"]} +{"id": "trial_T20190907_115929_186552-2%4", "input": "Chill or cool down mug followed by drinking it | STEP 1: Turn around and walk to the corner of the desk | STEP 2: Pick up the white coffee mug on the desk | STEP 3: Turn around and open the refrigerator | STEP 4: Place the mug in the refrigerator, chill and then remove it", "output": ["STEP 5: Turn around and take a drink from the mug"]} +{"id": "trial_T20190907_115929_186552-2%5", "input": "Chill or cool down mug followed by drinking it | STEP 1: Turn around and walk to the corner of the desk | STEP 2: Pick up the white coffee mug on the desk | STEP 3: Turn around and open the refrigerator | STEP 4: Place the mug in the refrigerator, chill and then remove it | STEP 5: Turn around and take a drink from the mug", "output": ["STEP 6: Place the mug back on the desk"]} +{"id": "trial_T20190907_115929_186552-2%6", "input": "Chill or cool down mug followed by drinking it | STEP 1: Turn around and walk to the corner of the desk | STEP 2: Pick up the white coffee mug on the desk | STEP 3: Turn around and open the refrigerator | STEP 4: Place the mug in the refrigerator, chill and then remove it | STEP 5: Turn around and take a drink from the mug | STEP 6: Place the mug back on the desk", "output": ["END"]} +{"id": "trial_T20190907_153613_945785-0%0", "input": "Take the white watering can, turn on the lamp by the door", "output": ["STEP 1: Turn around, head to the black shelf"]} +{"id": "trial_T20190907_153613_945785-0%1", "input": "Take the white watering can, turn on the lamp by the door | STEP 1: Turn around, head to the black shelf", "output": ["STEP 2: Take the white watering can from the bottom shelf"]} +{"id": "trial_T20190907_153613_945785-0%2", "input": "Take the white watering can, turn on the lamp by the door | STEP 1: Turn around, head to the black shelf | STEP 2: Take the white watering can from the bottom shelf", "output": ["STEP 3: Turn around, head through the living room to the door"]} +{"id": "trial_T20190907_153613_945785-0%3", "input": "Take the white watering can, turn on the lamp by the door | STEP 1: Turn around, head to the black shelf | STEP 2: Take the white watering can from the bottom shelf | STEP 3: Turn around, head through the living room to the door", "output": ["STEP 4: Turn on the lamp next to the door"]} +{"id": "trial_T20190907_153613_945785-0%4", "input": "Take the white watering can, turn on the lamp by the door | STEP 1: Turn around, head to the black shelf | STEP 2: Take the white watering can from the bottom shelf | STEP 3: Turn around, head through the living room to the door | STEP 4: Turn on the lamp next to the door", "output": ["END"]} +{"id": "trial_T20190907_153613_945785-1%0", "input": "Examine a tea pot by the light of a lamp", "output": ["STEP 1: turn to the left twice and go forward to the end of the coffee table and turn left to the left and take a few steps and turn to the right and go the the shelf case"]} +{"id": "trial_T20190907_153613_945785-1%1", "input": "Examine a tea pot by the light of a lamp | STEP 1: turn to the left twice and go forward to the end of the coffee table and turn left to the left and take a few steps and turn to the right and go the the shelf case", "output": ["STEP 2: pick up the tea pot from the bottom shelf"]} +{"id": "trial_T20190907_153613_945785-1%2", "input": "Examine a tea pot by the light of a lamp | STEP 1: turn to the left twice and go forward to the end of the coffee table and turn left to the left and take a few steps and turn to the right and go the the shelf case | STEP 2: pick up the tea pot from the bottom shelf", "output": ["STEP 3: turn to the right and take a few steps and turn to the right and go to the chair and turn to the left and go to the end table"]} +{"id": "trial_T20190907_153613_945785-1%3", "input": "Examine a tea pot by the light of a lamp | STEP 1: turn to the left twice and go forward to the end of the coffee table and turn left to the left and take a few steps and turn to the right and go the the shelf case | STEP 2: pick up the tea pot from the bottom shelf | STEP 3: turn to the right and take a few steps and turn to the right and go to the chair and turn to the left and go to the end table", "output": ["STEP 4: turn on the lamp on the end table"]} +{"id": "trial_T20190907_153613_945785-1%4", "input": "Examine a tea pot by the light of a lamp | STEP 1: turn to the left twice and go forward to the end of the coffee table and turn left to the left and take a few steps and turn to the right and go the the shelf case | STEP 2: pick up the tea pot from the bottom shelf | STEP 3: turn to the right and take a few steps and turn to the right and go to the chair and turn to the left and go to the end table | STEP 4: turn on the lamp on the end table", "output": ["END"]} +{"id": "trial_T20190907_153613_945785-3%0", "input": "Look at the watering can by the lamp.", "output": ["STEP 1: Turn around and go to the black shelf."]} +{"id": "trial_T20190907_153613_945785-3%1", "input": "Look at the watering can by the lamp. | STEP 1: Turn around and go to the black shelf.", "output": ["STEP 2: Pick up the watering can from the shelf."]} +{"id": "trial_T20190907_153613_945785-3%2", "input": "Look at the watering can by the lamp. | STEP 1: Turn around and go to the black shelf. | STEP 2: Pick up the watering can from the shelf.", "output": ["STEP 3: Turn around and go to the end table by the couch."]} +{"id": "trial_T20190907_153613_945785-3%3", "input": "Look at the watering can by the lamp. | STEP 1: Turn around and go to the black shelf. | STEP 2: Pick up the watering can from the shelf. | STEP 3: Turn around and go to the end table by the couch.", "output": ["STEP 4: Turn on the lamp."]} +{"id": "trial_T20190907_153613_945785-3%4", "input": "Look at the watering can by the lamp. | STEP 1: Turn around and go to the black shelf. | STEP 2: Pick up the watering can from the shelf. | STEP 3: Turn around and go to the end table by the couch. | STEP 4: Turn on the lamp.", "output": ["END"]} +{"id": "trial_T20190907_153613_945785-4%0", "input": "Inspect the kettle with the lamp on the end table.", "output": ["STEP 1: Move to the shelf to the left of the couch."]} +{"id": "trial_T20190907_153613_945785-4%1", "input": "Inspect the kettle with the lamp on the end table. | STEP 1: Move to the shelf to the left of the couch.", "output": ["STEP 2: Pick up the kettle from the shelf."]} +{"id": "trial_T20190907_153613_945785-4%2", "input": "Inspect the kettle with the lamp on the end table. | STEP 1: Move to the shelf to the left of the couch. | STEP 2: Pick up the kettle from the shelf.", "output": ["STEP 3: Move to the end table to the right of the couch."]} +{"id": "trial_T20190907_153613_945785-4%3", "input": "Inspect the kettle with the lamp on the end table. | STEP 1: Move to the shelf to the left of the couch. | STEP 2: Pick up the kettle from the shelf. | STEP 3: Move to the end table to the right of the couch.", "output": ["STEP 4: Turn on the lamp on the end table."]} +{"id": "trial_T20190907_153613_945785-4%4", "input": "Inspect the kettle with the lamp on the end table. | STEP 1: Move to the shelf to the left of the couch. | STEP 2: Pick up the kettle from the shelf. | STEP 3: Move to the end table to the right of the couch. | STEP 4: Turn on the lamp on the end table.", "output": ["END"]} +{"id": "trial_T20190907_153613_945785-5%0", "input": "Turn on a lamp while carrying a tea pot", "output": ["STEP 1: Move across the room to the brown side table with shelves"]} +{"id": "trial_T20190907_153613_945785-5%1", "input": "Turn on a lamp while carrying a tea pot | STEP 1: Move across the room to the brown side table with shelves", "output": ["STEP 2: Pick up the white tea pot on the bottom shelf of the side table"]} +{"id": "trial_T20190907_153613_945785-5%2", "input": "Turn on a lamp while carrying a tea pot | STEP 1: Move across the room to the brown side table with shelves | STEP 2: Pick up the white tea pot on the bottom shelf of the side table", "output": ["STEP 3: Carry the white tea pot over to the round wood table that has a lamp on top of it"]} +{"id": "trial_T20190907_153613_945785-5%3", "input": "Turn on a lamp while carrying a tea pot | STEP 1: Move across the room to the brown side table with shelves | STEP 2: Pick up the white tea pot on the bottom shelf of the side table | STEP 3: Carry the white tea pot over to the round wood table that has a lamp on top of it", "output": ["STEP 4: Turn on the lamp"]} +{"id": "trial_T20190907_153613_945785-5%4", "input": "Turn on a lamp while carrying a tea pot | STEP 1: Move across the room to the brown side table with shelves | STEP 2: Pick up the white tea pot on the bottom shelf of the side table | STEP 3: Carry the white tea pot over to the round wood table that has a lamp on top of it | STEP 4: Turn on the lamp", "output": ["END"]} +{"id": "trial_T20190909_090144_203133-2%0", "input": "Put a cooked slice of potato in the sink.", "output": ["STEP 1: Turn around and go to the counter."]} +{"id": "trial_T20190909_090144_203133-2%1", "input": "Put a cooked slice of potato in the sink. | STEP 1: Turn around and go to the counter.", "output": ["STEP 2: Pick up the knife from the counter."]} +{"id": "trial_T20190909_090144_203133-2%2", "input": "Put a cooked slice of potato in the sink. | STEP 1: Turn around and go to the counter. | STEP 2: Pick up the knife from the counter.", "output": ["STEP 3: Turn left, go across the room, turn left and go to the table."]} +{"id": "trial_T20190909_090144_203133-2%3", "input": "Put a cooked slice of potato in the sink. | STEP 1: Turn around and go to the counter. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, go across the room, turn left and go to the table.", "output": ["STEP 4: Cut the potato on the table. "]} +{"id": "trial_T20190909_090144_203133-2%4", "input": "Put a cooked slice of potato in the sink. | STEP 1: Turn around and go to the counter. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, go across the room, turn left and go to the table. | STEP 4: Cut the potato on the table. ", "output": ["STEP 5: Turn around and go to the stove."]} +{"id": "trial_T20190909_090144_203133-2%5", "input": "Put a cooked slice of potato in the sink. | STEP 1: Turn around and go to the counter. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, go across the room, turn left and go to the table. | STEP 4: Cut the potato on the table. | STEP 5: Turn around and go to the stove.", "output": ["STEP 6: Put the knife in the microwave above the stove."]} +{"id": "trial_T20190909_090144_203133-2%6", "input": "Put a cooked slice of potato in the sink. | STEP 1: Turn around and go to the counter. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, go across the room, turn left and go to the table. | STEP 4: Cut the potato on the table. | STEP 5: Turn around and go to the stove. | STEP 6: Put the knife in the microwave above the stove.", "output": ["STEP 7: Turn left and go back to the table."]} +{"id": "trial_T20190909_090144_203133-2%7", "input": "Put a cooked slice of potato in the sink. | STEP 1: Turn around and go to the counter. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, go across the room, turn left and go to the table. | STEP 4: Cut the potato on the table. | STEP 5: Turn around and go to the stove. | STEP 6: Put the knife in the microwave above the stove. | STEP 7: Turn left and go back to the table.", "output": ["STEP 8: Pick up a slice of potato."]} +{"id": "trial_T20190909_090144_203133-2%8", "input": "Put a cooked slice of potato in the sink. | STEP 1: Turn around and go to the counter. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, go across the room, turn left and go to the table. | STEP 4: Cut the potato on the table. | STEP 5: Turn around and go to the stove. | STEP 6: Put the knife in the microwave above the stove. | STEP 7: Turn left and go back to the table. | STEP 8: Pick up a slice of potato.", "output": ["STEP 9: Turn around and go back to the stove."]} +{"id": "trial_T20190909_090144_203133-2%9", "input": "Put a cooked slice of potato in the sink. | STEP 1: Turn around and go to the counter. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, go across the room, turn left and go to the table. | STEP 4: Cut the potato on the table. | STEP 5: Turn around and go to the stove. | STEP 6: Put the knife in the microwave above the stove. | STEP 7: Turn left and go back to the table. | STEP 8: Pick up a slice of potato. | STEP 9: Turn around and go back to the stove.", "output": ["STEP 10: Put the slice of potato in the microwave, cook it and pick it back up."]} +{"id": "trial_T20190909_090144_203133-2%10", "input": "Put a cooked slice of potato in the sink. | STEP 1: Turn around and go to the counter. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, go across the room, turn left and go to the table. | STEP 4: Cut the potato on the table. | STEP 5: Turn around and go to the stove. | STEP 6: Put the knife in the microwave above the stove. | STEP 7: Turn left and go back to the table. | STEP 8: Pick up a slice of potato. | STEP 9: Turn around and go back to the stove. | STEP 10: Put the slice of potato in the microwave, cook it and pick it back up.", "output": ["STEP 11: Turn around and go to the sink."]} +{"id": "trial_T20190909_090144_203133-2%11", "input": "Put a cooked slice of potato in the sink. | STEP 1: Turn around and go to the counter. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, go across the room, turn left and go to the table. | STEP 4: Cut the potato on the table. | STEP 5: Turn around and go to the stove. | STEP 6: Put the knife in the microwave above the stove. | STEP 7: Turn left and go back to the table. | STEP 8: Pick up a slice of potato. | STEP 9: Turn around and go back to the stove. | STEP 10: Put the slice of potato in the microwave, cook it and pick it back up. | STEP 11: Turn around and go to the sink.", "output": ["STEP 12: Put the slice of potato in the sink."]} +{"id": "trial_T20190909_090144_203133-2%12", "input": "Put a cooked slice of potato in the sink. | STEP 1: Turn around and go to the counter. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, go across the room, turn left and go to the table. | STEP 4: Cut the potato on the table. | STEP 5: Turn around and go to the stove. | STEP 6: Put the knife in the microwave above the stove. | STEP 7: Turn left and go back to the table. | STEP 8: Pick up a slice of potato. | STEP 9: Turn around and go back to the stove. | STEP 10: Put the slice of potato in the microwave, cook it and pick it back up. | STEP 11: Turn around and go to the sink. | STEP 12: Put the slice of potato in the sink.", "output": ["END"]} +{"id": "trial_T20190908_202146_854077-0%0", "input": "Check some of the dressers for their contents.", "output": ["STEP 1: Turn around and go over to the black dresser across the room."]} +{"id": "trial_T20190908_202146_854077-0%1", "input": "Check some of the dressers for their contents. | STEP 1: Turn around and go over to the black dresser across the room.", "output": ["STEP 2: Look down at the dresser."]} +{"id": "trial_T20190908_202146_854077-0%2", "input": "Check some of the dressers for their contents. | STEP 1: Turn around and go over to the black dresser across the room. | STEP 2: Look down at the dresser.", "output": ["STEP 3: Do a 270 degree rotation to the left. Walk straight. Go to the dresser."]} +{"id": "trial_T20190908_202146_854077-0%3", "input": "Check some of the dressers for their contents. | STEP 1: Turn around and go over to the black dresser across the room. | STEP 2: Look down at the dresser. | STEP 3: Do a 270 degree rotation to the left. Walk straight. Go to the dresser.", "output": ["STEP 4: Open the bottom drawer."]} +{"id": "trial_T20190908_202146_854077-0%4", "input": "Check some of the dressers for their contents. | STEP 1: Turn around and go over to the black dresser across the room. | STEP 2: Look down at the dresser. | STEP 3: Do a 270 degree rotation to the left. Walk straight. Go to the dresser. | STEP 4: Open the bottom drawer.", "output": ["STEP 5: Close the drawer."]} +{"id": "trial_T20190908_202146_854077-0%5", "input": "Check some of the dressers for their contents. | STEP 1: Turn around and go over to the black dresser across the room. | STEP 2: Look down at the dresser. | STEP 3: Do a 270 degree rotation to the left. Walk straight. Go to the dresser. | STEP 4: Open the bottom drawer. | STEP 5: Close the drawer.", "output": ["STEP 6: Turn all the way around."]} +{"id": "trial_T20190908_202146_854077-0%6", "input": "Check some of the dressers for their contents. | STEP 1: Turn around and go over to the black dresser across the room. | STEP 2: Look down at the dresser. | STEP 3: Do a 270 degree rotation to the left. Walk straight. Go to the dresser. | STEP 4: Open the bottom drawer. | STEP 5: Close the drawer. | STEP 6: Turn all the way around.", "output": ["STEP 7: Open the drawer again."]} +{"id": "trial_T20190908_202146_854077-0%7", "input": "Check some of the dressers for their contents. | STEP 1: Turn around and go over to the black dresser across the room. | STEP 2: Look down at the dresser. | STEP 3: Do a 270 degree rotation to the left. Walk straight. Go to the dresser. | STEP 4: Open the bottom drawer. | STEP 5: Close the drawer. | STEP 6: Turn all the way around. | STEP 7: Open the drawer again.", "output": ["STEP 8: Close the drawer."]} +{"id": "trial_T20190908_202146_854077-0%8", "input": "Check some of the dressers for their contents. | STEP 1: Turn around and go over to the black dresser across the room. | STEP 2: Look down at the dresser. | STEP 3: Do a 270 degree rotation to the left. Walk straight. Go to the dresser. | STEP 4: Open the bottom drawer. | STEP 5: Close the drawer. | STEP 6: Turn all the way around. | STEP 7: Open the drawer again. | STEP 8: Close the drawer.", "output": ["END"]} +{"id": "trial_T20190908_202146_854077-2%0", "input": "put the yellow pencil inside the drawer at the right.", "output": ["STEP 1: Walk towards the left to face the dresser drawer"]} +{"id": "trial_T20190908_202146_854077-2%1", "input": "put the yellow pencil inside the drawer at the right. | STEP 1: Walk towards the left to face the dresser drawer", "output": ["STEP 2: Pick up the yellow pencil at the top of the drawer."]} +{"id": "trial_T20190908_202146_854077-2%2", "input": "put the yellow pencil inside the drawer at the right. | STEP 1: Walk towards the left to face the dresser drawer | STEP 2: Pick up the yellow pencil at the top of the drawer.", "output": ["STEP 3: walk to the right to face the dresser."]} +{"id": "trial_T20190908_202146_854077-2%3", "input": "put the yellow pencil inside the drawer at the right. | STEP 1: Walk towards the left to face the dresser drawer | STEP 2: Pick up the yellow pencil at the top of the drawer. | STEP 3: walk to the right to face the dresser.", "output": ["STEP 4: open the drawer and put the pencil in it."]} +{"id": "trial_T20190908_202146_854077-2%4", "input": "put the yellow pencil inside the drawer at the right. | STEP 1: Walk towards the left to face the dresser drawer | STEP 2: Pick up the yellow pencil at the top of the drawer. | STEP 3: walk to the right to face the dresser. | STEP 4: open the drawer and put the pencil in it.", "output": ["STEP 5: walk closer to the dresser"]} +{"id": "trial_T20190908_202146_854077-2%5", "input": "put the yellow pencil inside the drawer at the right. | STEP 1: Walk towards the left to face the dresser drawer | STEP 2: Pick up the yellow pencil at the top of the drawer. | STEP 3: walk to the right to face the dresser. | STEP 4: open the drawer and put the pencil in it. | STEP 5: walk closer to the dresser", "output": ["STEP 6: pick up the yellow pencil at the top shelf"]} +{"id": "trial_T20190908_202146_854077-2%6", "input": "put the yellow pencil inside the drawer at the right. | STEP 1: Walk towards the left to face the dresser drawer | STEP 2: Pick up the yellow pencil at the top of the drawer. | STEP 3: walk to the right to face the dresser. | STEP 4: open the drawer and put the pencil in it. | STEP 5: walk closer to the dresser | STEP 6: pick up the yellow pencil at the top shelf", "output": ["STEP 7: walk at the side of the dresser"]} +{"id": "trial_T20190908_202146_854077-2%7", "input": "put the yellow pencil inside the drawer at the right. | STEP 1: Walk towards the left to face the dresser drawer | STEP 2: Pick up the yellow pencil at the top of the drawer. | STEP 3: walk to the right to face the dresser. | STEP 4: open the drawer and put the pencil in it. | STEP 5: walk closer to the dresser | STEP 6: pick up the yellow pencil at the top shelf | STEP 7: walk at the side of the dresser", "output": ["STEP 8: open the drawer and put the pencil in it."]} +{"id": "trial_T20190908_202146_854077-2%8", "input": "put the yellow pencil inside the drawer at the right. | STEP 1: Walk towards the left to face the dresser drawer | STEP 2: Pick up the yellow pencil at the top of the drawer. | STEP 3: walk to the right to face the dresser. | STEP 4: open the drawer and put the pencil in it. | STEP 5: walk closer to the dresser | STEP 6: pick up the yellow pencil at the top shelf | STEP 7: walk at the side of the dresser | STEP 8: open the drawer and put the pencil in it.", "output": ["END"]} +{"id": "trial_T20190907_071817_090938-0%0", "input": "grab the book from the dresser, turn on the lamp on the table", "output": ["STEP 1: turn around to the dresser"]} +{"id": "trial_T20190907_071817_090938-0%1", "input": "grab the book from the dresser, turn on the lamp on the table | STEP 1: turn around to the dresser", "output": ["STEP 2: grab the book on the dresser"]} +{"id": "trial_T20190907_071817_090938-0%2", "input": "grab the book from the dresser, turn on the lamp on the table | STEP 1: turn around to the dresser | STEP 2: grab the book on the dresser", "output": ["STEP 3: turn around to the white table"]} +{"id": "trial_T20190907_071817_090938-0%3", "input": "grab the book from the dresser, turn on the lamp on the table | STEP 1: turn around to the dresser | STEP 2: grab the book on the dresser | STEP 3: turn around to the white table", "output": ["STEP 4: turn on the lamp on the table"]} +{"id": "trial_T20190907_071817_090938-0%4", "input": "grab the book from the dresser, turn on the lamp on the table | STEP 1: turn around to the dresser | STEP 2: grab the book on the dresser | STEP 3: turn around to the white table | STEP 4: turn on the lamp on the table", "output": ["END"]} +{"id": "trial_T20190907_071817_090938-1%0", "input": "Examine a book by the light of a table lamp", "output": ["STEP 1: turn to the right twice and step up to the dresser"]} +{"id": "trial_T20190907_071817_090938-1%1", "input": "Examine a book by the light of a table lamp | STEP 1: turn to the right twice and step up to the dresser", "output": ["STEP 2: pick up the book from the dresser"]} +{"id": "trial_T20190907_071817_090938-1%2", "input": "Examine a book by the light of a table lamp | STEP 1: turn to the right twice and step up to the dresser | STEP 2: pick up the book from the dresser", "output": ["STEP 3: turn to the left and go to the wall and turn to the left and go to table"]} +{"id": "trial_T20190907_071817_090938-1%3", "input": "Examine a book by the light of a table lamp | STEP 1: turn to the right twice and step up to the dresser | STEP 2: pick up the book from the dresser | STEP 3: turn to the left and go to the wall and turn to the left and go to table", "output": ["STEP 4: turn on the lamp on the table"]} +{"id": "trial_T20190907_071817_090938-1%4", "input": "Examine a book by the light of a table lamp | STEP 1: turn to the right twice and step up to the dresser | STEP 2: pick up the book from the dresser | STEP 3: turn to the left and go to the wall and turn to the left and go to table | STEP 4: turn on the lamp on the table", "output": ["END"]} +{"id": "trial_T20190907_071817_090938-4%0", "input": "Inspect the book with the light on the desk.", "output": ["STEP 1: Move to the dresser behind you."]} +{"id": "trial_T20190907_071817_090938-4%1", "input": "Inspect the book with the light on the desk. | STEP 1: Move to the dresser behind you.", "output": ["STEP 2: Pick up the book from the dresser."]} +{"id": "trial_T20190907_071817_090938-4%2", "input": "Inspect the book with the light on the desk. | STEP 1: Move to the dresser behind you. | STEP 2: Pick up the book from the dresser.", "output": ["STEP 3: Move to the end of the desk behind you."]} +{"id": "trial_T20190907_071817_090938-4%3", "input": "Inspect the book with the light on the desk. | STEP 1: Move to the dresser behind you. | STEP 2: Pick up the book from the dresser. | STEP 3: Move to the end of the desk behind you.", "output": ["STEP 4: Turn on the lamp at the end of the desk."]} +{"id": "trial_T20190907_071817_090938-4%4", "input": "Inspect the book with the light on the desk. | STEP 1: Move to the dresser behind you. | STEP 2: Pick up the book from the dresser. | STEP 3: Move to the end of the desk behind you. | STEP 4: Turn on the lamp at the end of the desk.", "output": ["END"]} +{"id": "trial_T20190907_071817_090938-5%0", "input": "Inspect a book with a lamp.", "output": ["STEP 1: Move to the dresser behind you"]} +{"id": "trial_T20190907_071817_090938-5%1", "input": "Inspect a book with a lamp. | STEP 1: Move to the dresser behind you", "output": ["STEP 2: pick up a book from the dresser"]} +{"id": "trial_T20190907_071817_090938-5%2", "input": "Inspect a book with a lamp. | STEP 1: Move to the dresser behind you | STEP 2: pick up a book from the dresser", "output": ["STEP 3: turn around to the desk"]} +{"id": "trial_T20190907_071817_090938-5%3", "input": "Inspect a book with a lamp. | STEP 1: Move to the dresser behind you | STEP 2: pick up a book from the dresser | STEP 3: turn around to the desk", "output": ["STEP 4: turn on the light"]} +{"id": "trial_T20190907_071817_090938-5%4", "input": "Inspect a book with a lamp. | STEP 1: Move to the dresser behind you | STEP 2: pick up a book from the dresser | STEP 3: turn around to the desk | STEP 4: turn on the light", "output": ["END"]} +{"id": "trial_T20190909_151127_606173-0%0", "input": "Examine a pillow with the light of the lamp.", "output": ["STEP 1: Turn around and go to the right side of the bed."]} +{"id": "trial_T20190909_151127_606173-0%1", "input": "Examine a pillow with the light of the lamp. | STEP 1: Turn around and go to the right side of the bed.", "output": ["STEP 2: Pick up the left pillow on the bed."]} +{"id": "trial_T20190909_151127_606173-0%2", "input": "Examine a pillow with the light of the lamp. | STEP 1: Turn around and go to the right side of the bed. | STEP 2: Pick up the left pillow on the bed.", "output": ["STEP 3: Turn right and go to the lamp on the desk."]} +{"id": "trial_T20190909_151127_606173-0%3", "input": "Examine a pillow with the light of the lamp. | STEP 1: Turn around and go to the right side of the bed. | STEP 2: Pick up the left pillow on the bed. | STEP 3: Turn right and go to the lamp on the desk.", "output": ["STEP 4: Turn on the lamp on the desk."]} +{"id": "trial_T20190909_151127_606173-0%4", "input": "Examine a pillow with the light of the lamp. | STEP 1: Turn around and go to the right side of the bed. | STEP 2: Pick up the left pillow on the bed. | STEP 3: Turn right and go to the lamp on the desk. | STEP 4: Turn on the lamp on the desk.", "output": ["END"]} +{"id": "trial_T20190909_151127_606173-2%0", "input": "Pick up a pillow and turn a lamp on.", "output": ["STEP 1: Turn left and then left again and the turn to face the bed."]} +{"id": "trial_T20190909_151127_606173-2%1", "input": "Pick up a pillow and turn a lamp on. | STEP 1: Turn left and then left again and the turn to face the bed.", "output": ["STEP 2: Pick the pillow closest to the edge up from the bed."]} +{"id": "trial_T20190909_151127_606173-2%2", "input": "Pick up a pillow and turn a lamp on. | STEP 1: Turn left and then left again and the turn to face the bed. | STEP 2: Pick the pillow closest to the edge up from the bed.", "output": ["STEP 3: Turn left and then turn to the left to face the lamp on the white table."]} +{"id": "trial_T20190909_151127_606173-2%3", "input": "Pick up a pillow and turn a lamp on. | STEP 1: Turn left and then left again and the turn to face the bed. | STEP 2: Pick the pillow closest to the edge up from the bed. | STEP 3: Turn left and then turn to the left to face the lamp on the white table.", "output": ["STEP 4: Turn the lamp on."]} +{"id": "trial_T20190909_151127_606173-2%4", "input": "Pick up a pillow and turn a lamp on. | STEP 1: Turn left and then left again and the turn to face the bed. | STEP 2: Pick the pillow closest to the edge up from the bed. | STEP 3: Turn left and then turn to the left to face the lamp on the white table. | STEP 4: Turn the lamp on.", "output": ["END"]} +{"id": "trial_T20190908_125119_212943-2%0", "input": "Put a cleaned bar of soap on a shelf near the floor.", "output": ["STEP 1: Turn around and walk to the bar of soap on the shelf near the floor."]} +{"id": "trial_T20190908_125119_212943-2%1", "input": "Put a cleaned bar of soap on a shelf near the floor. | STEP 1: Turn around and walk to the bar of soap on the shelf near the floor.", "output": ["STEP 2: Pick up the bar of soap from the shelf."]} +{"id": "trial_T20190908_125119_212943-2%2", "input": "Put a cleaned bar of soap on a shelf near the floor. | STEP 1: Turn around and walk to the bar of soap on the shelf near the floor. | STEP 2: Pick up the bar of soap from the shelf.", "output": ["STEP 3: Turn around and walk forward to the sink."]} +{"id": "trial_T20190908_125119_212943-2%3", "input": "Put a cleaned bar of soap on a shelf near the floor. | STEP 1: Turn around and walk to the bar of soap on the shelf near the floor. | STEP 2: Pick up the bar of soap from the shelf. | STEP 3: Turn around and walk forward to the sink.", "output": ["STEP 4: Put the bar of soap in the sink, rinse it off, and take it back out."]} +{"id": "trial_T20190908_125119_212943-2%4", "input": "Put a cleaned bar of soap on a shelf near the floor. | STEP 1: Turn around and walk to the bar of soap on the shelf near the floor. | STEP 2: Pick up the bar of soap from the shelf. | STEP 3: Turn around and walk forward to the sink. | STEP 4: Put the bar of soap in the sink, rinse it off, and take it back out.", "output": ["STEP 5: Turn around and walk back across the room to the shelf near the floor."]} +{"id": "trial_T20190908_125119_212943-2%5", "input": "Put a cleaned bar of soap on a shelf near the floor. | STEP 1: Turn around and walk to the bar of soap on the shelf near the floor. | STEP 2: Pick up the bar of soap from the shelf. | STEP 3: Turn around and walk forward to the sink. | STEP 4: Put the bar of soap in the sink, rinse it off, and take it back out. | STEP 5: Turn around and walk back across the room to the shelf near the floor.", "output": ["STEP 6: Put the bar of soap on the shelf near the floor, to the right of the tissues."]} +{"id": "trial_T20190908_125119_212943-2%6", "input": "Put a cleaned bar of soap on a shelf near the floor. | STEP 1: Turn around and walk to the bar of soap on the shelf near the floor. | STEP 2: Pick up the bar of soap from the shelf. | STEP 3: Turn around and walk forward to the sink. | STEP 4: Put the bar of soap in the sink, rinse it off, and take it back out. | STEP 5: Turn around and walk back across the room to the shelf near the floor. | STEP 6: Put the bar of soap on the shelf near the floor, to the right of the tissues.", "output": ["END"]} +{"id": "trial_T20190907_152000_603962-0%0", "input": "Cut an apple into three sections, place a section into a bowl.", "output": ["STEP 1: Move to the kitchen table."]} +{"id": "trial_T20190907_152000_603962-0%1", "input": "Cut an apple into three sections, place a section into a bowl. | STEP 1: Move to the kitchen table.", "output": ["STEP 2: Pick up the knife that is right of the spoon."]} +{"id": "trial_T20190907_152000_603962-0%2", "input": "Cut an apple into three sections, place a section into a bowl. | STEP 1: Move to the kitchen table. | STEP 2: Pick up the knife that is right of the spoon.", "output": ["STEP 3: Turn left, move to the counter left of the stove."]} +{"id": "trial_T20190907_152000_603962-0%3", "input": "Cut an apple into three sections, place a section into a bowl. | STEP 1: Move to the kitchen table. | STEP 2: Pick up the knife that is right of the spoon. | STEP 3: Turn left, move to the counter left of the stove.", "output": ["STEP 4: Use the knife, cut the apple into three sections."]} +{"id": "trial_T20190907_152000_603962-0%4", "input": "Cut an apple into three sections, place a section into a bowl. | STEP 1: Move to the kitchen table. | STEP 2: Pick up the knife that is right of the spoon. | STEP 3: Turn left, move to the counter left of the stove. | STEP 4: Use the knife, cut the apple into three sections.", "output": ["STEP 5: Turn right, move to the counter in left of a blue plate."]} +{"id": "trial_T20190907_152000_603962-0%5", "input": "Cut an apple into three sections, place a section into a bowl. | STEP 1: Move to the kitchen table. | STEP 2: Pick up the knife that is right of the spoon. | STEP 3: Turn left, move to the counter left of the stove. | STEP 4: Use the knife, cut the apple into three sections. | STEP 5: Turn right, move to the counter in left of a blue plate.", "output": ["STEP 6: Open the upper cabinet, place the knife in to the blue container."]} +{"id": "trial_T20190907_152000_603962-0%6", "input": "Cut an apple into three sections, place a section into a bowl. | STEP 1: Move to the kitchen table. | STEP 2: Pick up the knife that is right of the spoon. | STEP 3: Turn left, move to the counter left of the stove. | STEP 4: Use the knife, cut the apple into three sections. | STEP 5: Turn right, move to the counter in left of a blue plate. | STEP 6: Open the upper cabinet, place the knife in to the blue container.", "output": ["STEP 7: Turn left, move to the counter left of the stove."]} +{"id": "trial_T20190907_152000_603962-0%7", "input": "Cut an apple into three sections, place a section into a bowl. | STEP 1: Move to the kitchen table. | STEP 2: Pick up the knife that is right of the spoon. | STEP 3: Turn left, move to the counter left of the stove. | STEP 4: Use the knife, cut the apple into three sections. | STEP 5: Turn right, move to the counter in left of a blue plate. | STEP 6: Open the upper cabinet, place the knife in to the blue container. | STEP 7: Turn left, move to the counter left of the stove.", "output": ["STEP 8: Pick up one part of the apple."]} +{"id": "trial_T20190907_152000_603962-0%8", "input": "Cut an apple into three sections, place a section into a bowl. | STEP 1: Move to the kitchen table. | STEP 2: Pick up the knife that is right of the spoon. | STEP 3: Turn left, move to the counter left of the stove. | STEP 4: Use the knife, cut the apple into three sections. | STEP 5: Turn right, move to the counter in left of a blue plate. | STEP 6: Open the upper cabinet, place the knife in to the blue container. | STEP 7: Turn left, move to the counter left of the stove. | STEP 8: Pick up one part of the apple.", "output": ["STEP 9: Turn right, move to the counter in front of the blue container."]} +{"id": "trial_T20190907_152000_603962-0%9", "input": "Cut an apple into three sections, place a section into a bowl. | STEP 1: Move to the kitchen table. | STEP 2: Pick up the knife that is right of the spoon. | STEP 3: Turn left, move to the counter left of the stove. | STEP 4: Use the knife, cut the apple into three sections. | STEP 5: Turn right, move to the counter in left of a blue plate. | STEP 6: Open the upper cabinet, place the knife in to the blue container. | STEP 7: Turn left, move to the counter left of the stove. | STEP 8: Pick up one part of the apple. | STEP 9: Turn right, move to the counter in front of the blue container.", "output": ["STEP 10: Place the apple part into the blue container."]} +{"id": "trial_T20190907_152000_603962-0%10", "input": "Cut an apple into three sections, place a section into a bowl. | STEP 1: Move to the kitchen table. | STEP 2: Pick up the knife that is right of the spoon. | STEP 3: Turn left, move to the counter left of the stove. | STEP 4: Use the knife, cut the apple into three sections. | STEP 5: Turn right, move to the counter in left of a blue plate. | STEP 6: Open the upper cabinet, place the knife in to the blue container. | STEP 7: Turn left, move to the counter left of the stove. | STEP 8: Pick up one part of the apple. | STEP 9: Turn right, move to the counter in front of the blue container. | STEP 10: Place the apple part into the blue container.", "output": ["STEP 11: Pick up the blue container from the upper cabinet."]} +{"id": "trial_T20190907_152000_603962-0%11", "input": "Cut an apple into three sections, place a section into a bowl. | STEP 1: Move to the kitchen table. | STEP 2: Pick up the knife that is right of the spoon. | STEP 3: Turn left, move to the counter left of the stove. | STEP 4: Use the knife, cut the apple into three sections. | STEP 5: Turn right, move to the counter in left of a blue plate. | STEP 6: Open the upper cabinet, place the knife in to the blue container. | STEP 7: Turn left, move to the counter left of the stove. | STEP 8: Pick up one part of the apple. | STEP 9: Turn right, move to the counter in front of the blue container. | STEP 10: Place the apple part into the blue container. | STEP 11: Pick up the blue container from the upper cabinet.", "output": ["STEP 12: Turn left, move to in front of the microwave."]} +{"id": "trial_T20190907_152000_603962-0%12", "input": "Cut an apple into three sections, place a section into a bowl. | STEP 1: Move to the kitchen table. | STEP 2: Pick up the knife that is right of the spoon. | STEP 3: Turn left, move to the counter left of the stove. | STEP 4: Use the knife, cut the apple into three sections. | STEP 5: Turn right, move to the counter in left of a blue plate. | STEP 6: Open the upper cabinet, place the knife in to the blue container. | STEP 7: Turn left, move to the counter left of the stove. | STEP 8: Pick up one part of the apple. | STEP 9: Turn right, move to the counter in front of the blue container. | STEP 10: Place the apple part into the blue container. | STEP 11: Pick up the blue container from the upper cabinet. | STEP 12: Turn left, move to in front of the microwave.", "output": ["STEP 13: Place the blue container into the microwave."]} +{"id": "trial_T20190907_152000_603962-0%13", "input": "Cut an apple into three sections, place a section into a bowl. | STEP 1: Move to the kitchen table. | STEP 2: Pick up the knife that is right of the spoon. | STEP 3: Turn left, move to the counter left of the stove. | STEP 4: Use the knife, cut the apple into three sections. | STEP 5: Turn right, move to the counter in left of a blue plate. | STEP 6: Open the upper cabinet, place the knife in to the blue container. | STEP 7: Turn left, move to the counter left of the stove. | STEP 8: Pick up one part of the apple. | STEP 9: Turn right, move to the counter in front of the blue container. | STEP 10: Place the apple part into the blue container. | STEP 11: Pick up the blue container from the upper cabinet. | STEP 12: Turn left, move to in front of the microwave. | STEP 13: Place the blue container into the microwave.", "output": ["END"]} +{"id": "trial_T20190907_152000_603962-3%0", "input": "Put a bowl holding butter knife, apple, inside the microwave.", "output": ["STEP 1: Turn around and go to the round table."]} +{"id": "trial_T20190907_152000_603962-3%1", "input": "Put a bowl holding butter knife, apple, inside the microwave. | STEP 1: Turn around and go to the round table.", "output": ["STEP 2: Pick up the butter knife that is on the table. "]} +{"id": "trial_T20190907_152000_603962-3%2", "input": "Put a bowl holding butter knife, apple, inside the microwave. | STEP 1: Turn around and go to the round table. | STEP 2: Pick up the butter knife that is on the table. ", "output": ["STEP 3: Turn around and go to the counter that is on the left side of the stove. "]} +{"id": "trial_T20190907_152000_603962-3%3", "input": "Put a bowl holding butter knife, apple, inside the microwave. | STEP 1: Turn around and go to the round table. | STEP 2: Pick up the butter knife that is on the table. | STEP 3: Turn around and go to the counter that is on the left side of the stove. ", "output": ["STEP 4: Cut the apple into three parts. "]} +{"id": "trial_T20190907_152000_603962-3%4", "input": "Put a bowl holding butter knife, apple, inside the microwave. | STEP 1: Turn around and go to the round table. | STEP 2: Pick up the butter knife that is on the table. | STEP 3: Turn around and go to the counter that is on the left side of the stove. | STEP 4: Cut the apple into three parts. ", "output": ["STEP 5: Head to the right and stop in front of the counter with the lettuce on it. "]} +{"id": "trial_T20190907_152000_603962-3%5", "input": "Put a bowl holding butter knife, apple, inside the microwave. | STEP 1: Turn around and go to the round table. | STEP 2: Pick up the butter knife that is on the table. | STEP 3: Turn around and go to the counter that is on the left side of the stove. | STEP 4: Cut the apple into three parts. | STEP 5: Head to the right and stop in front of the counter with the lettuce on it. ", "output": ["STEP 6: Open the cupboard that is above the lettuce and put the butter knife inside the blue bowl that is in the cupboard."]} +{"id": "trial_T20190907_152000_603962-3%6", "input": "Put a bowl holding butter knife, apple, inside the microwave. | STEP 1: Turn around and go to the round table. | STEP 2: Pick up the butter knife that is on the table. | STEP 3: Turn around and go to the counter that is on the left side of the stove. | STEP 4: Cut the apple into three parts. | STEP 5: Head to the right and stop in front of the counter with the lettuce on it. | STEP 6: Open the cupboard that is above the lettuce and put the butter knife inside the blue bowl that is in the cupboard.", "output": ["STEP 7: Head back to the counter with the apple on it. "]} +{"id": "trial_T20190907_152000_603962-3%7", "input": "Put a bowl holding butter knife, apple, inside the microwave. | STEP 1: Turn around and go to the round table. | STEP 2: Pick up the butter knife that is on the table. | STEP 3: Turn around and go to the counter that is on the left side of the stove. | STEP 4: Cut the apple into three parts. | STEP 5: Head to the right and stop in front of the counter with the lettuce on it. | STEP 6: Open the cupboard that is above the lettuce and put the butter knife inside the blue bowl that is in the cupboard. | STEP 7: Head back to the counter with the apple on it. ", "output": ["STEP 8: Pick up a piece of the apple. "]} +{"id": "trial_T20190907_152000_603962-3%8", "input": "Put a bowl holding butter knife, apple, inside the microwave. | STEP 1: Turn around and go to the round table. | STEP 2: Pick up the butter knife that is on the table. | STEP 3: Turn around and go to the counter that is on the left side of the stove. | STEP 4: Cut the apple into three parts. | STEP 5: Head to the right and stop in front of the counter with the lettuce on it. | STEP 6: Open the cupboard that is above the lettuce and put the butter knife inside the blue bowl that is in the cupboard. | STEP 7: Head back to the counter with the apple on it. | STEP 8: Pick up a piece of the apple. ", "output": ["STEP 9: Go back to the counter with the lettuce on it. "]} +{"id": "trial_T20190907_152000_603962-3%9", "input": "Put a bowl holding butter knife, apple, inside the microwave. | STEP 1: Turn around and go to the round table. | STEP 2: Pick up the butter knife that is on the table. | STEP 3: Turn around and go to the counter that is on the left side of the stove. | STEP 4: Cut the apple into three parts. | STEP 5: Head to the right and stop in front of the counter with the lettuce on it. | STEP 6: Open the cupboard that is above the lettuce and put the butter knife inside the blue bowl that is in the cupboard. | STEP 7: Head back to the counter with the apple on it. | STEP 8: Pick up a piece of the apple. | STEP 9: Go back to the counter with the lettuce on it. ", "output": ["STEP 10: Place the apple in the same blue bowl that you placed the butter knife in. "]} +{"id": "trial_T20190907_152000_603962-3%10", "input": "Put a bowl holding butter knife, apple, inside the microwave. | STEP 1: Turn around and go to the round table. | STEP 2: Pick up the butter knife that is on the table. | STEP 3: Turn around and go to the counter that is on the left side of the stove. | STEP 4: Cut the apple into three parts. | STEP 5: Head to the right and stop in front of the counter with the lettuce on it. | STEP 6: Open the cupboard that is above the lettuce and put the butter knife inside the blue bowl that is in the cupboard. | STEP 7: Head back to the counter with the apple on it. | STEP 8: Pick up a piece of the apple. | STEP 9: Go back to the counter with the lettuce on it. | STEP 10: Place the apple in the same blue bowl that you placed the butter knife in. ", "output": ["STEP 11: Remove the bowl from the cupboard and shut the cupboard door. "]} +{"id": "trial_T20190907_152000_603962-3%11", "input": "Put a bowl holding butter knife, apple, inside the microwave. | STEP 1: Turn around and go to the round table. | STEP 2: Pick up the butter knife that is on the table. | STEP 3: Turn around and go to the counter that is on the left side of the stove. | STEP 4: Cut the apple into three parts. | STEP 5: Head to the right and stop in front of the counter with the lettuce on it. | STEP 6: Open the cupboard that is above the lettuce and put the butter knife inside the blue bowl that is in the cupboard. | STEP 7: Head back to the counter with the apple on it. | STEP 8: Pick up a piece of the apple. | STEP 9: Go back to the counter with the lettuce on it. | STEP 10: Place the apple in the same blue bowl that you placed the butter knife in. | STEP 11: Remove the bowl from the cupboard and shut the cupboard door. ", "output": ["STEP 12: Take the bowl and head left to the microwave above the stove. "]} +{"id": "trial_T20190907_152000_603962-3%12", "input": "Put a bowl holding butter knife, apple, inside the microwave. | STEP 1: Turn around and go to the round table. | STEP 2: Pick up the butter knife that is on the table. | STEP 3: Turn around and go to the counter that is on the left side of the stove. | STEP 4: Cut the apple into three parts. | STEP 5: Head to the right and stop in front of the counter with the lettuce on it. | STEP 6: Open the cupboard that is above the lettuce and put the butter knife inside the blue bowl that is in the cupboard. | STEP 7: Head back to the counter with the apple on it. | STEP 8: Pick up a piece of the apple. | STEP 9: Go back to the counter with the lettuce on it. | STEP 10: Place the apple in the same blue bowl that you placed the butter knife in. | STEP 11: Remove the bowl from the cupboard and shut the cupboard door. | STEP 12: Take the bowl and head left to the microwave above the stove. ", "output": ["STEP 13: Open the microwave and place the bowl inside. "]} +{"id": "trial_T20190907_152000_603962-3%13", "input": "Put a bowl holding butter knife, apple, inside the microwave. | STEP 1: Turn around and go to the round table. | STEP 2: Pick up the butter knife that is on the table. | STEP 3: Turn around and go to the counter that is on the left side of the stove. | STEP 4: Cut the apple into three parts. | STEP 5: Head to the right and stop in front of the counter with the lettuce on it. | STEP 6: Open the cupboard that is above the lettuce and put the butter knife inside the blue bowl that is in the cupboard. | STEP 7: Head back to the counter with the apple on it. | STEP 8: Pick up a piece of the apple. | STEP 9: Go back to the counter with the lettuce on it. | STEP 10: Place the apple in the same blue bowl that you placed the butter knife in. | STEP 11: Remove the bowl from the cupboard and shut the cupboard door. | STEP 12: Take the bowl and head left to the microwave above the stove. | STEP 13: Open the microwave and place the bowl inside. ", "output": ["END"]} +{"id": "trial_T20190907_152000_603962-4%0", "input": "Heat an apple slice in a bowl in the microwave.", "output": ["STEP 1: Go to the small round grey table behind you."]} +{"id": "trial_T20190907_152000_603962-4%1", "input": "Heat an apple slice in a bowl in the microwave. | STEP 1: Go to the small round grey table behind you.", "output": ["STEP 2: Pick up the silver butter knife on the table."]} +{"id": "trial_T20190907_152000_603962-4%2", "input": "Heat an apple slice in a bowl in the microwave. | STEP 1: Go to the small round grey table behind you. | STEP 2: Pick up the silver butter knife on the table.", "output": ["STEP 3: Take the knife to the end of the counter top"]} +{"id": "trial_T20190907_152000_603962-4%3", "input": "Heat an apple slice in a bowl in the microwave. | STEP 1: Go to the small round grey table behind you. | STEP 2: Pick up the silver butter knife on the table. | STEP 3: Take the knife to the end of the counter top", "output": ["STEP 4: Cut the apple sitting on the counter with the knife."]} +{"id": "trial_T20190907_152000_603962-4%4", "input": "Heat an apple slice in a bowl in the microwave. | STEP 1: Go to the small round grey table behind you. | STEP 2: Pick up the silver butter knife on the table. | STEP 3: Take the knife to the end of the counter top | STEP 4: Cut the apple sitting on the counter with the knife.", "output": ["STEP 5: go to the cabinets above the counter"]} +{"id": "trial_T20190907_152000_603962-4%5", "input": "Heat an apple slice in a bowl in the microwave. | STEP 1: Go to the small round grey table behind you. | STEP 2: Pick up the silver butter knife on the table. | STEP 3: Take the knife to the end of the counter top | STEP 4: Cut the apple sitting on the counter with the knife. | STEP 5: go to the cabinets above the counter", "output": ["STEP 6: open the cabinet on the left side and put the knife in the blue bowl"]} +{"id": "trial_T20190907_152000_603962-4%6", "input": "Heat an apple slice in a bowl in the microwave. | STEP 1: Go to the small round grey table behind you. | STEP 2: Pick up the silver butter knife on the table. | STEP 3: Take the knife to the end of the counter top | STEP 4: Cut the apple sitting on the counter with the knife. | STEP 5: go to the cabinets above the counter | STEP 6: open the cabinet on the left side and put the knife in the blue bowl", "output": ["STEP 7: go back to the end of the counter with the sliced apple."]} +{"id": "trial_T20190907_152000_603962-4%7", "input": "Heat an apple slice in a bowl in the microwave. | STEP 1: Go to the small round grey table behind you. | STEP 2: Pick up the silver butter knife on the table. | STEP 3: Take the knife to the end of the counter top | STEP 4: Cut the apple sitting on the counter with the knife. | STEP 5: go to the cabinets above the counter | STEP 6: open the cabinet on the left side and put the knife in the blue bowl | STEP 7: go back to the end of the counter with the sliced apple.", "output": ["STEP 8: Pick up one apple slice."]} +{"id": "trial_T20190907_152000_603962-4%8", "input": "Heat an apple slice in a bowl in the microwave. | STEP 1: Go to the small round grey table behind you. | STEP 2: Pick up the silver butter knife on the table. | STEP 3: Take the knife to the end of the counter top | STEP 4: Cut the apple sitting on the counter with the knife. | STEP 5: go to the cabinets above the counter | STEP 6: open the cabinet on the left side and put the knife in the blue bowl | STEP 7: go back to the end of the counter with the sliced apple. | STEP 8: Pick up one apple slice.", "output": ["STEP 9: Take the apple slice to the cabinet with the knife and bowl,"]} +{"id": "trial_T20190907_152000_603962-4%9", "input": "Heat an apple slice in a bowl in the microwave. | STEP 1: Go to the small round grey table behind you. | STEP 2: Pick up the silver butter knife on the table. | STEP 3: Take the knife to the end of the counter top | STEP 4: Cut the apple sitting on the counter with the knife. | STEP 5: go to the cabinets above the counter | STEP 6: open the cabinet on the left side and put the knife in the blue bowl | STEP 7: go back to the end of the counter with the sliced apple. | STEP 8: Pick up one apple slice. | STEP 9: Take the apple slice to the cabinet with the knife and bowl,", "output": ["STEP 10: Put the apple slice in the bowl."]} +{"id": "trial_T20190907_152000_603962-4%10", "input": "Heat an apple slice in a bowl in the microwave. | STEP 1: Go to the small round grey table behind you. | STEP 2: Pick up the silver butter knife on the table. | STEP 3: Take the knife to the end of the counter top | STEP 4: Cut the apple sitting on the counter with the knife. | STEP 5: go to the cabinets above the counter | STEP 6: open the cabinet on the left side and put the knife in the blue bowl | STEP 7: go back to the end of the counter with the sliced apple. | STEP 8: Pick up one apple slice. | STEP 9: Take the apple slice to the cabinet with the knife and bowl, | STEP 10: Put the apple slice in the bowl.", "output": ["STEP 11: Remove the bowl from the cabinet"]} +{"id": "trial_T20190907_152000_603962-4%11", "input": "Heat an apple slice in a bowl in the microwave. | STEP 1: Go to the small round grey table behind you. | STEP 2: Pick up the silver butter knife on the table. | STEP 3: Take the knife to the end of the counter top | STEP 4: Cut the apple sitting on the counter with the knife. | STEP 5: go to the cabinets above the counter | STEP 6: open the cabinet on the left side and put the knife in the blue bowl | STEP 7: go back to the end of the counter with the sliced apple. | STEP 8: Pick up one apple slice. | STEP 9: Take the apple slice to the cabinet with the knife and bowl, | STEP 10: Put the apple slice in the bowl. | STEP 11: Remove the bowl from the cabinet", "output": ["STEP 12: walk the bowl to the microwave above the stove."]} +{"id": "trial_T20190907_152000_603962-4%12", "input": "Heat an apple slice in a bowl in the microwave. | STEP 1: Go to the small round grey table behind you. | STEP 2: Pick up the silver butter knife on the table. | STEP 3: Take the knife to the end of the counter top | STEP 4: Cut the apple sitting on the counter with the knife. | STEP 5: go to the cabinets above the counter | STEP 6: open the cabinet on the left side and put the knife in the blue bowl | STEP 7: go back to the end of the counter with the sliced apple. | STEP 8: Pick up one apple slice. | STEP 9: Take the apple slice to the cabinet with the knife and bowl, | STEP 10: Put the apple slice in the bowl. | STEP 11: Remove the bowl from the cabinet | STEP 12: walk the bowl to the microwave above the stove.", "output": ["STEP 13: Put the bowl in the microwave"]} +{"id": "trial_T20190907_152000_603962-4%13", "input": "Heat an apple slice in a bowl in the microwave. | STEP 1: Go to the small round grey table behind you. | STEP 2: Pick up the silver butter knife on the table. | STEP 3: Take the knife to the end of the counter top | STEP 4: Cut the apple sitting on the counter with the knife. | STEP 5: go to the cabinets above the counter | STEP 6: open the cabinet on the left side and put the knife in the blue bowl | STEP 7: go back to the end of the counter with the sliced apple. | STEP 8: Pick up one apple slice. | STEP 9: Take the apple slice to the cabinet with the knife and bowl, | STEP 10: Put the apple slice in the bowl. | STEP 11: Remove the bowl from the cabinet | STEP 12: walk the bowl to the microwave above the stove. | STEP 13: Put the bowl in the microwave", "output": ["END"]} +{"id": "trial_T20190907_152000_603962-5%0", "input": "Put a bowl with a butter knife next to an apple slice into the microwave.", "output": ["STEP 1: Turn around to face the round table."]} +{"id": "trial_T20190907_152000_603962-5%1", "input": "Put a bowl with a butter knife next to an apple slice into the microwave. | STEP 1: Turn around to face the round table.", "output": ["STEP 2: Pick up the butter knife to the left of the chef's knife."]} +{"id": "trial_T20190907_152000_603962-5%2", "input": "Put a bowl with a butter knife next to an apple slice into the microwave. | STEP 1: Turn around to face the round table. | STEP 2: Pick up the butter knife to the left of the chef's knife.", "output": ["STEP 3: Go to the counter to the left of the stove."]} +{"id": "trial_T20190907_152000_603962-5%3", "input": "Put a bowl with a butter knife next to an apple slice into the microwave. | STEP 1: Turn around to face the round table. | STEP 2: Pick up the butter knife to the left of the chef's knife. | STEP 3: Go to the counter to the left of the stove.", "output": ["STEP 4: Slice the apple on the counter."]} +{"id": "trial_T20190907_152000_603962-5%4", "input": "Put a bowl with a butter knife next to an apple slice into the microwave. | STEP 1: Turn around to face the round table. | STEP 2: Pick up the butter knife to the left of the chef's knife. | STEP 3: Go to the counter to the left of the stove. | STEP 4: Slice the apple on the counter.", "output": ["STEP 5: Go to the cabinet above the counter with the silver plate."]} +{"id": "trial_T20190907_152000_603962-5%5", "input": "Put a bowl with a butter knife next to an apple slice into the microwave. | STEP 1: Turn around to face the round table. | STEP 2: Pick up the butter knife to the left of the chef's knife. | STEP 3: Go to the counter to the left of the stove. | STEP 4: Slice the apple on the counter. | STEP 5: Go to the cabinet above the counter with the silver plate.", "output": ["STEP 6: Put the butter knife in the bowl in the cabinet on the left."]} +{"id": "trial_T20190907_152000_603962-5%6", "input": "Put a bowl with a butter knife next to an apple slice into the microwave. | STEP 1: Turn around to face the round table. | STEP 2: Pick up the butter knife to the left of the chef's knife. | STEP 3: Go to the counter to the left of the stove. | STEP 4: Slice the apple on the counter. | STEP 5: Go to the cabinet above the counter with the silver plate. | STEP 6: Put the butter knife in the bowl in the cabinet on the left.", "output": ["STEP 7: Go to the counter to the left of the stove."]} +{"id": "trial_T20190907_152000_603962-5%7", "input": "Put a bowl with a butter knife next to an apple slice into the microwave. | STEP 1: Turn around to face the round table. | STEP 2: Pick up the butter knife to the left of the chef's knife. | STEP 3: Go to the counter to the left of the stove. | STEP 4: Slice the apple on the counter. | STEP 5: Go to the cabinet above the counter with the silver plate. | STEP 6: Put the butter knife in the bowl in the cabinet on the left. | STEP 7: Go to the counter to the left of the stove.", "output": ["STEP 8: Pick up an apple slice on the counter."]} +{"id": "trial_T20190907_152000_603962-5%8", "input": "Put a bowl with a butter knife next to an apple slice into the microwave. | STEP 1: Turn around to face the round table. | STEP 2: Pick up the butter knife to the left of the chef's knife. | STEP 3: Go to the counter to the left of the stove. | STEP 4: Slice the apple on the counter. | STEP 5: Go to the cabinet above the counter with the silver plate. | STEP 6: Put the butter knife in the bowl in the cabinet on the left. | STEP 7: Go to the counter to the left of the stove. | STEP 8: Pick up an apple slice on the counter.", "output": ["STEP 9: Take the apple slice to the cabinet above the counter with the silver plate."]} +{"id": "trial_T20190907_152000_603962-5%9", "input": "Put a bowl with a butter knife next to an apple slice into the microwave. | STEP 1: Turn around to face the round table. | STEP 2: Pick up the butter knife to the left of the chef's knife. | STEP 3: Go to the counter to the left of the stove. | STEP 4: Slice the apple on the counter. | STEP 5: Go to the cabinet above the counter with the silver plate. | STEP 6: Put the butter knife in the bowl in the cabinet on the left. | STEP 7: Go to the counter to the left of the stove. | STEP 8: Pick up an apple slice on the counter. | STEP 9: Take the apple slice to the cabinet above the counter with the silver plate.", "output": ["STEP 10: Put the apple in the bowl with the butter knife inside the cabinet."]} +{"id": "trial_T20190907_152000_603962-5%10", "input": "Put a bowl with a butter knife next to an apple slice into the microwave. | STEP 1: Turn around to face the round table. | STEP 2: Pick up the butter knife to the left of the chef's knife. | STEP 3: Go to the counter to the left of the stove. | STEP 4: Slice the apple on the counter. | STEP 5: Go to the cabinet above the counter with the silver plate. | STEP 6: Put the butter knife in the bowl in the cabinet on the left. | STEP 7: Go to the counter to the left of the stove. | STEP 8: Pick up an apple slice on the counter. | STEP 9: Take the apple slice to the cabinet above the counter with the silver plate. | STEP 10: Put the apple in the bowl with the butter knife inside the cabinet.", "output": ["STEP 11: Take the bowl out of the cabinet and close the cabinet."]} +{"id": "trial_T20190907_152000_603962-5%11", "input": "Put a bowl with a butter knife next to an apple slice into the microwave. | STEP 1: Turn around to face the round table. | STEP 2: Pick up the butter knife to the left of the chef's knife. | STEP 3: Go to the counter to the left of the stove. | STEP 4: Slice the apple on the counter. | STEP 5: Go to the cabinet above the counter with the silver plate. | STEP 6: Put the butter knife in the bowl in the cabinet on the left. | STEP 7: Go to the counter to the left of the stove. | STEP 8: Pick up an apple slice on the counter. | STEP 9: Take the apple slice to the cabinet above the counter with the silver plate. | STEP 10: Put the apple in the bowl with the butter knife inside the cabinet. | STEP 11: Take the bowl out of the cabinet and close the cabinet.", "output": ["STEP 12: Go to the microwave above the stove."]} +{"id": "trial_T20190907_152000_603962-5%12", "input": "Put a bowl with a butter knife next to an apple slice into the microwave. | STEP 1: Turn around to face the round table. | STEP 2: Pick up the butter knife to the left of the chef's knife. | STEP 3: Go to the counter to the left of the stove. | STEP 4: Slice the apple on the counter. | STEP 5: Go to the cabinet above the counter with the silver plate. | STEP 6: Put the butter knife in the bowl in the cabinet on the left. | STEP 7: Go to the counter to the left of the stove. | STEP 8: Pick up an apple slice on the counter. | STEP 9: Take the apple slice to the cabinet above the counter with the silver plate. | STEP 10: Put the apple in the bowl with the butter knife inside the cabinet. | STEP 11: Take the bowl out of the cabinet and close the cabinet. | STEP 12: Go to the microwave above the stove.", "output": ["STEP 13: Put the bowl with the apple slice and butter knife in the microwave."]} +{"id": "trial_T20190907_152000_603962-5%13", "input": "Put a bowl with a butter knife next to an apple slice into the microwave. | STEP 1: Turn around to face the round table. | STEP 2: Pick up the butter knife to the left of the chef's knife. | STEP 3: Go to the counter to the left of the stove. | STEP 4: Slice the apple on the counter. | STEP 5: Go to the cabinet above the counter with the silver plate. | STEP 6: Put the butter knife in the bowl in the cabinet on the left. | STEP 7: Go to the counter to the left of the stove. | STEP 8: Pick up an apple slice on the counter. | STEP 9: Take the apple slice to the cabinet above the counter with the silver plate. | STEP 10: Put the apple in the bowl with the butter knife inside the cabinet. | STEP 11: Take the bowl out of the cabinet and close the cabinet. | STEP 12: Go to the microwave above the stove. | STEP 13: Put the bowl with the apple slice and butter knife in the microwave.", "output": ["END"]} +{"id": "trial_T20190908_123324_050422-2%0", "input": "Put two statues on the coffee table.", "output": ["STEP 1: Go forward to the wall, then turn right to face the small table."]} +{"id": "trial_T20190908_123324_050422-2%1", "input": "Put two statues on the coffee table. | STEP 1: Go forward to the wall, then turn right to face the small table.", "output": ["STEP 2: Pick up the statue from the small table."]} +{"id": "trial_T20190908_123324_050422-2%2", "input": "Put two statues on the coffee table. | STEP 1: Go forward to the wall, then turn right to face the small table. | STEP 2: Pick up the statue from the small table.", "output": ["STEP 3: Turn around, move forward, turn left and go to the couch, then turn right to walk alongside the couch, then turn right to face the coffee table."]} +{"id": "trial_T20190908_123324_050422-2%3", "input": "Put two statues on the coffee table. | STEP 1: Go forward to the wall, then turn right to face the small table. | STEP 2: Pick up the statue from the small table. | STEP 3: Turn around, move forward, turn left and go to the couch, then turn right to walk alongside the couch, then turn right to face the coffee table.", "output": ["STEP 4: Put the statue on the coffee table."]} +{"id": "trial_T20190908_123324_050422-2%4", "input": "Put two statues on the coffee table. | STEP 1: Go forward to the wall, then turn right to face the small table. | STEP 2: Pick up the statue from the small table. | STEP 3: Turn around, move forward, turn left and go to the couch, then turn right to walk alongside the couch, then turn right to face the coffee table. | STEP 4: Put the statue on the coffee table.", "output": ["STEP 5: Turn right and go to the end of the couch, turn right and go to the door, then turn right and look up at the statue on the shelf."]} +{"id": "trial_T20190908_123324_050422-2%5", "input": "Put two statues on the coffee table. | STEP 1: Go forward to the wall, then turn right to face the small table. | STEP 2: Pick up the statue from the small table. | STEP 3: Turn around, move forward, turn left and go to the couch, then turn right to walk alongside the couch, then turn right to face the coffee table. | STEP 4: Put the statue on the coffee table. | STEP 5: Turn right and go to the end of the couch, turn right and go to the door, then turn right and look up at the statue on the shelf.", "output": ["STEP 6: Pick up the statue from the shelf."]} +{"id": "trial_T20190908_123324_050422-2%6", "input": "Put two statues on the coffee table. | STEP 1: Go forward to the wall, then turn right to face the small table. | STEP 2: Pick up the statue from the small table. | STEP 3: Turn around, move forward, turn left and go to the couch, then turn right to walk alongside the couch, then turn right to face the coffee table. | STEP 4: Put the statue on the coffee table. | STEP 5: Turn right and go to the end of the couch, turn right and go to the door, then turn right and look up at the statue on the shelf. | STEP 6: Pick up the statue from the shelf.", "output": ["STEP 7: Turn right, then left to go around the couch, then right to face the coffee table."]} +{"id": "trial_T20190908_123324_050422-2%7", "input": "Put two statues on the coffee table. | STEP 1: Go forward to the wall, then turn right to face the small table. | STEP 2: Pick up the statue from the small table. | STEP 3: Turn around, move forward, turn left and go to the couch, then turn right to walk alongside the couch, then turn right to face the coffee table. | STEP 4: Put the statue on the coffee table. | STEP 5: Turn right and go to the end of the couch, turn right and go to the door, then turn right and look up at the statue on the shelf. | STEP 6: Pick up the statue from the shelf. | STEP 7: Turn right, then left to go around the couch, then right to face the coffee table.", "output": ["STEP 8: Put the statue on the coffee table."]} +{"id": "trial_T20190908_123324_050422-2%8", "input": "Put two statues on the coffee table. | STEP 1: Go forward to the wall, then turn right to face the small table. | STEP 2: Pick up the statue from the small table. | STEP 3: Turn around, move forward, turn left and go to the couch, then turn right to walk alongside the couch, then turn right to face the coffee table. | STEP 4: Put the statue on the coffee table. | STEP 5: Turn right and go to the end of the couch, turn right and go to the door, then turn right and look up at the statue on the shelf. | STEP 6: Pick up the statue from the shelf. | STEP 7: Turn right, then left to go around the couch, then right to face the coffee table. | STEP 8: Put the statue on the coffee table.", "output": ["END"]} +{"id": "trial_T20190908_125252_951776-0%0", "input": "take the watch from the coffee table, put it on the desk", "output": ["STEP 1: head left to the coffee table"]} +{"id": "trial_T20190908_125252_951776-0%1", "input": "take the watch from the coffee table, put it on the desk | STEP 1: head left to the coffee table", "output": ["STEP 2: take the watch from the coffee table"]} +{"id": "trial_T20190908_125252_951776-0%2", "input": "take the watch from the coffee table, put it on the desk | STEP 1: head left to the coffee table | STEP 2: take the watch from the coffee table", "output": ["STEP 3: head left across the room"]} +{"id": "trial_T20190908_125252_951776-0%3", "input": "take the watch from the coffee table, put it on the desk | STEP 1: head left to the coffee table | STEP 2: take the watch from the coffee table | STEP 3: head left across the room", "output": ["STEP 4: put the watch on the desk"]} +{"id": "trial_T20190908_125252_951776-0%4", "input": "take the watch from the coffee table, put it on the desk | STEP 1: head left to the coffee table | STEP 2: take the watch from the coffee table | STEP 3: head left across the room | STEP 4: put the watch on the desk", "output": ["END"]} +{"id": "trial_T20190908_125252_951776-1%0", "input": "Move a watch from the table to the drawer.", "output": ["STEP 1: Walk to the coffee table in front of you."]} +{"id": "trial_T20190908_125252_951776-1%1", "input": "Move a watch from the table to the drawer. | STEP 1: Walk to the coffee table in front of you.", "output": ["STEP 2: Grab a watch from the table."]} +{"id": "trial_T20190908_125252_951776-1%2", "input": "Move a watch from the table to the drawer. | STEP 1: Walk to the coffee table in front of you. | STEP 2: Grab a watch from the table.", "output": ["STEP 3: Walk to the drawer next to the sofa."]} +{"id": "trial_T20190908_125252_951776-1%3", "input": "Move a watch from the table to the drawer. | STEP 1: Walk to the coffee table in front of you. | STEP 2: Grab a watch from the table. | STEP 3: Walk to the drawer next to the sofa.", "output": ["STEP 4: Place the watch in the drawer."]} +{"id": "trial_T20190908_125252_951776-1%4", "input": "Move a watch from the table to the drawer. | STEP 1: Walk to the coffee table in front of you. | STEP 2: Grab a watch from the table. | STEP 3: Walk to the drawer next to the sofa. | STEP 4: Place the watch in the drawer.", "output": ["END"]} +{"id": "trial_T20190907_071843_438620-2%0", "input": "get a spray bottle to put on the back of the toilet", "output": ["STEP 1: walk forward, turn right, walk towards sink,"]} +{"id": "trial_T20190907_071843_438620-2%1", "input": "get a spray bottle to put on the back of the toilet | STEP 1: walk forward, turn right, walk towards sink,", "output": ["STEP 2: pick up the spray bottle that is in the trash"]} +{"id": "trial_T20190907_071843_438620-2%2", "input": "get a spray bottle to put on the back of the toilet | STEP 1: walk forward, turn right, walk towards sink, | STEP 2: pick up the spray bottle that is in the trash", "output": ["STEP 3: walk around the toilet, face the toilet"]} +{"id": "trial_T20190907_071843_438620-2%3", "input": "get a spray bottle to put on the back of the toilet | STEP 1: walk forward, turn right, walk towards sink, | STEP 2: pick up the spray bottle that is in the trash | STEP 3: walk around the toilet, face the toilet", "output": ["STEP 4: place the spray bottle on the back of the toilet"]} +{"id": "trial_T20190907_071843_438620-2%4", "input": "get a spray bottle to put on the back of the toilet | STEP 1: walk forward, turn right, walk towards sink, | STEP 2: pick up the spray bottle that is in the trash | STEP 3: walk around the toilet, face the toilet | STEP 4: place the spray bottle on the back of the toilet", "output": ["END"]} +{"id": "trial_T20190907_071843_438620-3%0", "input": "get a spray bottle from trash to put on the back of the toilet", "output": ["STEP 1: turn right, walk towards sink"]} +{"id": "trial_T20190907_071843_438620-3%1", "input": "get a spray bottle from trash to put on the back of the toilet | STEP 1: turn right, walk towards sink", "output": ["STEP 2: pick up the spray bottle that is in the trash can"]} +{"id": "trial_T20190907_071843_438620-3%2", "input": "get a spray bottle from trash to put on the back of the toilet | STEP 1: turn right, walk towards sink | STEP 2: pick up the spray bottle that is in the trash can", "output": ["STEP 3: turn to the right, go past toilet, turn left, face the wall"]} +{"id": "trial_T20190907_071843_438620-3%3", "input": "get a spray bottle from trash to put on the back of the toilet | STEP 1: turn right, walk towards sink | STEP 2: pick up the spray bottle that is in the trash can | STEP 3: turn to the right, go past toilet, turn left, face the wall", "output": ["STEP 4: put spray bottle on the back of the toilet"]} +{"id": "trial_T20190907_071843_438620-3%4", "input": "get a spray bottle from trash to put on the back of the toilet | STEP 1: turn right, walk towards sink | STEP 2: pick up the spray bottle that is in the trash can | STEP 3: turn to the right, go past toilet, turn left, face the wall | STEP 4: put spray bottle on the back of the toilet", "output": ["END"]} +{"id": "trial_T20190907_034257_929655-2%0", "input": "Put a washed bar of soap on the back of a toilet.", "output": ["STEP 1: Turn around and go to the right to the sink."]} +{"id": "trial_T20190907_034257_929655-2%1", "input": "Put a washed bar of soap on the back of a toilet. | STEP 1: Turn around and go to the right to the sink.", "output": ["STEP 2: Pick the soap up from the counter top."]} +{"id": "trial_T20190907_034257_929655-2%2", "input": "Put a washed bar of soap on the back of a toilet. | STEP 1: Turn around and go to the right to the sink. | STEP 2: Pick the soap up from the counter top.", "output": ["STEP 3: Put the soap in the sink, turn the water on, and rinse the soap."]} +{"id": "trial_T20190907_034257_929655-2%3", "input": "Put a washed bar of soap on the back of a toilet. | STEP 1: Turn around and go to the right to the sink. | STEP 2: Pick the soap up from the counter top. | STEP 3: Put the soap in the sink, turn the water on, and rinse the soap.", "output": ["STEP 4: Turn around and turn towards the toilet."]} +{"id": "trial_T20190907_034257_929655-2%4", "input": "Put a washed bar of soap on the back of a toilet. | STEP 1: Turn around and go to the right to the sink. | STEP 2: Pick the soap up from the counter top. | STEP 3: Put the soap in the sink, turn the water on, and rinse the soap. | STEP 4: Turn around and turn towards the toilet.", "output": ["STEP 5: Set the soap down on the back of the toilet."]} +{"id": "trial_T20190907_034257_929655-2%5", "input": "Put a washed bar of soap on the back of a toilet. | STEP 1: Turn around and go to the right to the sink. | STEP 2: Pick the soap up from the counter top. | STEP 3: Put the soap in the sink, turn the water on, and rinse the soap. | STEP 4: Turn around and turn towards the toilet. | STEP 5: Set the soap down on the back of the toilet.", "output": ["END"]} +{"id": "trial_T20190909_105447_359066-2%0", "input": "Putting keys on a sofa", "output": ["STEP 1: Turn left and go to the right of the couch"]} +{"id": "trial_T20190909_105447_359066-2%1", "input": "Putting keys on a sofa | STEP 1: Turn left and go to the right of the couch", "output": ["STEP 2: Grab the keys off of the couch"]} +{"id": "trial_T20190909_105447_359066-2%2", "input": "Putting keys on a sofa | STEP 1: Turn left and go to the right of the couch | STEP 2: Grab the keys off of the couch", "output": ["STEP 3: Turn left and go to the sofa"]} +{"id": "trial_T20190909_105447_359066-2%3", "input": "Putting keys on a sofa | STEP 1: Turn left and go to the right of the couch | STEP 2: Grab the keys off of the couch | STEP 3: Turn left and go to the sofa", "output": ["STEP 4: Put the keys on the sofa"]} +{"id": "trial_T20190909_105447_359066-2%4", "input": "Putting keys on a sofa | STEP 1: Turn left and go to the right of the couch | STEP 2: Grab the keys off of the couch | STEP 3: Turn left and go to the sofa | STEP 4: Put the keys on the sofa", "output": ["END"]} +{"id": "trial_T20190907_214028_505086-1%0", "input": "Take the knife in the mug and set them on the table.", "output": ["STEP 1: Turn around to the left and go to the round table."]} +{"id": "trial_T20190907_214028_505086-1%1", "input": "Take the knife in the mug and set them on the table. | STEP 1: Turn around to the left and go to the round table.", "output": ["STEP 2: Pick up the knife from the table."]} +{"id": "trial_T20190907_214028_505086-1%2", "input": "Take the knife in the mug and set them on the table. | STEP 1: Turn around to the left and go to the round table. | STEP 2: Pick up the knife from the table.", "output": ["STEP 3: Turn left and go to the stove."]} +{"id": "trial_T20190907_214028_505086-1%3", "input": "Take the knife in the mug and set them on the table. | STEP 1: Turn around to the left and go to the round table. | STEP 2: Pick up the knife from the table. | STEP 3: Turn left and go to the stove.", "output": ["STEP 4: Put the knife in the mug inside the cupboard."]} +{"id": "trial_T20190907_214028_505086-1%4", "input": "Take the knife in the mug and set them on the table. | STEP 1: Turn around to the left and go to the round table. | STEP 2: Pick up the knife from the table. | STEP 3: Turn left and go to the stove. | STEP 4: Put the knife in the mug inside the cupboard.", "output": ["STEP 5: Take the mug and knife out of the cupboard."]} +{"id": "trial_T20190907_214028_505086-1%5", "input": "Take the knife in the mug and set them on the table. | STEP 1: Turn around to the left and go to the round table. | STEP 2: Pick up the knife from the table. | STEP 3: Turn left and go to the stove. | STEP 4: Put the knife in the mug inside the cupboard. | STEP 5: Take the mug and knife out of the cupboard.", "output": ["STEP 6: Turn left and then turn left again and go to the round table."]} +{"id": "trial_T20190907_214028_505086-1%6", "input": "Take the knife in the mug and set them on the table. | STEP 1: Turn around to the left and go to the round table. | STEP 2: Pick up the knife from the table. | STEP 3: Turn left and go to the stove. | STEP 4: Put the knife in the mug inside the cupboard. | STEP 5: Take the mug and knife out of the cupboard. | STEP 6: Turn left and then turn left again and go to the round table.", "output": ["STEP 7: Set the mug and knife on the table."]} +{"id": "trial_T20190907_214028_505086-1%7", "input": "Take the knife in the mug and set them on the table. | STEP 1: Turn around to the left and go to the round table. | STEP 2: Pick up the knife from the table. | STEP 3: Turn left and go to the stove. | STEP 4: Put the knife in the mug inside the cupboard. | STEP 5: Take the mug and knife out of the cupboard. | STEP 6: Turn left and then turn left again and go to the round table. | STEP 7: Set the mug and knife on the table.", "output": ["END"]} +{"id": "trial_T20190909_075418_107090-1%0", "input": "put a hot potato on the table", "output": ["STEP 1: turn and walk to the re cycle bin in the corner"]} +{"id": "trial_T20190909_075418_107090-1%1", "input": "put a hot potato on the table | STEP 1: turn and walk to the re cycle bin in the corner", "output": ["STEP 2: take the potato out of the re cycle bin in the corner"]} +{"id": "trial_T20190909_075418_107090-1%2", "input": "put a hot potato on the table | STEP 1: turn and walk to the re cycle bin in the corner | STEP 2: take the potato out of the re cycle bin in the corner", "output": ["STEP 3: turn and walk to the microwave"]} +{"id": "trial_T20190909_075418_107090-1%3", "input": "put a hot potato on the table | STEP 1: turn and walk to the re cycle bin in the corner | STEP 2: take the potato out of the re cycle bin in the corner | STEP 3: turn and walk to the microwave", "output": ["STEP 4: put the potato into the microwave take the potato out of the microwave"]} +{"id": "trial_T20190909_075418_107090-1%4", "input": "put a hot potato on the table | STEP 1: turn and walk to the re cycle bin in the corner | STEP 2: take the potato out of the re cycle bin in the corner | STEP 3: turn and walk to the microwave | STEP 4: put the potato into the microwave take the potato out of the microwave", "output": ["STEP 5: turn and walk to the table"]} +{"id": "trial_T20190909_075418_107090-1%5", "input": "put a hot potato on the table | STEP 1: turn and walk to the re cycle bin in the corner | STEP 2: take the potato out of the re cycle bin in the corner | STEP 3: turn and walk to the microwave | STEP 4: put the potato into the microwave take the potato out of the microwave | STEP 5: turn and walk to the table", "output": ["STEP 6: put the potato on the table to the left of the green book"]} +{"id": "trial_T20190909_075418_107090-1%6", "input": "put a hot potato on the table | STEP 1: turn and walk to the re cycle bin in the corner | STEP 2: take the potato out of the re cycle bin in the corner | STEP 3: turn and walk to the microwave | STEP 4: put the potato into the microwave take the potato out of the microwave | STEP 5: turn and walk to the table | STEP 6: put the potato on the table to the left of the green book", "output": ["END"]} +{"id": "trial_T20190909_075418_107090-2%0", "input": "place microwaved potato on gray dining table", "output": ["STEP 1: turn around, go to blue bin in the corner to the right"]} +{"id": "trial_T20190909_075418_107090-2%1", "input": "place microwaved potato on gray dining table | STEP 1: turn around, go to blue bin in the corner to the right", "output": ["STEP 2: pick up potato from blue bin"]} +{"id": "trial_T20190909_075418_107090-2%2", "input": "place microwaved potato on gray dining table | STEP 1: turn around, go to blue bin in the corner to the right | STEP 2: pick up potato from blue bin", "output": ["STEP 3: turn right, go to microwave above stove to the left"]} +{"id": "trial_T20190909_075418_107090-2%3", "input": "place microwaved potato on gray dining table | STEP 1: turn around, go to blue bin in the corner to the right | STEP 2: pick up potato from blue bin | STEP 3: turn right, go to microwave above stove to the left", "output": ["STEP 4: put potato into microwave to the left of blue bowl, close microwave, microwave potato, pick up potato from microwave, close microwave"]} +{"id": "trial_T20190909_075418_107090-2%4", "input": "place microwaved potato on gray dining table | STEP 1: turn around, go to blue bin in the corner to the right | STEP 2: pick up potato from blue bin | STEP 3: turn right, go to microwave above stove to the left | STEP 4: put potato into microwave to the left of blue bowl, close microwave, microwave potato, pick up potato from microwave, close microwave", "output": ["STEP 5: turn around, go to round gray dining table"]} +{"id": "trial_T20190909_075418_107090-2%5", "input": "place microwaved potato on gray dining table | STEP 1: turn around, go to blue bin in the corner to the right | STEP 2: pick up potato from blue bin | STEP 3: turn right, go to microwave above stove to the left | STEP 4: put potato into microwave to the left of blue bowl, close microwave, microwave potato, pick up potato from microwave, close microwave | STEP 5: turn around, go to round gray dining table", "output": ["STEP 6: place potato to the left of green sponge on round gray table"]} +{"id": "trial_T20190909_075418_107090-2%6", "input": "place microwaved potato on gray dining table | STEP 1: turn around, go to blue bin in the corner to the right | STEP 2: pick up potato from blue bin | STEP 3: turn right, go to microwave above stove to the left | STEP 4: put potato into microwave to the left of blue bowl, close microwave, microwave potato, pick up potato from microwave, close microwave | STEP 5: turn around, go to round gray dining table | STEP 6: place potato to the left of green sponge on round gray table", "output": ["END"]} +{"id": "trial_T20190907_181116_534572-1%0", "input": "place two books on the bed", "output": ["STEP 1: turn right and locate the cupboard"]} +{"id": "trial_T20190907_181116_534572-1%1", "input": "place two books on the bed | STEP 1: turn right and locate the cupboard", "output": ["STEP 2: pick up the book from the top of the cupboard"]} +{"id": "trial_T20190907_181116_534572-1%2", "input": "place two books on the bed | STEP 1: turn right and locate the cupboard | STEP 2: pick up the book from the top of the cupboard", "output": ["STEP 3: turn right and head for the bed"]} +{"id": "trial_T20190907_181116_534572-1%3", "input": "place two books on the bed | STEP 1: turn right and locate the cupboard | STEP 2: pick up the book from the top of the cupboard | STEP 3: turn right and head for the bed", "output": ["STEP 4: drop the book on the bed"]} +{"id": "trial_T20190907_181116_534572-1%4", "input": "place two books on the bed | STEP 1: turn right and locate the cupboard | STEP 2: pick up the book from the top of the cupboard | STEP 3: turn right and head for the bed | STEP 4: drop the book on the bed", "output": ["STEP 5: turn around and head for the cupboard"]} +{"id": "trial_T20190907_181116_534572-1%5", "input": "place two books on the bed | STEP 1: turn right and locate the cupboard | STEP 2: pick up the book from the top of the cupboard | STEP 3: turn right and head for the bed | STEP 4: drop the book on the bed | STEP 5: turn around and head for the cupboard", "output": ["STEP 6: pick up the book from the cupboard"]} +{"id": "trial_T20190907_181116_534572-1%6", "input": "place two books on the bed | STEP 1: turn right and locate the cupboard | STEP 2: pick up the book from the top of the cupboard | STEP 3: turn right and head for the bed | STEP 4: drop the book on the bed | STEP 5: turn around and head for the cupboard | STEP 6: pick up the book from the cupboard", "output": ["STEP 7: turn right and head towards the bed"]} +{"id": "trial_T20190907_181116_534572-1%7", "input": "place two books on the bed | STEP 1: turn right and locate the cupboard | STEP 2: pick up the book from the top of the cupboard | STEP 3: turn right and head for the bed | STEP 4: drop the book on the bed | STEP 5: turn around and head for the cupboard | STEP 6: pick up the book from the cupboard | STEP 7: turn right and head towards the bed", "output": ["STEP 8: place the book on the bed"]} +{"id": "trial_T20190907_181116_534572-1%8", "input": "place two books on the bed | STEP 1: turn right and locate the cupboard | STEP 2: pick up the book from the top of the cupboard | STEP 3: turn right and head for the bed | STEP 4: drop the book on the bed | STEP 5: turn around and head for the cupboard | STEP 6: pick up the book from the cupboard | STEP 7: turn right and head towards the bed | STEP 8: place the book on the bed", "output": ["END"]} +{"id": "trial_T20190908_113857_018498-1%0", "input": "Put a bowl on a shelf.", "output": ["STEP 1: Turn left and walk until you're even with the mirror on your right and when you are turn right and walk to the cabinet under the mirror."]} +{"id": "trial_T20190908_113857_018498-1%1", "input": "Put a bowl on a shelf. | STEP 1: Turn left and walk until you're even with the mirror on your right and when you are turn right and walk to the cabinet under the mirror.", "output": ["STEP 2: Pick up the bowl that's in front of you."]} +{"id": "trial_T20190908_113857_018498-1%2", "input": "Put a bowl on a shelf. | STEP 1: Turn left and walk until you're even with the mirror on your right and when you are turn right and walk to the cabinet under the mirror. | STEP 2: Pick up the bowl that's in front of you.", "output": ["STEP 3: Turn right and walk to the cabinet."]} +{"id": "trial_T20190908_113857_018498-1%3", "input": "Put a bowl on a shelf. | STEP 1: Turn left and walk until you're even with the mirror on your right and when you are turn right and walk to the cabinet under the mirror. | STEP 2: Pick up the bowl that's in front of you. | STEP 3: Turn right and walk to the cabinet.", "output": ["STEP 4: Put the bowl to the left of the cabinet's bottom shelf above the two drawers."]} +{"id": "trial_T20190908_113857_018498-1%4", "input": "Put a bowl on a shelf. | STEP 1: Turn left and walk until you're even with the mirror on your right and when you are turn right and walk to the cabinet under the mirror. | STEP 2: Pick up the bowl that's in front of you. | STEP 3: Turn right and walk to the cabinet. | STEP 4: Put the bowl to the left of the cabinet's bottom shelf above the two drawers.", "output": ["END"]} +{"id": "trial_T20190908_113857_018498-2%0", "input": "Place a bowl on a shelf.", "output": ["STEP 1: Turn left and walk to the black dresser on the right."]} +{"id": "trial_T20190908_113857_018498-2%1", "input": "Place a bowl on a shelf. | STEP 1: Turn left and walk to the black dresser on the right.", "output": ["STEP 2: Pick up the black bowl from the right side of the dresser."]} +{"id": "trial_T20190908_113857_018498-2%2", "input": "Place a bowl on a shelf. | STEP 1: Turn left and walk to the black dresser on the right. | STEP 2: Pick up the black bowl from the right side of the dresser.", "output": ["STEP 3: Turn right and walk to the wooden book case with shelves."]} +{"id": "trial_T20190908_113857_018498-2%3", "input": "Place a bowl on a shelf. | STEP 1: Turn left and walk to the black dresser on the right. | STEP 2: Pick up the black bowl from the right side of the dresser. | STEP 3: Turn right and walk to the wooden book case with shelves.", "output": ["STEP 4: Put the bowl on the second shelf down from the top."]} +{"id": "trial_T20190908_113857_018498-2%4", "input": "Place a bowl on a shelf. | STEP 1: Turn left and walk to the black dresser on the right. | STEP 2: Pick up the black bowl from the right side of the dresser. | STEP 3: Turn right and walk to the wooden book case with shelves. | STEP 4: Put the bowl on the second shelf down from the top.", "output": ["END"]} +{"id": "trial_T20190908_044904_698378-1%0", "input": "drop two remotes on the chair", "output": ["STEP 1: turn left and head to the sofa"]} +{"id": "trial_T20190908_044904_698378-1%1", "input": "drop two remotes on the chair | STEP 1: turn left and head to the sofa", "output": ["STEP 2: pick up the remote from the sofa"]} +{"id": "trial_T20190908_044904_698378-1%2", "input": "drop two remotes on the chair | STEP 1: turn left and head to the sofa | STEP 2: pick up the remote from the sofa", "output": ["STEP 3: turn left and head to the chair"]} +{"id": "trial_T20190908_044904_698378-1%3", "input": "drop two remotes on the chair | STEP 1: turn left and head to the sofa | STEP 2: pick up the remote from the sofa | STEP 3: turn left and head to the chair", "output": ["STEP 4: drop the remote on the chair"]} +{"id": "trial_T20190908_044904_698378-1%4", "input": "drop two remotes on the chair | STEP 1: turn left and head to the sofa | STEP 2: pick up the remote from the sofa | STEP 3: turn left and head to the chair | STEP 4: drop the remote on the chair", "output": ["STEP 5: turn around and head to the center table"]} +{"id": "trial_T20190908_044904_698378-1%5", "input": "drop two remotes on the chair | STEP 1: turn left and head to the sofa | STEP 2: pick up the remote from the sofa | STEP 3: turn left and head to the chair | STEP 4: drop the remote on the chair | STEP 5: turn around and head to the center table", "output": ["STEP 6: pick up the remote from the table"]} +{"id": "trial_T20190908_044904_698378-1%6", "input": "drop two remotes on the chair | STEP 1: turn left and head to the sofa | STEP 2: pick up the remote from the sofa | STEP 3: turn left and head to the chair | STEP 4: drop the remote on the chair | STEP 5: turn around and head to the center table | STEP 6: pick up the remote from the table", "output": ["STEP 7: turn around and head for the chair"]} +{"id": "trial_T20190908_044904_698378-1%7", "input": "drop two remotes on the chair | STEP 1: turn left and head to the sofa | STEP 2: pick up the remote from the sofa | STEP 3: turn left and head to the chair | STEP 4: drop the remote on the chair | STEP 5: turn around and head to the center table | STEP 6: pick up the remote from the table | STEP 7: turn around and head for the chair", "output": ["STEP 8: drop the remote on the chair"]} +{"id": "trial_T20190908_044904_698378-1%8", "input": "drop two remotes on the chair | STEP 1: turn left and head to the sofa | STEP 2: pick up the remote from the sofa | STEP 3: turn left and head to the chair | STEP 4: drop the remote on the chair | STEP 5: turn around and head to the center table | STEP 6: pick up the remote from the table | STEP 7: turn around and head for the chair | STEP 8: drop the remote on the chair", "output": ["END"]} +{"id": "trial_T20190907_071235_184806-1%0", "input": "Place a cooked tomato into the blue bin.", "output": ["STEP 1: Face right, walk straight to the window, turn right and walk to the blue bin."]} +{"id": "trial_T20190907_071235_184806-1%1", "input": "Place a cooked tomato into the blue bin. | STEP 1: Face right, walk straight to the window, turn right and walk to the blue bin.", "output": ["STEP 2: Grab a tomato from the blue bin."]} +{"id": "trial_T20190907_071235_184806-1%2", "input": "Place a cooked tomato into the blue bin. | STEP 1: Face right, walk straight to the window, turn right and walk to the blue bin. | STEP 2: Grab a tomato from the blue bin.", "output": ["STEP 3: With the tomato in hand, turn around, walk down the aisle, and face left to the stove."]} +{"id": "trial_T20190907_071235_184806-1%3", "input": "Place a cooked tomato into the blue bin. | STEP 1: Face right, walk straight to the window, turn right and walk to the blue bin. | STEP 2: Grab a tomato from the blue bin. | STEP 3: With the tomato in hand, turn around, walk down the aisle, and face left to the stove.", "output": ["STEP 4: Look above the stove, place the tomato into the microwave, heat it for a moment, and then take out the tomato."]} +{"id": "trial_T20190907_071235_184806-1%4", "input": "Place a cooked tomato into the blue bin. | STEP 1: Face right, walk straight to the window, turn right and walk to the blue bin. | STEP 2: Grab a tomato from the blue bin. | STEP 3: With the tomato in hand, turn around, walk down the aisle, and face left to the stove. | STEP 4: Look above the stove, place the tomato into the microwave, heat it for a moment, and then take out the tomato.", "output": ["STEP 5: With the tomato in hand, make a left, walk straight, then face the door to your right."]} +{"id": "trial_T20190907_071235_184806-1%5", "input": "Place a cooked tomato into the blue bin. | STEP 1: Face right, walk straight to the window, turn right and walk to the blue bin. | STEP 2: Grab a tomato from the blue bin. | STEP 3: With the tomato in hand, turn around, walk down the aisle, and face left to the stove. | STEP 4: Look above the stove, place the tomato into the microwave, heat it for a moment, and then take out the tomato. | STEP 5: With the tomato in hand, make a left, walk straight, then face the door to your right.", "output": ["STEP 6: Look to your left and place the cooked tomato inside the blue bin."]} +{"id": "trial_T20190907_071235_184806-1%6", "input": "Place a cooked tomato into the blue bin. | STEP 1: Face right, walk straight to the window, turn right and walk to the blue bin. | STEP 2: Grab a tomato from the blue bin. | STEP 3: With the tomato in hand, turn around, walk down the aisle, and face left to the stove. | STEP 4: Look above the stove, place the tomato into the microwave, heat it for a moment, and then take out the tomato. | STEP 5: With the tomato in hand, make a left, walk straight, then face the door to your right. | STEP 6: Look to your left and place the cooked tomato inside the blue bin.", "output": ["END"]} +{"id": "trial_T20190907_071235_184806-2%0", "input": "Put a cooked tomato in the recycling bin.", "output": ["STEP 1: Turn to your right and walk to the blue recycling bin across the room."]} +{"id": "trial_T20190907_071235_184806-2%1", "input": "Put a cooked tomato in the recycling bin. | STEP 1: Turn to your right and walk to the blue recycling bin across the room.", "output": ["STEP 2: Pick up the tomato that is closest to you from inside the recycling bin."]} +{"id": "trial_T20190907_071235_184806-2%2", "input": "Put a cooked tomato in the recycling bin. | STEP 1: Turn to your right and walk to the blue recycling bin across the room. | STEP 2: Pick up the tomato that is closest to you from inside the recycling bin.", "output": ["STEP 3: Turn to your right and walk to the microwave that is above the stove "]} +{"id": "trial_T20190907_071235_184806-2%3", "input": "Put a cooked tomato in the recycling bin. | STEP 1: Turn to your right and walk to the blue recycling bin across the room. | STEP 2: Pick up the tomato that is closest to you from inside the recycling bin. | STEP 3: Turn to your right and walk to the microwave that is above the stove ", "output": ["STEP 4: Open the microwave door, put the tomato inside, close the microwave door, turn the microwave on, open the door when the microwave turns off, remove the tomato and close the microwave door."]} +{"id": "trial_T20190907_071235_184806-2%4", "input": "Put a cooked tomato in the recycling bin. | STEP 1: Turn to your right and walk to the blue recycling bin across the room. | STEP 2: Pick up the tomato that is closest to you from inside the recycling bin. | STEP 3: Turn to your right and walk to the microwave that is above the stove | STEP 4: Open the microwave door, put the tomato inside, close the microwave door, turn the microwave on, open the door when the microwave turns off, remove the tomato and close the microwave door.", "output": ["STEP 5: Turn to your left and walk to the blue recycling bin across the room. "]} +{"id": "trial_T20190907_071235_184806-2%5", "input": "Put a cooked tomato in the recycling bin. | STEP 1: Turn to your right and walk to the blue recycling bin across the room. | STEP 2: Pick up the tomato that is closest to you from inside the recycling bin. | STEP 3: Turn to your right and walk to the microwave that is above the stove | STEP 4: Open the microwave door, put the tomato inside, close the microwave door, turn the microwave on, open the door when the microwave turns off, remove the tomato and close the microwave door. | STEP 5: Turn to your left and walk to the blue recycling bin across the room. ", "output": ["STEP 6: Put the cooked tomato in the recycling bin to the left of the other vegetable."]} +{"id": "trial_T20190907_071235_184806-2%6", "input": "Put a cooked tomato in the recycling bin. | STEP 1: Turn to your right and walk to the blue recycling bin across the room. | STEP 2: Pick up the tomato that is closest to you from inside the recycling bin. | STEP 3: Turn to your right and walk to the microwave that is above the stove | STEP 4: Open the microwave door, put the tomato inside, close the microwave door, turn the microwave on, open the door when the microwave turns off, remove the tomato and close the microwave door. | STEP 5: Turn to your left and walk to the blue recycling bin across the room. | STEP 6: Put the cooked tomato in the recycling bin to the left of the other vegetable.", "output": ["END"]} +{"id": "trial_T20190907_102247_614701-0%0", "input": "Place a clean slice of lettuce on the round grey table.", "output": ["STEP 1: Turn around and face the round grey table in front of you."]} +{"id": "trial_T20190907_102247_614701-0%1", "input": "Place a clean slice of lettuce on the round grey table. | STEP 1: Turn around and face the round grey table in front of you.", "output": ["STEP 2: Pick up the knife on the round table in front of you."]} +{"id": "trial_T20190907_102247_614701-0%2", "input": "Place a clean slice of lettuce on the round grey table. | STEP 1: Turn around and face the round grey table in front of you. | STEP 2: Pick up the knife on the round table in front of you.", "output": ["STEP 3: Turn around and face the counter by the stove."]} +{"id": "trial_T20190907_102247_614701-0%3", "input": "Place a clean slice of lettuce on the round grey table. | STEP 1: Turn around and face the round grey table in front of you. | STEP 2: Pick up the knife on the round table in front of you. | STEP 3: Turn around and face the counter by the stove.", "output": ["STEP 4: Slice the lettuce on the counter in front of you."]} +{"id": "trial_T20190907_102247_614701-0%4", "input": "Place a clean slice of lettuce on the round grey table. | STEP 1: Turn around and face the round grey table in front of you. | STEP 2: Pick up the knife on the round table in front of you. | STEP 3: Turn around and face the counter by the stove. | STEP 4: Slice the lettuce on the counter in front of you.", "output": ["STEP 5: Turn around and face the sink in front of you."]} +{"id": "trial_T20190907_102247_614701-0%5", "input": "Place a clean slice of lettuce on the round grey table. | STEP 1: Turn around and face the round grey table in front of you. | STEP 2: Pick up the knife on the round table in front of you. | STEP 3: Turn around and face the counter by the stove. | STEP 4: Slice the lettuce on the counter in front of you. | STEP 5: Turn around and face the sink in front of you.", "output": ["STEP 6: Place the knife inside of the sink in front of you."]} +{"id": "trial_T20190907_102247_614701-0%6", "input": "Place a clean slice of lettuce on the round grey table. | STEP 1: Turn around and face the round grey table in front of you. | STEP 2: Pick up the knife on the round table in front of you. | STEP 3: Turn around and face the counter by the stove. | STEP 4: Slice the lettuce on the counter in front of you. | STEP 5: Turn around and face the sink in front of you. | STEP 6: Place the knife inside of the sink in front of you.", "output": ["STEP 7: Turn around and face the counter in front of you."]} +{"id": "trial_T20190907_102247_614701-0%7", "input": "Place a clean slice of lettuce on the round grey table. | STEP 1: Turn around and face the round grey table in front of you. | STEP 2: Pick up the knife on the round table in front of you. | STEP 3: Turn around and face the counter by the stove. | STEP 4: Slice the lettuce on the counter in front of you. | STEP 5: Turn around and face the sink in front of you. | STEP 6: Place the knife inside of the sink in front of you. | STEP 7: Turn around and face the counter in front of you.", "output": ["STEP 8: Take a slice of lettuce from the counter in front of you."]} +{"id": "trial_T20190907_102247_614701-0%8", "input": "Place a clean slice of lettuce on the round grey table. | STEP 1: Turn around and face the round grey table in front of you. | STEP 2: Pick up the knife on the round table in front of you. | STEP 3: Turn around and face the counter by the stove. | STEP 4: Slice the lettuce on the counter in front of you. | STEP 5: Turn around and face the sink in front of you. | STEP 6: Place the knife inside of the sink in front of you. | STEP 7: Turn around and face the counter in front of you. | STEP 8: Take a slice of lettuce from the counter in front of you.", "output": ["STEP 9: Turn around and face the sink in front of you."]} +{"id": "trial_T20190907_102247_614701-0%9", "input": "Place a clean slice of lettuce on the round grey table. | STEP 1: Turn around and face the round grey table in front of you. | STEP 2: Pick up the knife on the round table in front of you. | STEP 3: Turn around and face the counter by the stove. | STEP 4: Slice the lettuce on the counter in front of you. | STEP 5: Turn around and face the sink in front of you. | STEP 6: Place the knife inside of the sink in front of you. | STEP 7: Turn around and face the counter in front of you. | STEP 8: Take a slice of lettuce from the counter in front of you. | STEP 9: Turn around and face the sink in front of you.", "output": ["STEP 10: Wash the lettuce in the sink in front of you and take it out."]} +{"id": "trial_T20190907_102247_614701-0%10", "input": "Place a clean slice of lettuce on the round grey table. | STEP 1: Turn around and face the round grey table in front of you. | STEP 2: Pick up the knife on the round table in front of you. | STEP 3: Turn around and face the counter by the stove. | STEP 4: Slice the lettuce on the counter in front of you. | STEP 5: Turn around and face the sink in front of you. | STEP 6: Place the knife inside of the sink in front of you. | STEP 7: Turn around and face the counter in front of you. | STEP 8: Take a slice of lettuce from the counter in front of you. | STEP 9: Turn around and face the sink in front of you. | STEP 10: Wash the lettuce in the sink in front of you and take it out.", "output": ["STEP 11: Turn right then face the round grey table on your left."]} +{"id": "trial_T20190907_102247_614701-0%11", "input": "Place a clean slice of lettuce on the round grey table. | STEP 1: Turn around and face the round grey table in front of you. | STEP 2: Pick up the knife on the round table in front of you. | STEP 3: Turn around and face the counter by the stove. | STEP 4: Slice the lettuce on the counter in front of you. | STEP 5: Turn around and face the sink in front of you. | STEP 6: Place the knife inside of the sink in front of you. | STEP 7: Turn around and face the counter in front of you. | STEP 8: Take a slice of lettuce from the counter in front of you. | STEP 9: Turn around and face the sink in front of you. | STEP 10: Wash the lettuce in the sink in front of you and take it out. | STEP 11: Turn right then face the round grey table on your left.", "output": ["STEP 12: Place the lettuce slice on the grey table in front of you."]} +{"id": "trial_T20190907_102247_614701-0%12", "input": "Place a clean slice of lettuce on the round grey table. | STEP 1: Turn around and face the round grey table in front of you. | STEP 2: Pick up the knife on the round table in front of you. | STEP 3: Turn around and face the counter by the stove. | STEP 4: Slice the lettuce on the counter in front of you. | STEP 5: Turn around and face the sink in front of you. | STEP 6: Place the knife inside of the sink in front of you. | STEP 7: Turn around and face the counter in front of you. | STEP 8: Take a slice of lettuce from the counter in front of you. | STEP 9: Turn around and face the sink in front of you. | STEP 10: Wash the lettuce in the sink in front of you and take it out. | STEP 11: Turn right then face the round grey table on your left. | STEP 12: Place the lettuce slice on the grey table in front of you.", "output": ["END"]} +{"id": "trial_T20190907_102247_614701-2%0", "input": "place a rinsed off slice of lettuce down on the table", "output": ["STEP 1: turn left and walk to the end of the kitchen counter on your left, then turn left and walk to the end of the room"]} +{"id": "trial_T20190907_102247_614701-2%1", "input": "place a rinsed off slice of lettuce down on the table | STEP 1: turn left and walk to the end of the kitchen counter on your left, then turn left and walk to the end of the room", "output": ["STEP 2: grab a knife off of the table there"]} +{"id": "trial_T20190907_102247_614701-2%2", "input": "place a rinsed off slice of lettuce down on the table | STEP 1: turn left and walk to the end of the kitchen counter on your left, then turn left and walk to the end of the room | STEP 2: grab a knife off of the table there", "output": ["STEP 3: turn around and walk to the kitchen counter on the far end of the room"]} +{"id": "trial_T20190907_102247_614701-2%3", "input": "place a rinsed off slice of lettuce down on the table | STEP 1: turn left and walk to the end of the kitchen counter on your left, then turn left and walk to the end of the room | STEP 2: grab a knife off of the table there | STEP 3: turn around and walk to the kitchen counter on the far end of the room", "output": ["STEP 4: cut up the lettuce on the counter"]} +{"id": "trial_T20190907_102247_614701-2%4", "input": "place a rinsed off slice of lettuce down on the table | STEP 1: turn left and walk to the end of the kitchen counter on your left, then turn left and walk to the end of the room | STEP 2: grab a knife off of the table there | STEP 3: turn around and walk to the kitchen counter on the far end of the room | STEP 4: cut up the lettuce on the counter", "output": ["STEP 5: turn around and walk to the kitchen sink behind you"]} +{"id": "trial_T20190907_102247_614701-2%5", "input": "place a rinsed off slice of lettuce down on the table | STEP 1: turn left and walk to the end of the kitchen counter on your left, then turn left and walk to the end of the room | STEP 2: grab a knife off of the table there | STEP 3: turn around and walk to the kitchen counter on the far end of the room | STEP 4: cut up the lettuce on the counter | STEP 5: turn around and walk to the kitchen sink behind you", "output": ["STEP 6: place the knife inside of the kitchen sink"]} +{"id": "trial_T20190907_102247_614701-2%6", "input": "place a rinsed off slice of lettuce down on the table | STEP 1: turn left and walk to the end of the kitchen counter on your left, then turn left and walk to the end of the room | STEP 2: grab a knife off of the table there | STEP 3: turn around and walk to the kitchen counter on the far end of the room | STEP 4: cut up the lettuce on the counter | STEP 5: turn around and walk to the kitchen sink behind you | STEP 6: place the knife inside of the kitchen sink", "output": ["STEP 7: turn around and walk back to the other kitchen counter with the lettuce"]} +{"id": "trial_T20190907_102247_614701-2%7", "input": "place a rinsed off slice of lettuce down on the table | STEP 1: turn left and walk to the end of the kitchen counter on your left, then turn left and walk to the end of the room | STEP 2: grab a knife off of the table there | STEP 3: turn around and walk to the kitchen counter on the far end of the room | STEP 4: cut up the lettuce on the counter | STEP 5: turn around and walk to the kitchen sink behind you | STEP 6: place the knife inside of the kitchen sink | STEP 7: turn around and walk back to the other kitchen counter with the lettuce", "output": ["STEP 8: grab a slice of lettuce"]} +{"id": "trial_T20190907_102247_614701-2%8", "input": "place a rinsed off slice of lettuce down on the table | STEP 1: turn left and walk to the end of the kitchen counter on your left, then turn left and walk to the end of the room | STEP 2: grab a knife off of the table there | STEP 3: turn around and walk to the kitchen counter on the far end of the room | STEP 4: cut up the lettuce on the counter | STEP 5: turn around and walk to the kitchen sink behind you | STEP 6: place the knife inside of the kitchen sink | STEP 7: turn around and walk back to the other kitchen counter with the lettuce | STEP 8: grab a slice of lettuce", "output": ["STEP 9: turn around and walk to the sink behind you"]} +{"id": "trial_T20190907_102247_614701-2%9", "input": "place a rinsed off slice of lettuce down on the table | STEP 1: turn left and walk to the end of the kitchen counter on your left, then turn left and walk to the end of the room | STEP 2: grab a knife off of the table there | STEP 3: turn around and walk to the kitchen counter on the far end of the room | STEP 4: cut up the lettuce on the counter | STEP 5: turn around and walk to the kitchen sink behind you | STEP 6: place the knife inside of the kitchen sink | STEP 7: turn around and walk back to the other kitchen counter with the lettuce | STEP 8: grab a slice of lettuce | STEP 9: turn around and walk to the sink behind you", "output": ["STEP 10: rinse the lettuce off in the sink"]} +{"id": "trial_T20190907_102247_614701-2%10", "input": "place a rinsed off slice of lettuce down on the table | STEP 1: turn left and walk to the end of the kitchen counter on your left, then turn left and walk to the end of the room | STEP 2: grab a knife off of the table there | STEP 3: turn around and walk to the kitchen counter on the far end of the room | STEP 4: cut up the lettuce on the counter | STEP 5: turn around and walk to the kitchen sink behind you | STEP 6: place the knife inside of the kitchen sink | STEP 7: turn around and walk back to the other kitchen counter with the lettuce | STEP 8: grab a slice of lettuce | STEP 9: turn around and walk to the sink behind you | STEP 10: rinse the lettuce off in the sink", "output": ["STEP 11: turn right and walk to the middle of the hallway, then turn left and walk to the table at the end of the room"]} +{"id": "trial_T20190907_102247_614701-2%11", "input": "place a rinsed off slice of lettuce down on the table | STEP 1: turn left and walk to the end of the kitchen counter on your left, then turn left and walk to the end of the room | STEP 2: grab a knife off of the table there | STEP 3: turn around and walk to the kitchen counter on the far end of the room | STEP 4: cut up the lettuce on the counter | STEP 5: turn around and walk to the kitchen sink behind you | STEP 6: place the knife inside of the kitchen sink | STEP 7: turn around and walk back to the other kitchen counter with the lettuce | STEP 8: grab a slice of lettuce | STEP 9: turn around and walk to the sink behind you | STEP 10: rinse the lettuce off in the sink | STEP 11: turn right and walk to the middle of the hallway, then turn left and walk to the table at the end of the room", "output": ["STEP 12: place the lettuce down on the table"]} +{"id": "trial_T20190907_102247_614701-2%12", "input": "place a rinsed off slice of lettuce down on the table | STEP 1: turn left and walk to the end of the kitchen counter on your left, then turn left and walk to the end of the room | STEP 2: grab a knife off of the table there | STEP 3: turn around and walk to the kitchen counter on the far end of the room | STEP 4: cut up the lettuce on the counter | STEP 5: turn around and walk to the kitchen sink behind you | STEP 6: place the knife inside of the kitchen sink | STEP 7: turn around and walk back to the other kitchen counter with the lettuce | STEP 8: grab a slice of lettuce | STEP 9: turn around and walk to the sink behind you | STEP 10: rinse the lettuce off in the sink | STEP 11: turn right and walk to the middle of the hallway, then turn left and walk to the table at the end of the room | STEP 12: place the lettuce down on the table", "output": ["END"]} +{"id": "trial_T20190907_102247_614701-4%0", "input": "Put a washed slice of lettuce on a table.", "output": ["STEP 1: Turn around, go forward to the round table."]} +{"id": "trial_T20190907_102247_614701-4%1", "input": "Put a washed slice of lettuce on a table. | STEP 1: Turn around, go forward to the round table.", "output": ["STEP 2: Take the knife from the table."]} +{"id": "trial_T20190907_102247_614701-4%2", "input": "Put a washed slice of lettuce on a table. | STEP 1: Turn around, go forward to the round table. | STEP 2: Take the knife from the table.", "output": ["STEP 3: Turn around, go forward and to the right to the counter to the left of the oven."]} +{"id": "trial_T20190907_102247_614701-4%3", "input": "Put a washed slice of lettuce on a table. | STEP 1: Turn around, go forward to the round table. | STEP 2: Take the knife from the table. | STEP 3: Turn around, go forward and to the right to the counter to the left of the oven.", "output": ["STEP 4: Cut the lettuce on the counter into slices."]} +{"id": "trial_T20190907_102247_614701-4%4", "input": "Put a washed slice of lettuce on a table. | STEP 1: Turn around, go forward to the round table. | STEP 2: Take the knife from the table. | STEP 3: Turn around, go forward and to the right to the counter to the left of the oven. | STEP 4: Cut the lettuce on the counter into slices.", "output": ["STEP 5: Turn around, go forward to the sink."]} +{"id": "trial_T20190907_102247_614701-4%5", "input": "Put a washed slice of lettuce on a table. | STEP 1: Turn around, go forward to the round table. | STEP 2: Take the knife from the table. | STEP 3: Turn around, go forward and to the right to the counter to the left of the oven. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around, go forward to the sink.", "output": ["STEP 6: Put the knife in the sink."]} +{"id": "trial_T20190907_102247_614701-4%6", "input": "Put a washed slice of lettuce on a table. | STEP 1: Turn around, go forward to the round table. | STEP 2: Take the knife from the table. | STEP 3: Turn around, go forward and to the right to the counter to the left of the oven. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around, go forward to the sink. | STEP 6: Put the knife in the sink.", "output": ["STEP 7: Turn around, go forward to the counter to the left of the oven."]} +{"id": "trial_T20190907_102247_614701-4%7", "input": "Put a washed slice of lettuce on a table. | STEP 1: Turn around, go forward to the round table. | STEP 2: Take the knife from the table. | STEP 3: Turn around, go forward and to the right to the counter to the left of the oven. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around, go forward to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn around, go forward to the counter to the left of the oven.", "output": ["STEP 8: Take a slice of lettuce from the counter."]} +{"id": "trial_T20190907_102247_614701-4%8", "input": "Put a washed slice of lettuce on a table. | STEP 1: Turn around, go forward to the round table. | STEP 2: Take the knife from the table. | STEP 3: Turn around, go forward and to the right to the counter to the left of the oven. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around, go forward to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn around, go forward to the counter to the left of the oven. | STEP 8: Take a slice of lettuce from the counter.", "output": ["STEP 9: Turn around, go forward to the sink."]} +{"id": "trial_T20190907_102247_614701-4%9", "input": "Put a washed slice of lettuce on a table. | STEP 1: Turn around, go forward to the round table. | STEP 2: Take the knife from the table. | STEP 3: Turn around, go forward and to the right to the counter to the left of the oven. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around, go forward to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn around, go forward to the counter to the left of the oven. | STEP 8: Take a slice of lettuce from the counter. | STEP 9: Turn around, go forward to the sink.", "output": ["STEP 10: Wash the lettuce in the sink, take the lettuce from the sink."]} +{"id": "trial_T20190907_102247_614701-4%10", "input": "Put a washed slice of lettuce on a table. | STEP 1: Turn around, go forward to the round table. | STEP 2: Take the knife from the table. | STEP 3: Turn around, go forward and to the right to the counter to the left of the oven. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around, go forward to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn around, go forward to the counter to the left of the oven. | STEP 8: Take a slice of lettuce from the counter. | STEP 9: Turn around, go forward to the sink. | STEP 10: Wash the lettuce in the sink, take the lettuce from the sink.", "output": ["STEP 11: Turn right, go forward, turn left at the round table, go forward to the table."]} +{"id": "trial_T20190907_102247_614701-4%11", "input": "Put a washed slice of lettuce on a table. | STEP 1: Turn around, go forward to the round table. | STEP 2: Take the knife from the table. | STEP 3: Turn around, go forward and to the right to the counter to the left of the oven. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around, go forward to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn around, go forward to the counter to the left of the oven. | STEP 8: Take a slice of lettuce from the counter. | STEP 9: Turn around, go forward to the sink. | STEP 10: Wash the lettuce in the sink, take the lettuce from the sink. | STEP 11: Turn right, go forward, turn left at the round table, go forward to the table.", "output": ["STEP 12: Put the lettuce in front of the apple on the table."]} +{"id": "trial_T20190907_102247_614701-4%12", "input": "Put a washed slice of lettuce on a table. | STEP 1: Turn around, go forward to the round table. | STEP 2: Take the knife from the table. | STEP 3: Turn around, go forward and to the right to the counter to the left of the oven. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around, go forward to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn around, go forward to the counter to the left of the oven. | STEP 8: Take a slice of lettuce from the counter. | STEP 9: Turn around, go forward to the sink. | STEP 10: Wash the lettuce in the sink, take the lettuce from the sink. | STEP 11: Turn right, go forward, turn left at the round table, go forward to the table. | STEP 12: Put the lettuce in front of the apple on the table.", "output": ["END"]} +{"id": "trial_T20190907_102247_614701-5%0", "input": "TO cut lettuce into slices as well as place a slice of lettuce on the kitchen table.", "output": ["STEP 1: Turn around and walk forward to face the kitchen table."]} +{"id": "trial_T20190907_102247_614701-5%1", "input": "TO cut lettuce into slices as well as place a slice of lettuce on the kitchen table. | STEP 1: Turn around and walk forward to face the kitchen table.", "output": ["STEP 2: Pick up the knife on the table."]} +{"id": "trial_T20190907_102247_614701-5%2", "input": "TO cut lettuce into slices as well as place a slice of lettuce on the kitchen table. | STEP 1: Turn around and walk forward to face the kitchen table. | STEP 2: Pick up the knife on the table.", "output": ["STEP 3: Turn around and walk forward to face the counter to the left of the stove."]} +{"id": "trial_T20190907_102247_614701-5%3", "input": "TO cut lettuce into slices as well as place a slice of lettuce on the kitchen table. | STEP 1: Turn around and walk forward to face the kitchen table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and walk forward to face the counter to the left of the stove.", "output": ["STEP 4: Cut the lettuce on the counter into slices."]} +{"id": "trial_T20190907_102247_614701-5%4", "input": "TO cut lettuce into slices as well as place a slice of lettuce on the kitchen table. | STEP 1: Turn around and walk forward to face the kitchen table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and walk forward to face the counter to the left of the stove. | STEP 4: Cut the lettuce on the counter into slices.", "output": ["STEP 5: Turn around and walk across the room to face the sink."]} +{"id": "trial_T20190907_102247_614701-5%5", "input": "TO cut lettuce into slices as well as place a slice of lettuce on the kitchen table. | STEP 1: Turn around and walk forward to face the kitchen table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and walk forward to face the counter to the left of the stove. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around and walk across the room to face the sink.", "output": ["STEP 6: Place the knife in the sink."]} +{"id": "trial_T20190907_102247_614701-5%6", "input": "TO cut lettuce into slices as well as place a slice of lettuce on the kitchen table. | STEP 1: Turn around and walk forward to face the kitchen table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and walk forward to face the counter to the left of the stove. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around and walk across the room to face the sink. | STEP 6: Place the knife in the sink.", "output": ["STEP 7: Turn around and walk forward to face the counter with the lettuce on it."]} +{"id": "trial_T20190907_102247_614701-5%7", "input": "TO cut lettuce into slices as well as place a slice of lettuce on the kitchen table. | STEP 1: Turn around and walk forward to face the kitchen table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and walk forward to face the counter to the left of the stove. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around and walk across the room to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around and walk forward to face the counter with the lettuce on it.", "output": ["STEP 8: Pick up a slice of lettuce on the counter."]} +{"id": "trial_T20190907_102247_614701-5%8", "input": "TO cut lettuce into slices as well as place a slice of lettuce on the kitchen table. | STEP 1: Turn around and walk forward to face the kitchen table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and walk forward to face the counter to the left of the stove. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around and walk across the room to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around and walk forward to face the counter with the lettuce on it. | STEP 8: Pick up a slice of lettuce on the counter.", "output": ["STEP 9: Turn around and walk forward to face the sink."]} +{"id": "trial_T20190907_102247_614701-5%9", "input": "TO cut lettuce into slices as well as place a slice of lettuce on the kitchen table. | STEP 1: Turn around and walk forward to face the kitchen table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and walk forward to face the counter to the left of the stove. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around and walk across the room to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around and walk forward to face the counter with the lettuce on it. | STEP 8: Pick up a slice of lettuce on the counter. | STEP 9: Turn around and walk forward to face the sink.", "output": ["STEP 10: Wash the lettuce slice in the sink and remove it."]} +{"id": "trial_T20190907_102247_614701-5%10", "input": "TO cut lettuce into slices as well as place a slice of lettuce on the kitchen table. | STEP 1: Turn around and walk forward to face the kitchen table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and walk forward to face the counter to the left of the stove. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around and walk across the room to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around and walk forward to face the counter with the lettuce on it. | STEP 8: Pick up a slice of lettuce on the counter. | STEP 9: Turn around and walk forward to face the sink. | STEP 10: Wash the lettuce slice in the sink and remove it.", "output": ["STEP 11: Walk around the right side of the counter and walk forward to face the kitchen table."]} +{"id": "trial_T20190907_102247_614701-5%11", "input": "TO cut lettuce into slices as well as place a slice of lettuce on the kitchen table. | STEP 1: Turn around and walk forward to face the kitchen table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and walk forward to face the counter to the left of the stove. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around and walk across the room to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around and walk forward to face the counter with the lettuce on it. | STEP 8: Pick up a slice of lettuce on the counter. | STEP 9: Turn around and walk forward to face the sink. | STEP 10: Wash the lettuce slice in the sink and remove it. | STEP 11: Walk around the right side of the counter and walk forward to face the kitchen table.", "output": ["STEP 12: Place the slice of lettuce on the kitchen table."]} +{"id": "trial_T20190907_102247_614701-5%12", "input": "TO cut lettuce into slices as well as place a slice of lettuce on the kitchen table. | STEP 1: Turn around and walk forward to face the kitchen table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and walk forward to face the counter to the left of the stove. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around and walk across the room to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around and walk forward to face the counter with the lettuce on it. | STEP 8: Pick up a slice of lettuce on the counter. | STEP 9: Turn around and walk forward to face the sink. | STEP 10: Wash the lettuce slice in the sink and remove it. | STEP 11: Walk around the right side of the counter and walk forward to face the kitchen table. | STEP 12: Place the slice of lettuce on the kitchen table.", "output": ["END"]} +{"id": "trial_T20190908_101213_185197-1%0", "input": "Put the heated tomato in the fridge", "output": ["STEP 1: Turn right head toward the end of the counter on your right "]} +{"id": "trial_T20190908_101213_185197-1%1", "input": "Put the heated tomato in the fridge | STEP 1: Turn right head toward the end of the counter on your right ", "output": ["STEP 2: Pick up the tomato on the counter"]} +{"id": "trial_T20190908_101213_185197-1%2", "input": "Put the heated tomato in the fridge | STEP 1: Turn right head toward the end of the counter on your right | STEP 2: Pick up the tomato on the counter", "output": ["STEP 3: Turn left then head to the microwave on your right side"]} +{"id": "trial_T20190908_101213_185197-1%3", "input": "Put the heated tomato in the fridge | STEP 1: Turn right head toward the end of the counter on your right | STEP 2: Pick up the tomato on the counter | STEP 3: Turn left then head to the microwave on your right side", "output": ["STEP 4: Open the microwave put in and out the tomato then close the microwave"]} +{"id": "trial_T20190908_101213_185197-1%4", "input": "Put the heated tomato in the fridge | STEP 1: Turn right head toward the end of the counter on your right | STEP 2: Pick up the tomato on the counter | STEP 3: Turn left then head to the microwave on your right side | STEP 4: Open the microwave put in and out the tomato then close the microwave", "output": ["STEP 5: Turn right head to the fridge"]} +{"id": "trial_T20190908_101213_185197-1%5", "input": "Put the heated tomato in the fridge | STEP 1: Turn right head toward the end of the counter on your right | STEP 2: Pick up the tomato on the counter | STEP 3: Turn left then head to the microwave on your right side | STEP 4: Open the microwave put in and out the tomato then close the microwave | STEP 5: Turn right head to the fridge", "output": ["STEP 6: Open the fridge put in the tomato then close the fridge"]} +{"id": "trial_T20190908_101213_185197-1%6", "input": "Put the heated tomato in the fridge | STEP 1: Turn right head toward the end of the counter on your right | STEP 2: Pick up the tomato on the counter | STEP 3: Turn left then head to the microwave on your right side | STEP 4: Open the microwave put in and out the tomato then close the microwave | STEP 5: Turn right head to the fridge | STEP 6: Open the fridge put in the tomato then close the fridge", "output": ["END"]} +{"id": "trial_T20190908_145829_697255-1%0", "input": "Put a full and empty roll of toilet paper in the right cabinet under the left sink.", "output": ["STEP 1: Turn right and face the toilet."]} +{"id": "trial_T20190908_145829_697255-1%1", "input": "Put a full and empty roll of toilet paper in the right cabinet under the left sink. | STEP 1: Turn right and face the toilet.", "output": ["STEP 2: Take the empty toilet paper roll off the back of the toilet."]} +{"id": "trial_T20190908_145829_697255-1%2", "input": "Put a full and empty roll of toilet paper in the right cabinet under the left sink. | STEP 1: Turn right and face the toilet. | STEP 2: Take the empty toilet paper roll off the back of the toilet.", "output": ["STEP 3: Turn left and move to the left sink in the vanity."]} +{"id": "trial_T20190908_145829_697255-1%3", "input": "Put a full and empty roll of toilet paper in the right cabinet under the left sink. | STEP 1: Turn right and face the toilet. | STEP 2: Take the empty toilet paper roll off the back of the toilet. | STEP 3: Turn left and move to the left sink in the vanity.", "output": ["STEP 4: Put the empty toilet paper roll in the right cabinet under the left sink."]} +{"id": "trial_T20190908_145829_697255-1%4", "input": "Put a full and empty roll of toilet paper in the right cabinet under the left sink. | STEP 1: Turn right and face the toilet. | STEP 2: Take the empty toilet paper roll off the back of the toilet. | STEP 3: Turn left and move to the left sink in the vanity. | STEP 4: Put the empty toilet paper roll in the right cabinet under the left sink.", "output": ["STEP 5: Turn around and head back to the toilet."]} +{"id": "trial_T20190908_145829_697255-1%5", "input": "Put a full and empty roll of toilet paper in the right cabinet under the left sink. | STEP 1: Turn right and face the toilet. | STEP 2: Take the empty toilet paper roll off the back of the toilet. | STEP 3: Turn left and move to the left sink in the vanity. | STEP 4: Put the empty toilet paper roll in the right cabinet under the left sink. | STEP 5: Turn around and head back to the toilet.", "output": ["STEP 6: Take the toilet paper roll off the holder."]} +{"id": "trial_T20190908_145829_697255-1%6", "input": "Put a full and empty roll of toilet paper in the right cabinet under the left sink. | STEP 1: Turn right and face the toilet. | STEP 2: Take the empty toilet paper roll off the back of the toilet. | STEP 3: Turn left and move to the left sink in the vanity. | STEP 4: Put the empty toilet paper roll in the right cabinet under the left sink. | STEP 5: Turn around and head back to the toilet. | STEP 6: Take the toilet paper roll off the holder.", "output": ["STEP 7: Turn around and head back to the left sink on the vanity."]} +{"id": "trial_T20190908_145829_697255-1%7", "input": "Put a full and empty roll of toilet paper in the right cabinet under the left sink. | STEP 1: Turn right and face the toilet. | STEP 2: Take the empty toilet paper roll off the back of the toilet. | STEP 3: Turn left and move to the left sink in the vanity. | STEP 4: Put the empty toilet paper roll in the right cabinet under the left sink. | STEP 5: Turn around and head back to the toilet. | STEP 6: Take the toilet paper roll off the holder. | STEP 7: Turn around and head back to the left sink on the vanity.", "output": ["STEP 8: Put the roll of toilet paper in the right cabinet under the left sink."]} +{"id": "trial_T20190908_145829_697255-1%8", "input": "Put a full and empty roll of toilet paper in the right cabinet under the left sink. | STEP 1: Turn right and face the toilet. | STEP 2: Take the empty toilet paper roll off the back of the toilet. | STEP 3: Turn left and move to the left sink in the vanity. | STEP 4: Put the empty toilet paper roll in the right cabinet under the left sink. | STEP 5: Turn around and head back to the toilet. | STEP 6: Take the toilet paper roll off the holder. | STEP 7: Turn around and head back to the left sink on the vanity. | STEP 8: Put the roll of toilet paper in the right cabinet under the left sink.", "output": ["END"]} +{"id": "trial_T20190906_195956_153637-2%0", "input": "Take the potato to the sink, wash it, take it to the refrigerator. Set it in the refrigerator.", "output": ["STEP 1: Go across the room to the dining table"]} +{"id": "trial_T20190906_195956_153637-2%1", "input": "Take the potato to the sink, wash it, take it to the refrigerator. Set it in the refrigerator. | STEP 1: Go across the room to the dining table", "output": ["STEP 2: Pick up the potato from the table."]} +{"id": "trial_T20190906_195956_153637-2%2", "input": "Take the potato to the sink, wash it, take it to the refrigerator. Set it in the refrigerator. | STEP 1: Go across the room to the dining table | STEP 2: Pick up the potato from the table.", "output": ["STEP 3: Take the potato to the sink, behind you."]} +{"id": "trial_T20190906_195956_153637-2%3", "input": "Take the potato to the sink, wash it, take it to the refrigerator. Set it in the refrigerator. | STEP 1: Go across the room to the dining table | STEP 2: Pick up the potato from the table. | STEP 3: Take the potato to the sink, behind you.", "output": ["STEP 4: Set the potato in the sink. Turn the water on in the sink. Turn off the water."]} +{"id": "trial_T20190906_195956_153637-2%4", "input": "Take the potato to the sink, wash it, take it to the refrigerator. Set it in the refrigerator. | STEP 1: Go across the room to the dining table | STEP 2: Pick up the potato from the table. | STEP 3: Take the potato to the sink, behind you. | STEP 4: Set the potato in the sink. Turn the water on in the sink. Turn off the water.", "output": ["STEP 5: Pick up the potato, carry it to the refrigerator on the other side of the kitchen. "]} +{"id": "trial_T20190906_195956_153637-2%5", "input": "Take the potato to the sink, wash it, take it to the refrigerator. Set it in the refrigerator. | STEP 1: Go across the room to the dining table | STEP 2: Pick up the potato from the table. | STEP 3: Take the potato to the sink, behind you. | STEP 4: Set the potato in the sink. Turn the water on in the sink. Turn off the water. | STEP 5: Pick up the potato, carry it to the refrigerator on the other side of the kitchen. ", "output": ["STEP 6: Open the door of the refrigerator. Then close the doors of the refrigerator. Set the potato on the shelf above the Apple."]} +{"id": "trial_T20190906_195956_153637-2%6", "input": "Take the potato to the sink, wash it, take it to the refrigerator. Set it in the refrigerator. | STEP 1: Go across the room to the dining table | STEP 2: Pick up the potato from the table. | STEP 3: Take the potato to the sink, behind you. | STEP 4: Set the potato in the sink. Turn the water on in the sink. Turn off the water. | STEP 5: Pick up the potato, carry it to the refrigerator on the other side of the kitchen. | STEP 6: Open the door of the refrigerator. Then close the doors of the refrigerator. Set the potato on the shelf above the Apple.", "output": ["END"]} +{"id": "trial_T20190906_211948_380915-0%0", "input": "Put the watch from shelf in the blue bowl, move the whole bowl to the TV cabinet", "output": ["STEP 1: Walk across the room to the shelf"]} +{"id": "trial_T20190906_211948_380915-0%1", "input": "Put the watch from shelf in the blue bowl, move the whole bowl to the TV cabinet | STEP 1: Walk across the room to the shelf", "output": ["STEP 2: Grab the watch from the shelf"]} +{"id": "trial_T20190906_211948_380915-0%2", "input": "Put the watch from shelf in the blue bowl, move the whole bowl to the TV cabinet | STEP 1: Walk across the room to the shelf | STEP 2: Grab the watch from the shelf", "output": ["STEP 3: Turn right, and turn right, walk to the side table by the sofa"]} +{"id": "trial_T20190906_211948_380915-0%3", "input": "Put the watch from shelf in the blue bowl, move the whole bowl to the TV cabinet | STEP 1: Walk across the room to the shelf | STEP 2: Grab the watch from the shelf | STEP 3: Turn right, and turn right, walk to the side table by the sofa", "output": ["STEP 4: Put the watch in the blue bowl on the table"]} +{"id": "trial_T20190906_211948_380915-0%4", "input": "Put the watch from shelf in the blue bowl, move the whole bowl to the TV cabinet | STEP 1: Walk across the room to the shelf | STEP 2: Grab the watch from the shelf | STEP 3: Turn right, and turn right, walk to the side table by the sofa | STEP 4: Put the watch in the blue bowl on the table", "output": ["STEP 5: Take the blue bowl on the table"]} +{"id": "trial_T20190906_211948_380915-0%5", "input": "Put the watch from shelf in the blue bowl, move the whole bowl to the TV cabinet | STEP 1: Walk across the room to the shelf | STEP 2: Grab the watch from the shelf | STEP 3: Turn right, and turn right, walk to the side table by the sofa | STEP 4: Put the watch in the blue bowl on the table | STEP 5: Take the blue bowl on the table", "output": ["STEP 6: Turn around, walk to the tv cabinet in the corner"]} +{"id": "trial_T20190906_211948_380915-0%6", "input": "Put the watch from shelf in the blue bowl, move the whole bowl to the TV cabinet | STEP 1: Walk across the room to the shelf | STEP 2: Grab the watch from the shelf | STEP 3: Turn right, and turn right, walk to the side table by the sofa | STEP 4: Put the watch in the blue bowl on the table | STEP 5: Take the blue bowl on the table | STEP 6: Turn around, walk to the tv cabinet in the corner", "output": ["STEP 7: Put the blue bowl on the TV cabinet"]} +{"id": "trial_T20190906_211948_380915-0%7", "input": "Put the watch from shelf in the blue bowl, move the whole bowl to the TV cabinet | STEP 1: Walk across the room to the shelf | STEP 2: Grab the watch from the shelf | STEP 3: Turn right, and turn right, walk to the side table by the sofa | STEP 4: Put the watch in the blue bowl on the table | STEP 5: Take the blue bowl on the table | STEP 6: Turn around, walk to the tv cabinet in the corner | STEP 7: Put the blue bowl on the TV cabinet", "output": ["END"]} +{"id": "trial_T20190906_211948_380915-1%0", "input": "place a bowl with a watch in it on top of the desk the TV is on", "output": ["STEP 1: walk forwards towards the oval table in the center of the rug, then hang a right and walk forwards over to the cabinet"]} +{"id": "trial_T20190906_211948_380915-1%1", "input": "place a bowl with a watch in it on top of the desk the TV is on | STEP 1: walk forwards towards the oval table in the center of the rug, then hang a right and walk forwards over to the cabinet", "output": ["STEP 2: grab the watch off the shelf of the cabinet"]} +{"id": "trial_T20190906_211948_380915-1%2", "input": "place a bowl with a watch in it on top of the desk the TV is on | STEP 1: walk forwards towards the oval table in the center of the rug, then hang a right and walk forwards over to the cabinet | STEP 2: grab the watch off the shelf of the cabinet", "output": ["STEP 3: turn around and walk over to the oval table to the left of the couch"]} +{"id": "trial_T20190906_211948_380915-1%3", "input": "place a bowl with a watch in it on top of the desk the TV is on | STEP 1: walk forwards towards the oval table in the center of the rug, then hang a right and walk forwards over to the cabinet | STEP 2: grab the watch off the shelf of the cabinet | STEP 3: turn around and walk over to the oval table to the left of the couch", "output": ["STEP 4: place the watch in the bowl on the table"]} +{"id": "trial_T20190906_211948_380915-1%4", "input": "place a bowl with a watch in it on top of the desk the TV is on | STEP 1: walk forwards towards the oval table in the center of the rug, then hang a right and walk forwards over to the cabinet | STEP 2: grab the watch off the shelf of the cabinet | STEP 3: turn around and walk over to the oval table to the left of the couch | STEP 4: place the watch in the bowl on the table", "output": ["STEP 5: pick up the bowl off of the table"]} +{"id": "trial_T20190906_211948_380915-1%5", "input": "place a bowl with a watch in it on top of the desk the TV is on | STEP 1: walk forwards towards the oval table in the center of the rug, then hang a right and walk forwards over to the cabinet | STEP 2: grab the watch off the shelf of the cabinet | STEP 3: turn around and walk over to the oval table to the left of the couch | STEP 4: place the watch in the bowl on the table | STEP 5: pick up the bowl off of the table", "output": ["STEP 6: turn around and walk forwards to the TV in the corner of the room"]} +{"id": "trial_T20190906_211948_380915-1%6", "input": "place a bowl with a watch in it on top of the desk the TV is on | STEP 1: walk forwards towards the oval table in the center of the rug, then hang a right and walk forwards over to the cabinet | STEP 2: grab the watch off the shelf of the cabinet | STEP 3: turn around and walk over to the oval table to the left of the couch | STEP 4: place the watch in the bowl on the table | STEP 5: pick up the bowl off of the table | STEP 6: turn around and walk forwards to the TV in the corner of the room", "output": ["STEP 7: place the bowl on top of the desk the TV is on"]} +{"id": "trial_T20190906_211948_380915-1%7", "input": "place a bowl with a watch in it on top of the desk the TV is on | STEP 1: walk forwards towards the oval table in the center of the rug, then hang a right and walk forwards over to the cabinet | STEP 2: grab the watch off the shelf of the cabinet | STEP 3: turn around and walk over to the oval table to the left of the couch | STEP 4: place the watch in the bowl on the table | STEP 5: pick up the bowl off of the table | STEP 6: turn around and walk forwards to the TV in the corner of the room | STEP 7: place the bowl on top of the desk the TV is on", "output": ["END"]} +{"id": "trial_T20190908_125309_223090-0%0", "input": "take the watch from the coffee table, put it on the desk\n", "output": ["STEP 1: turn left, head across the room to the coffee table"]} +{"id": "trial_T20190908_125309_223090-0%1", "input": "take the watch from the coffee table, put it on the desk\n | STEP 1: turn left, head across the room to the coffee table", "output": ["STEP 2: take the watch from the coffee table"]} +{"id": "trial_T20190908_125309_223090-0%2", "input": "take the watch from the coffee table, put it on the desk\n | STEP 1: turn left, head across the room to the coffee table | STEP 2: take the watch from the coffee table", "output": ["STEP 3: turn left, head to the desk"]} +{"id": "trial_T20190908_125309_223090-0%3", "input": "take the watch from the coffee table, put it on the desk\n | STEP 1: turn left, head across the room to the coffee table | STEP 2: take the watch from the coffee table | STEP 3: turn left, head to the desk", "output": ["STEP 4: put the watch on the desk"]} +{"id": "trial_T20190908_125309_223090-0%4", "input": "take the watch from the coffee table, put it on the desk\n | STEP 1: turn left, head across the room to the coffee table | STEP 2: take the watch from the coffee table | STEP 3: turn left, head to the desk | STEP 4: put the watch on the desk", "output": ["END"]} +{"id": "trial_T20190908_125309_223090-1%0", "input": "take the watch from the coffee table and place it on the desk", "output": ["STEP 1: walk over to the coffee table"]} +{"id": "trial_T20190908_125309_223090-1%1", "input": "take the watch from the coffee table and place it on the desk | STEP 1: walk over to the coffee table", "output": ["STEP 2: pick up the watch from the table"]} +{"id": "trial_T20190908_125309_223090-1%2", "input": "take the watch from the coffee table and place it on the desk | STEP 1: walk over to the coffee table | STEP 2: pick up the watch from the table", "output": ["STEP 3: take the watch over to the desk"]} +{"id": "trial_T20190908_125309_223090-1%3", "input": "take the watch from the coffee table and place it on the desk | STEP 1: walk over to the coffee table | STEP 2: pick up the watch from the table | STEP 3: take the watch over to the desk", "output": ["STEP 4: put the watch on top of the desk"]} +{"id": "trial_T20190908_125309_223090-1%4", "input": "take the watch from the coffee table and place it on the desk | STEP 1: walk over to the coffee table | STEP 2: pick up the watch from the table | STEP 3: take the watch over to the desk | STEP 4: put the watch on top of the desk", "output": ["END"]} +{"id": "trial_T20190906_201636_696952-1%0", "input": "Place the box with the credit card on the sofa.", "output": ["STEP 1: Turn left and head towards the desk."]} +{"id": "trial_T20190906_201636_696952-1%1", "input": "Place the box with the credit card on the sofa. | STEP 1: Turn left and head towards the desk.", "output": ["STEP 2: Pick up the box on the floor beneath the desk."]} +{"id": "trial_T20190906_201636_696952-1%2", "input": "Place the box with the credit card on the sofa. | STEP 1: Turn left and head towards the desk. | STEP 2: Pick up the box on the floor beneath the desk.", "output": ["STEP 3: Turn around, head towards the table, turn left and head towards the sofa."]} +{"id": "trial_T20190906_201636_696952-1%3", "input": "Place the box with the credit card on the sofa. | STEP 1: Turn left and head towards the desk. | STEP 2: Pick up the box on the floor beneath the desk. | STEP 3: Turn around, head towards the table, turn left and head towards the sofa.", "output": ["STEP 4: Place the box on the sofa."]} +{"id": "trial_T20190906_201636_696952-1%4", "input": "Place the box with the credit card on the sofa. | STEP 1: Turn left and head towards the desk. | STEP 2: Pick up the box on the floor beneath the desk. | STEP 3: Turn around, head towards the table, turn left and head towards the sofa. | STEP 4: Place the box on the sofa.", "output": ["STEP 5: Turn around and face the table."]} +{"id": "trial_T20190906_201636_696952-1%5", "input": "Place the box with the credit card on the sofa. | STEP 1: Turn left and head towards the desk. | STEP 2: Pick up the box on the floor beneath the desk. | STEP 3: Turn around, head towards the table, turn left and head towards the sofa. | STEP 4: Place the box on the sofa. | STEP 5: Turn around and face the table.", "output": ["STEP 6: Pick up the credit card next to the plant on the table."]} +{"id": "trial_T20190906_201636_696952-1%6", "input": "Place the box with the credit card on the sofa. | STEP 1: Turn left and head towards the desk. | STEP 2: Pick up the box on the floor beneath the desk. | STEP 3: Turn around, head towards the table, turn left and head towards the sofa. | STEP 4: Place the box on the sofa. | STEP 5: Turn around and face the table. | STEP 6: Pick up the credit card next to the plant on the table.", "output": ["STEP 7: Turn around and face the box on the sofa."]} +{"id": "trial_T20190906_201636_696952-1%7", "input": "Place the box with the credit card on the sofa. | STEP 1: Turn left and head towards the desk. | STEP 2: Pick up the box on the floor beneath the desk. | STEP 3: Turn around, head towards the table, turn left and head towards the sofa. | STEP 4: Place the box on the sofa. | STEP 5: Turn around and face the table. | STEP 6: Pick up the credit card next to the plant on the table. | STEP 7: Turn around and face the box on the sofa.", "output": ["STEP 8: Place the credit card inside the box."]} +{"id": "trial_T20190906_201636_696952-1%8", "input": "Place the box with the credit card on the sofa. | STEP 1: Turn left and head towards the desk. | STEP 2: Pick up the box on the floor beneath the desk. | STEP 3: Turn around, head towards the table, turn left and head towards the sofa. | STEP 4: Place the box on the sofa. | STEP 5: Turn around and face the table. | STEP 6: Pick up the credit card next to the plant on the table. | STEP 7: Turn around and face the box on the sofa. | STEP 8: Place the credit card inside the box.", "output": ["END"]} +{"id": "trial_T20190906_201636_696952-2%0", "input": "Move a credit card to a box on the sofa. ", "output": ["STEP 1: Move to stand in front of the desk that's beneath the framed picture of flowers."]} +{"id": "trial_T20190906_201636_696952-2%1", "input": "Move a credit card to a box on the sofa. | STEP 1: Move to stand in front of the desk that's beneath the framed picture of flowers.", "output": ["STEP 2: Pick up the box from beneath the desk. "]} +{"id": "trial_T20190906_201636_696952-2%2", "input": "Move a credit card to a box on the sofa. | STEP 1: Move to stand in front of the desk that's beneath the framed picture of flowers. | STEP 2: Pick up the box from beneath the desk. ", "output": ["STEP 3: Turn around and carry the box to the sofa, so you're standing between the sofa and coffee table. "]} +{"id": "trial_T20190906_201636_696952-2%3", "input": "Move a credit card to a box on the sofa. | STEP 1: Move to stand in front of the desk that's beneath the framed picture of flowers. | STEP 2: Pick up the box from beneath the desk. | STEP 3: Turn around and carry the box to the sofa, so you're standing between the sofa and coffee table. ", "output": ["STEP 4: Place the box on the sofa, centered between the two rightmost cushions. "]} +{"id": "trial_T20190906_201636_696952-2%4", "input": "Move a credit card to a box on the sofa. | STEP 1: Move to stand in front of the desk that's beneath the framed picture of flowers. | STEP 2: Pick up the box from beneath the desk. | STEP 3: Turn around and carry the box to the sofa, so you're standing between the sofa and coffee table. | STEP 4: Place the box on the sofa, centered between the two rightmost cushions. ", "output": ["STEP 5: Turn and move to the other side of the coffee table, so you're facing the handles to the drawers beneath it. "]} +{"id": "trial_T20190906_201636_696952-2%5", "input": "Move a credit card to a box on the sofa. | STEP 1: Move to stand in front of the desk that's beneath the framed picture of flowers. | STEP 2: Pick up the box from beneath the desk. | STEP 3: Turn around and carry the box to the sofa, so you're standing between the sofa and coffee table. | STEP 4: Place the box on the sofa, centered between the two rightmost cushions. | STEP 5: Turn and move to the other side of the coffee table, so you're facing the handles to the drawers beneath it. ", "output": ["STEP 6: Pick up the credit card from the coffee table. "]} +{"id": "trial_T20190906_201636_696952-2%6", "input": "Move a credit card to a box on the sofa. | STEP 1: Move to stand in front of the desk that's beneath the framed picture of flowers. | STEP 2: Pick up the box from beneath the desk. | STEP 3: Turn around and carry the box to the sofa, so you're standing between the sofa and coffee table. | STEP 4: Place the box on the sofa, centered between the two rightmost cushions. | STEP 5: Turn and move to the other side of the coffee table, so you're facing the handles to the drawers beneath it. | STEP 6: Pick up the credit card from the coffee table. ", "output": ["STEP 7: Carry the credit card to the sofa, so you're facing the box you previously placed there. "]} +{"id": "trial_T20190906_201636_696952-2%7", "input": "Move a credit card to a box on the sofa. | STEP 1: Move to stand in front of the desk that's beneath the framed picture of flowers. | STEP 2: Pick up the box from beneath the desk. | STEP 3: Turn around and carry the box to the sofa, so you're standing between the sofa and coffee table. | STEP 4: Place the box on the sofa, centered between the two rightmost cushions. | STEP 5: Turn and move to the other side of the coffee table, so you're facing the handles to the drawers beneath it. | STEP 6: Pick up the credit card from the coffee table. | STEP 7: Carry the credit card to the sofa, so you're facing the box you previously placed there. ", "output": ["STEP 8: Place the credit card in the box and close the top of the box shut."]} +{"id": "trial_T20190906_201636_696952-2%8", "input": "Move a credit card to a box on the sofa. | STEP 1: Move to stand in front of the desk that's beneath the framed picture of flowers. | STEP 2: Pick up the box from beneath the desk. | STEP 3: Turn around and carry the box to the sofa, so you're standing between the sofa and coffee table. | STEP 4: Place the box on the sofa, centered between the two rightmost cushions. | STEP 5: Turn and move to the other side of the coffee table, so you're facing the handles to the drawers beneath it. | STEP 6: Pick up the credit card from the coffee table. | STEP 7: Carry the credit card to the sofa, so you're facing the box you previously placed there. | STEP 8: Place the credit card in the box and close the top of the box shut.", "output": ["END"]} +{"id": "trial_T20190918_182645_558872-1%0", "input": "place a cold potato slice inside the microwave", "output": ["STEP 1: move right towards the coffee maker"]} +{"id": "trial_T20190918_182645_558872-1%1", "input": "place a cold potato slice inside the microwave | STEP 1: move right towards the coffee maker", "output": ["STEP 2: pick up a knife at the right side of the coffee maker"]} +{"id": "trial_T20190918_182645_558872-1%2", "input": "place a cold potato slice inside the microwave | STEP 1: move right towards the coffee maker | STEP 2: pick up a knife at the right side of the coffee maker", "output": ["STEP 3: turn right and head for the table"]} +{"id": "trial_T20190918_182645_558872-1%3", "input": "place a cold potato slice inside the microwave | STEP 1: move right towards the coffee maker | STEP 2: pick up a knife at the right side of the coffee maker | STEP 3: turn right and head for the table", "output": ["STEP 4: slice the potato on the table"]} +{"id": "trial_T20190918_182645_558872-1%4", "input": "place a cold potato slice inside the microwave | STEP 1: move right towards the coffee maker | STEP 2: pick up a knife at the right side of the coffee maker | STEP 3: turn right and head for the table | STEP 4: slice the potato on the table", "output": ["STEP 5: turn left to the fridge"]} +{"id": "trial_T20190918_182645_558872-1%5", "input": "place a cold potato slice inside the microwave | STEP 1: move right towards the coffee maker | STEP 2: pick up a knife at the right side of the coffee maker | STEP 3: turn right and head for the table | STEP 4: slice the potato on the table | STEP 5: turn left to the fridge", "output": ["STEP 6: drop the knife inside the fridge"]} +{"id": "trial_T20190918_182645_558872-1%6", "input": "place a cold potato slice inside the microwave | STEP 1: move right towards the coffee maker | STEP 2: pick up a knife at the right side of the coffee maker | STEP 3: turn right and head for the table | STEP 4: slice the potato on the table | STEP 5: turn left to the fridge | STEP 6: drop the knife inside the fridge", "output": ["STEP 7: turn right and head to the table"]} +{"id": "trial_T20190918_182645_558872-1%7", "input": "place a cold potato slice inside the microwave | STEP 1: move right towards the coffee maker | STEP 2: pick up a knife at the right side of the coffee maker | STEP 3: turn right and head for the table | STEP 4: slice the potato on the table | STEP 5: turn left to the fridge | STEP 6: drop the knife inside the fridge | STEP 7: turn right and head to the table", "output": ["STEP 8: pick up a potato slice"]} +{"id": "trial_T20190918_182645_558872-1%8", "input": "place a cold potato slice inside the microwave | STEP 1: move right towards the coffee maker | STEP 2: pick up a knife at the right side of the coffee maker | STEP 3: turn right and head for the table | STEP 4: slice the potato on the table | STEP 5: turn left to the fridge | STEP 6: drop the knife inside the fridge | STEP 7: turn right and head to the table | STEP 8: pick up a potato slice", "output": ["STEP 9: turn left and head for the fridge"]} +{"id": "trial_T20190918_182645_558872-1%9", "input": "place a cold potato slice inside the microwave | STEP 1: move right towards the coffee maker | STEP 2: pick up a knife at the right side of the coffee maker | STEP 3: turn right and head for the table | STEP 4: slice the potato on the table | STEP 5: turn left to the fridge | STEP 6: drop the knife inside the fridge | STEP 7: turn right and head to the table | STEP 8: pick up a potato slice | STEP 9: turn left and head for the fridge", "output": ["STEP 10: place the potato to cool for some time and take it out"]} +{"id": "trial_T20190918_182645_558872-1%10", "input": "place a cold potato slice inside the microwave | STEP 1: move right towards the coffee maker | STEP 2: pick up a knife at the right side of the coffee maker | STEP 3: turn right and head for the table | STEP 4: slice the potato on the table | STEP 5: turn left to the fridge | STEP 6: drop the knife inside the fridge | STEP 7: turn right and head to the table | STEP 8: pick up a potato slice | STEP 9: turn left and head for the fridge | STEP 10: place the potato to cool for some time and take it out", "output": ["STEP 11: turn right towards the microwave"]} +{"id": "trial_T20190918_182645_558872-1%11", "input": "place a cold potato slice inside the microwave | STEP 1: move right towards the coffee maker | STEP 2: pick up a knife at the right side of the coffee maker | STEP 3: turn right and head for the table | STEP 4: slice the potato on the table | STEP 5: turn left to the fridge | STEP 6: drop the knife inside the fridge | STEP 7: turn right and head to the table | STEP 8: pick up a potato slice | STEP 9: turn left and head for the fridge | STEP 10: place the potato to cool for some time and take it out | STEP 11: turn right towards the microwave", "output": ["STEP 12: place the potato inside the microwave"]} +{"id": "trial_T20190918_182645_558872-1%12", "input": "place a cold potato slice inside the microwave | STEP 1: move right towards the coffee maker | STEP 2: pick up a knife at the right side of the coffee maker | STEP 3: turn right and head for the table | STEP 4: slice the potato on the table | STEP 5: turn left to the fridge | STEP 6: drop the knife inside the fridge | STEP 7: turn right and head to the table | STEP 8: pick up a potato slice | STEP 9: turn left and head for the fridge | STEP 10: place the potato to cool for some time and take it out | STEP 11: turn right towards the microwave | STEP 12: place the potato inside the microwave", "output": ["END"]} +{"id": "trial_T20190911_063520_618858-0%0", "input": "Put the glass from the table into the sink.", "output": ["STEP 1: Walk forward then left to the table."]} +{"id": "trial_T20190911_063520_618858-0%1", "input": "Put the glass from the table into the sink. | STEP 1: Walk forward then left to the table.", "output": ["STEP 2: Pick up the glass from the table."]} +{"id": "trial_T20190911_063520_618858-0%2", "input": "Put the glass from the table into the sink. | STEP 1: Walk forward then left to the table. | STEP 2: Pick up the glass from the table.", "output": ["STEP 3: Turn around and go to the sink."]} +{"id": "trial_T20190911_063520_618858-0%3", "input": "Put the glass from the table into the sink. | STEP 1: Walk forward then left to the table. | STEP 2: Pick up the glass from the table. | STEP 3: Turn around and go to the sink.", "output": ["STEP 4: Put the glass in the sink."]} +{"id": "trial_T20190911_063520_618858-0%4", "input": "Put the glass from the table into the sink. | STEP 1: Walk forward then left to the table. | STEP 2: Pick up the glass from the table. | STEP 3: Turn around and go to the sink. | STEP 4: Put the glass in the sink.", "output": ["END"]} +{"id": "trial_T20190906_201451_338338-0%0", "input": "Put a mug with pen on the shelf under the table. ", "output": ["STEP 1: Move to the dresser. "]} +{"id": "trial_T20190906_201451_338338-0%1", "input": "Put a mug with pen on the shelf under the table. | STEP 1: Move to the dresser. ", "output": ["STEP 2: Pick up the mug with pen. "]} +{"id": "trial_T20190906_201451_338338-0%2", "input": "Put a mug with pen on the shelf under the table. | STEP 1: Move to the dresser. | STEP 2: Pick up the mug with pen. ", "output": ["STEP 3: Bring the mug with pen to the long white table. "]} +{"id": "trial_T20190906_201451_338338-0%3", "input": "Put a mug with pen on the shelf under the table. | STEP 1: Move to the dresser. | STEP 2: Pick up the mug with pen. | STEP 3: Bring the mug with pen to the long white table. ", "output": ["STEP 4: Put the mug with pen on the shelf under the table. "]} +{"id": "trial_T20190906_201451_338338-0%4", "input": "Put a mug with pen on the shelf under the table. | STEP 1: Move to the dresser. | STEP 2: Pick up the mug with pen. | STEP 3: Bring the mug with pen to the long white table. | STEP 4: Put the mug with pen on the shelf under the table. ", "output": ["END"]} +{"id": "trial_T20190906_201451_338338-1%0", "input": "Move the cup with the pen from the dress to under the table", "output": ["STEP 1: Walk straight, turn right, walk to the dresser"]} +{"id": "trial_T20190906_201451_338338-1%1", "input": "Move the cup with the pen from the dress to under the table | STEP 1: Walk straight, turn right, walk to the dresser", "output": ["STEP 2: Grab the cup with the pen"]} +{"id": "trial_T20190906_201451_338338-1%2", "input": "Move the cup with the pen from the dress to under the table | STEP 1: Walk straight, turn right, walk to the dresser | STEP 2: Grab the cup with the pen", "output": ["STEP 3: Turn around, walk to the white table"]} +{"id": "trial_T20190906_201451_338338-1%3", "input": "Move the cup with the pen from the dress to under the table | STEP 1: Walk straight, turn right, walk to the dresser | STEP 2: Grab the cup with the pen | STEP 3: Turn around, walk to the white table", "output": ["STEP 4: Put the cup and the pen below the table, on the brown drawers"]} +{"id": "trial_T20190906_201451_338338-1%4", "input": "Move the cup with the pen from the dress to under the table | STEP 1: Walk straight, turn right, walk to the dresser | STEP 2: Grab the cup with the pen | STEP 3: Turn around, walk to the white table | STEP 4: Put the cup and the pen below the table, on the brown drawers", "output": ["END"]} +{"id": "trial_T20190908_113458_840400-0%0", "input": "Look at the coffee cup in the lamp light.", "output": ["STEP 1: Turn to the right and take one step, then turn to the right and walk to the dresser. "]} +{"id": "trial_T20190908_113458_840400-0%1", "input": "Look at the coffee cup in the lamp light. | STEP 1: Turn to the right and take one step, then turn to the right and walk to the dresser. ", "output": ["STEP 2: Pick up the coffee cup on the dresser. "]} +{"id": "trial_T20190908_113458_840400-0%2", "input": "Look at the coffee cup in the lamp light. | STEP 1: Turn to the right and take one step, then turn to the right and walk to the dresser. | STEP 2: Pick up the coffee cup on the dresser. ", "output": ["STEP 3: Turn around and walk to the table. "]} +{"id": "trial_T20190908_113458_840400-0%3", "input": "Look at the coffee cup in the lamp light. | STEP 1: Turn to the right and take one step, then turn to the right and walk to the dresser. | STEP 2: Pick up the coffee cup on the dresser. | STEP 3: Turn around and walk to the table. ", "output": ["STEP 4: Turn on the lamp. "]} +{"id": "trial_T20190908_113458_840400-0%4", "input": "Look at the coffee cup in the lamp light. | STEP 1: Turn to the right and take one step, then turn to the right and walk to the dresser. | STEP 2: Pick up the coffee cup on the dresser. | STEP 3: Turn around and walk to the table. | STEP 4: Turn on the lamp. ", "output": ["END"]} +{"id": "trial_T20190908_113458_840400-1%0", "input": "Pick up a cup and turn on a lamp.", "output": ["STEP 1: Turn around and face the brown dresser."]} +{"id": "trial_T20190908_113458_840400-1%1", "input": "Pick up a cup and turn on a lamp. | STEP 1: Turn around and face the brown dresser.", "output": ["STEP 2: Pick the cup up from the dresser."]} +{"id": "trial_T20190908_113458_840400-1%2", "input": "Pick up a cup and turn on a lamp. | STEP 1: Turn around and face the brown dresser. | STEP 2: Pick the cup up from the dresser.", "output": ["STEP 3: Turn around and face the white table with the lamp."]} +{"id": "trial_T20190908_113458_840400-1%3", "input": "Pick up a cup and turn on a lamp. | STEP 1: Turn around and face the brown dresser. | STEP 2: Pick the cup up from the dresser. | STEP 3: Turn around and face the white table with the lamp.", "output": ["STEP 4: Turn the lamp on the table on."]} +{"id": "trial_T20190908_113458_840400-1%4", "input": "Pick up a cup and turn on a lamp. | STEP 1: Turn around and face the brown dresser. | STEP 2: Pick the cup up from the dresser. | STEP 3: Turn around and face the white table with the lamp. | STEP 4: Turn the lamp on the table on.", "output": ["END"]} +{"id": "trial_T20190909_031925_522476-0%0", "input": "Pick up the apple and heat it up inside the microwave and after it is done place it on the counter.", "output": ["STEP 1: turn right and move forward and turn to the left and face the counter"]} +{"id": "trial_T20190909_031925_522476-0%1", "input": "Pick up the apple and heat it up inside the microwave and after it is done place it on the counter. | STEP 1: turn right and move forward and turn to the left and face the counter", "output": ["STEP 2: pick up brown apple from the counter"]} +{"id": "trial_T20190909_031925_522476-0%2", "input": "Pick up the apple and heat it up inside the microwave and after it is done place it on the counter. | STEP 1: turn right and move forward and turn to the left and face the counter | STEP 2: pick up brown apple from the counter", "output": ["STEP 3: turn around move forward and turn left and turn left again and face the microwave and place the apple inside of it"]} +{"id": "trial_T20190909_031925_522476-0%3", "input": "Pick up the apple and heat it up inside the microwave and after it is done place it on the counter. | STEP 1: turn right and move forward and turn to the left and face the counter | STEP 2: pick up brown apple from the counter | STEP 3: turn around move forward and turn left and turn left again and face the microwave and place the apple inside of it", "output": ["STEP 4: place the apple inside of it and heat it up"]} +{"id": "trial_T20190909_031925_522476-0%4", "input": "Pick up the apple and heat it up inside the microwave and after it is done place it on the counter. | STEP 1: turn right and move forward and turn to the left and face the counter | STEP 2: pick up brown apple from the counter | STEP 3: turn around move forward and turn left and turn left again and face the microwave and place the apple inside of it | STEP 4: place the apple inside of it and heat it up", "output": ["STEP 5: turn left and move forward and then turn right and towards the counter"]} +{"id": "trial_T20190909_031925_522476-0%5", "input": "Pick up the apple and heat it up inside the microwave and after it is done place it on the counter. | STEP 1: turn right and move forward and turn to the left and face the counter | STEP 2: pick up brown apple from the counter | STEP 3: turn around move forward and turn left and turn left again and face the microwave and place the apple inside of it | STEP 4: place the apple inside of it and heat it up | STEP 5: turn left and move forward and then turn right and towards the counter", "output": ["STEP 6: place the apple on the counter "]} +{"id": "trial_T20190909_031925_522476-0%6", "input": "Pick up the apple and heat it up inside the microwave and after it is done place it on the counter. | STEP 1: turn right and move forward and turn to the left and face the counter | STEP 2: pick up brown apple from the counter | STEP 3: turn around move forward and turn left and turn left again and face the microwave and place the apple inside of it | STEP 4: place the apple inside of it and heat it up | STEP 5: turn left and move forward and then turn right and towards the counter | STEP 6: place the apple on the counter ", "output": ["END"]} +{"id": "trial_T20190908_044804_986661-0%0", "input": "Place a chilled piece of lettuce into the blue recycling bin.", "output": ["STEP 1: Turn around and walk to the knife to the right of the pot on the counter."]} +{"id": "trial_T20190908_044804_986661-0%1", "input": "Place a chilled piece of lettuce into the blue recycling bin. | STEP 1: Turn around and walk to the knife to the right of the pot on the counter.", "output": ["STEP 2: Pick up the knife on the counter."]} +{"id": "trial_T20190908_044804_986661-0%2", "input": "Place a chilled piece of lettuce into the blue recycling bin. | STEP 1: Turn around and walk to the knife to the right of the pot on the counter. | STEP 2: Pick up the knife on the counter.", "output": ["STEP 3: Walk to the lettuce on the counter."]} +{"id": "trial_T20190908_044804_986661-0%3", "input": "Place a chilled piece of lettuce into the blue recycling bin. | STEP 1: Turn around and walk to the knife to the right of the pot on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Walk to the lettuce on the counter.", "output": ["STEP 4: Cut up the rightmost lettuce on the counter."]} +{"id": "trial_T20190908_044804_986661-0%4", "input": "Place a chilled piece of lettuce into the blue recycling bin. | STEP 1: Turn around and walk to the knife to the right of the pot on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Walk to the lettuce on the counter. | STEP 4: Cut up the rightmost lettuce on the counter.", "output": ["STEP 5: Take one step back and then look at the counter with the lettuce on it."]} +{"id": "trial_T20190908_044804_986661-0%5", "input": "Place a chilled piece of lettuce into the blue recycling bin. | STEP 1: Turn around and walk to the knife to the right of the pot on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Walk to the lettuce on the counter. | STEP 4: Cut up the rightmost lettuce on the counter. | STEP 5: Take one step back and then look at the counter with the lettuce on it.", "output": ["STEP 6: Place the knife in front of the lettuce on the counter."]} +{"id": "trial_T20190908_044804_986661-0%6", "input": "Place a chilled piece of lettuce into the blue recycling bin. | STEP 1: Turn around and walk to the knife to the right of the pot on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Walk to the lettuce on the counter. | STEP 4: Cut up the rightmost lettuce on the counter. | STEP 5: Take one step back and then look at the counter with the lettuce on it. | STEP 6: Place the knife in front of the lettuce on the counter.", "output": ["STEP 7: Take one step forward to the counter."]} +{"id": "trial_T20190908_044804_986661-0%7", "input": "Place a chilled piece of lettuce into the blue recycling bin. | STEP 1: Turn around and walk to the knife to the right of the pot on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Walk to the lettuce on the counter. | STEP 4: Cut up the rightmost lettuce on the counter. | STEP 5: Take one step back and then look at the counter with the lettuce on it. | STEP 6: Place the knife in front of the lettuce on the counter. | STEP 7: Take one step forward to the counter.", "output": ["STEP 8: Pick up a piece of the lettuce on the counter."]} +{"id": "trial_T20190908_044804_986661-0%8", "input": "Place a chilled piece of lettuce into the blue recycling bin. | STEP 1: Turn around and walk to the knife to the right of the pot on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Walk to the lettuce on the counter. | STEP 4: Cut up the rightmost lettuce on the counter. | STEP 5: Take one step back and then look at the counter with the lettuce on it. | STEP 6: Place the knife in front of the lettuce on the counter. | STEP 7: Take one step forward to the counter. | STEP 8: Pick up a piece of the lettuce on the counter.", "output": ["STEP 9: Turn around and walk to the fridge."]} +{"id": "trial_T20190908_044804_986661-0%9", "input": "Place a chilled piece of lettuce into the blue recycling bin. | STEP 1: Turn around and walk to the knife to the right of the pot on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Walk to the lettuce on the counter. | STEP 4: Cut up the rightmost lettuce on the counter. | STEP 5: Take one step back and then look at the counter with the lettuce on it. | STEP 6: Place the knife in front of the lettuce on the counter. | STEP 7: Take one step forward to the counter. | STEP 8: Pick up a piece of the lettuce on the counter. | STEP 9: Turn around and walk to the fridge.", "output": ["STEP 10: Chill the piece of lettuce in the fridge and then pick up the piece of lettuce from the fridge."]} +{"id": "trial_T20190908_044804_986661-0%10", "input": "Place a chilled piece of lettuce into the blue recycling bin. | STEP 1: Turn around and walk to the knife to the right of the pot on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Walk to the lettuce on the counter. | STEP 4: Cut up the rightmost lettuce on the counter. | STEP 5: Take one step back and then look at the counter with the lettuce on it. | STEP 6: Place the knife in front of the lettuce on the counter. | STEP 7: Take one step forward to the counter. | STEP 8: Pick up a piece of the lettuce on the counter. | STEP 9: Turn around and walk to the fridge. | STEP 10: Chill the piece of lettuce in the fridge and then pick up the piece of lettuce from the fridge.", "output": ["STEP 11: Turn right and walk to the blue recycling bin next to the window."]} +{"id": "trial_T20190908_044804_986661-0%11", "input": "Place a chilled piece of lettuce into the blue recycling bin. | STEP 1: Turn around and walk to the knife to the right of the pot on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Walk to the lettuce on the counter. | STEP 4: Cut up the rightmost lettuce on the counter. | STEP 5: Take one step back and then look at the counter with the lettuce on it. | STEP 6: Place the knife in front of the lettuce on the counter. | STEP 7: Take one step forward to the counter. | STEP 8: Pick up a piece of the lettuce on the counter. | STEP 9: Turn around and walk to the fridge. | STEP 10: Chill the piece of lettuce in the fridge and then pick up the piece of lettuce from the fridge. | STEP 11: Turn right and walk to the blue recycling bin next to the window.", "output": ["STEP 12: Place the piece of lettuce into the blue recycling bin."]} +{"id": "trial_T20190908_044804_986661-0%12", "input": "Place a chilled piece of lettuce into the blue recycling bin. | STEP 1: Turn around and walk to the knife to the right of the pot on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Walk to the lettuce on the counter. | STEP 4: Cut up the rightmost lettuce on the counter. | STEP 5: Take one step back and then look at the counter with the lettuce on it. | STEP 6: Place the knife in front of the lettuce on the counter. | STEP 7: Take one step forward to the counter. | STEP 8: Pick up a piece of the lettuce on the counter. | STEP 9: Turn around and walk to the fridge. | STEP 10: Chill the piece of lettuce in the fridge and then pick up the piece of lettuce from the fridge. | STEP 11: Turn right and walk to the blue recycling bin next to the window. | STEP 12: Place the piece of lettuce into the blue recycling bin.", "output": ["END"]} +{"id": "trial_T20190908_154427_989098-0%0", "input": "Move a book from the bed into a cabinet.", "output": ["STEP 1: Walk around to the far side of the bed."]} +{"id": "trial_T20190908_154427_989098-0%1", "input": "Move a book from the bed into a cabinet. | STEP 1: Walk around to the far side of the bed.", "output": ["STEP 2: Pick up the book off of the bed."]} +{"id": "trial_T20190908_154427_989098-0%2", "input": "Move a book from the bed into a cabinet. | STEP 1: Walk around to the far side of the bed. | STEP 2: Pick up the book off of the bed.", "output": ["STEP 3: Turn left and walk over to the black dresser."]} +{"id": "trial_T20190908_154427_989098-0%3", "input": "Move a book from the bed into a cabinet. | STEP 1: Walk around to the far side of the bed. | STEP 2: Pick up the book off of the bed. | STEP 3: Turn left and walk over to the black dresser.", "output": ["STEP 4: Open the leftmost lower cabinet door and put the book inside the cabinet, then close the door."]} +{"id": "trial_T20190908_154427_989098-0%4", "input": "Move a book from the bed into a cabinet. | STEP 1: Walk around to the far side of the bed. | STEP 2: Pick up the book off of the bed. | STEP 3: Turn left and walk over to the black dresser. | STEP 4: Open the leftmost lower cabinet door and put the book inside the cabinet, then close the door.", "output": ["END"]} +{"id": "trial_T20190908_154427_989098-2%0", "input": "Pick up the brown book and put it in the black cabinet.", "output": ["STEP 1: Circle around the white bed to the left and stop between the bed and the wall."]} +{"id": "trial_T20190908_154427_989098-2%1", "input": "Pick up the brown book and put it in the black cabinet. | STEP 1: Circle around the white bed to the left and stop between the bed and the wall.", "output": ["STEP 2: Pick up the brown book on the white bed."]} +{"id": "trial_T20190908_154427_989098-2%2", "input": "Pick up the brown book and put it in the black cabinet. | STEP 1: Circle around the white bed to the left and stop between the bed and the wall. | STEP 2: Pick up the brown book on the white bed.", "output": ["STEP 3: Turn around and walk to the black cabinets."]} +{"id": "trial_T20190908_154427_989098-2%3", "input": "Pick up the brown book and put it in the black cabinet. | STEP 1: Circle around the white bed to the left and stop between the bed and the wall. | STEP 2: Pick up the brown book on the white bed. | STEP 3: Turn around and walk to the black cabinets.", "output": ["STEP 4: Open the first cabinet door and place the book inside the cabinet closing the door behind it."]} +{"id": "trial_T20190908_154427_989098-2%4", "input": "Pick up the brown book and put it in the black cabinet. | STEP 1: Circle around the white bed to the left and stop between the bed and the wall. | STEP 2: Pick up the brown book on the white bed. | STEP 3: Turn around and walk to the black cabinets. | STEP 4: Open the first cabinet door and place the book inside the cabinet closing the door behind it.", "output": ["END"]} +{"id": "trial_T20190909_085122_079866-1%0", "input": "Pick up a newspaper and turn a lamp on.", "output": ["STEP 1: Go forward and turn to the left and face the brown shelves."]} +{"id": "trial_T20190909_085122_079866-1%1", "input": "Pick up a newspaper and turn a lamp on. | STEP 1: Go forward and turn to the left and face the brown shelves.", "output": ["STEP 2: Pick the newspaper up from the shelf."]} +{"id": "trial_T20190909_085122_079866-1%2", "input": "Pick up a newspaper and turn a lamp on. | STEP 1: Go forward and turn to the left and face the brown shelves. | STEP 2: Pick the newspaper up from the shelf.", "output": ["STEP 3: Turn to the right and face the small table with the lamp."]} +{"id": "trial_T20190909_085122_079866-1%3", "input": "Pick up a newspaper and turn a lamp on. | STEP 1: Go forward and turn to the left and face the brown shelves. | STEP 2: Pick the newspaper up from the shelf. | STEP 3: Turn to the right and face the small table with the lamp.", "output": ["STEP 4: Turn the lamp on."]} +{"id": "trial_T20190909_085122_079866-1%4", "input": "Pick up a newspaper and turn a lamp on. | STEP 1: Go forward and turn to the left and face the brown shelves. | STEP 2: Pick the newspaper up from the shelf. | STEP 3: Turn to the right and face the small table with the lamp. | STEP 4: Turn the lamp on.", "output": ["END"]} +{"id": "trial_T20190908_125051_986015-0%0", "input": "Put the rinsed soap bar on the bottom shelf", "output": ["STEP 1: Walk forward to the bathtub"]} +{"id": "trial_T20190908_125051_986015-0%1", "input": "Put the rinsed soap bar on the bottom shelf | STEP 1: Walk forward to the bathtub", "output": ["STEP 2: Pick up the soap bar from the left side of the bathtub"]} +{"id": "trial_T20190908_125051_986015-0%2", "input": "Put the rinsed soap bar on the bottom shelf | STEP 1: Walk forward to the bathtub | STEP 2: Pick up the soap bar from the left side of the bathtub", "output": ["STEP 3: Turn right and walk over to the sink"]} +{"id": "trial_T20190908_125051_986015-0%3", "input": "Put the rinsed soap bar on the bottom shelf | STEP 1: Walk forward to the bathtub | STEP 2: Pick up the soap bar from the left side of the bathtub | STEP 3: Turn right and walk over to the sink", "output": ["STEP 4: Wash the soap bar under the water in the sink and remove it"]} +{"id": "trial_T20190908_125051_986015-0%4", "input": "Put the rinsed soap bar on the bottom shelf | STEP 1: Walk forward to the bathtub | STEP 2: Pick up the soap bar from the left side of the bathtub | STEP 3: Turn right and walk over to the sink | STEP 4: Wash the soap bar under the water in the sink and remove it", "output": ["STEP 5: Turn around and walk over to the white wall shelf"]} +{"id": "trial_T20190908_125051_986015-0%5", "input": "Put the rinsed soap bar on the bottom shelf | STEP 1: Walk forward to the bathtub | STEP 2: Pick up the soap bar from the left side of the bathtub | STEP 3: Turn right and walk over to the sink | STEP 4: Wash the soap bar under the water in the sink and remove it | STEP 5: Turn around and walk over to the white wall shelf", "output": ["STEP 6: Put the soap bar on the bottom shelf"]} +{"id": "trial_T20190908_125051_986015-0%6", "input": "Put the rinsed soap bar on the bottom shelf | STEP 1: Walk forward to the bathtub | STEP 2: Pick up the soap bar from the left side of the bathtub | STEP 3: Turn right and walk over to the sink | STEP 4: Wash the soap bar under the water in the sink and remove it | STEP 5: Turn around and walk over to the white wall shelf | STEP 6: Put the soap bar on the bottom shelf", "output": ["END"]} +{"id": "trial_T20190908_125051_986015-2%0", "input": "Place a rinsed bar of soap on a shelf.", "output": ["STEP 1: Walk ahead to the bathtub."]} +{"id": "trial_T20190908_125051_986015-2%1", "input": "Place a rinsed bar of soap on a shelf. | STEP 1: Walk ahead to the bathtub.", "output": ["STEP 2: Pick up the soap on the tub lip."]} +{"id": "trial_T20190908_125051_986015-2%2", "input": "Place a rinsed bar of soap on a shelf. | STEP 1: Walk ahead to the bathtub. | STEP 2: Pick up the soap on the tub lip.", "output": ["STEP 3: Turn right and walk to the sink."]} +{"id": "trial_T20190908_125051_986015-2%3", "input": "Place a rinsed bar of soap on a shelf. | STEP 1: Walk ahead to the bathtub. | STEP 2: Pick up the soap on the tub lip. | STEP 3: Turn right and walk to the sink.", "output": ["STEP 4: Rinse the soap in the sink."]} +{"id": "trial_T20190908_125051_986015-2%4", "input": "Place a rinsed bar of soap on a shelf. | STEP 1: Walk ahead to the bathtub. | STEP 2: Pick up the soap on the tub lip. | STEP 3: Turn right and walk to the sink. | STEP 4: Rinse the soap in the sink.", "output": ["STEP 5: Turn around and walk to the shelves."]} +{"id": "trial_T20190908_125051_986015-2%5", "input": "Place a rinsed bar of soap on a shelf. | STEP 1: Walk ahead to the bathtub. | STEP 2: Pick up the soap on the tub lip. | STEP 3: Turn right and walk to the sink. | STEP 4: Rinse the soap in the sink. | STEP 5: Turn around and walk to the shelves.", "output": ["STEP 6: Place the soap on the bottom shelf to the right of the empty toilet paper roll."]} +{"id": "trial_T20190908_125051_986015-2%6", "input": "Place a rinsed bar of soap on a shelf. | STEP 1: Walk ahead to the bathtub. | STEP 2: Pick up the soap on the tub lip. | STEP 3: Turn right and walk to the sink. | STEP 4: Rinse the soap in the sink. | STEP 5: Turn around and walk to the shelves. | STEP 6: Place the soap on the bottom shelf to the right of the empty toilet paper roll.", "output": ["END"]} +{"id": "trial_T20190910_140928_997692-2%0", "input": "Put two purple bottles on a toilet tank.", "output": ["STEP 1: Turn left, go forward a step, turn right, go forward to the sink."]} +{"id": "trial_T20190910_140928_997692-2%1", "input": "Put two purple bottles on a toilet tank. | STEP 1: Turn left, go forward a step, turn right, go forward to the sink.", "output": ["STEP 2: Take the purple spray bottle from the trash bin."]} +{"id": "trial_T20190910_140928_997692-2%2", "input": "Put two purple bottles on a toilet tank. | STEP 1: Turn left, go forward a step, turn right, go forward to the sink. | STEP 2: Take the purple spray bottle from the trash bin.", "output": ["STEP 3: Turn around, go forward a step, turn left, go forward to the wall, turn left"]} +{"id": "trial_T20190910_140928_997692-2%3", "input": "Put two purple bottles on a toilet tank. | STEP 1: Turn left, go forward a step, turn right, go forward to the sink. | STEP 2: Take the purple spray bottle from the trash bin. | STEP 3: Turn around, go forward a step, turn left, go forward to the wall, turn left", "output": ["STEP 4: Put the bottle on the right side on the toilet tank."]} +{"id": "trial_T20190910_140928_997692-2%4", "input": "Put two purple bottles on a toilet tank. | STEP 1: Turn left, go forward a step, turn right, go forward to the sink. | STEP 2: Take the purple spray bottle from the trash bin. | STEP 3: Turn around, go forward a step, turn left, go forward to the wall, turn left | STEP 4: Put the bottle on the right side on the toilet tank.", "output": ["STEP 5: Turn left, go back to in front of the sink."]} +{"id": "trial_T20190910_140928_997692-2%5", "input": "Put two purple bottles on a toilet tank. | STEP 1: Turn left, go forward a step, turn right, go forward to the sink. | STEP 2: Take the purple spray bottle from the trash bin. | STEP 3: Turn around, go forward a step, turn left, go forward to the wall, turn left | STEP 4: Put the bottle on the right side on the toilet tank. | STEP 5: Turn left, go back to in front of the sink.", "output": ["STEP 6: Take the purple spray bottle from the trash bin."]} +{"id": "trial_T20190910_140928_997692-2%6", "input": "Put two purple bottles on a toilet tank. | STEP 1: Turn left, go forward a step, turn right, go forward to the sink. | STEP 2: Take the purple spray bottle from the trash bin. | STEP 3: Turn around, go forward a step, turn left, go forward to the wall, turn left | STEP 4: Put the bottle on the right side on the toilet tank. | STEP 5: Turn left, go back to in front of the sink. | STEP 6: Take the purple spray bottle from the trash bin.", "output": ["STEP 7: Turn around, go forward a step, turn left, go forward to the wall, turn left"]} +{"id": "trial_T20190910_140928_997692-2%7", "input": "Put two purple bottles on a toilet tank. | STEP 1: Turn left, go forward a step, turn right, go forward to the sink. | STEP 2: Take the purple spray bottle from the trash bin. | STEP 3: Turn around, go forward a step, turn left, go forward to the wall, turn left | STEP 4: Put the bottle on the right side on the toilet tank. | STEP 5: Turn left, go back to in front of the sink. | STEP 6: Take the purple spray bottle from the trash bin. | STEP 7: Turn around, go forward a step, turn left, go forward to the wall, turn left", "output": ["STEP 8: Put the bottle on the left of the first purple bottle on the toilet tank."]} +{"id": "trial_T20190910_140928_997692-2%8", "input": "Put two purple bottles on a toilet tank. | STEP 1: Turn left, go forward a step, turn right, go forward to the sink. | STEP 2: Take the purple spray bottle from the trash bin. | STEP 3: Turn around, go forward a step, turn left, go forward to the wall, turn left | STEP 4: Put the bottle on the right side on the toilet tank. | STEP 5: Turn left, go back to in front of the sink. | STEP 6: Take the purple spray bottle from the trash bin. | STEP 7: Turn around, go forward a step, turn left, go forward to the wall, turn left | STEP 8: Put the bottle on the left of the first purple bottle on the toilet tank.", "output": ["END"]} +{"id": "trial_T20190909_044327_889269-2%0", "input": "Put the pump bottle on the bottom shelf", "output": ["STEP 1: Turn around and walk up to the trash bin by the sink"]} +{"id": "trial_T20190909_044327_889269-2%1", "input": "Put the pump bottle on the bottom shelf | STEP 1: Turn around and walk up to the trash bin by the sink", "output": ["STEP 2: Pick up the pump bottle from the trash bin"]} +{"id": "trial_T20190909_044327_889269-2%2", "input": "Put the pump bottle on the bottom shelf | STEP 1: Turn around and walk up to the trash bin by the sink | STEP 2: Pick up the pump bottle from the trash bin", "output": ["STEP 3: Turn around and walk across to the white shelves"]} +{"id": "trial_T20190909_044327_889269-2%3", "input": "Put the pump bottle on the bottom shelf | STEP 1: Turn around and walk up to the trash bin by the sink | STEP 2: Pick up the pump bottle from the trash bin | STEP 3: Turn around and walk across to the white shelves", "output": ["STEP 4: Put the pump bottle on the bottom shelf"]} +{"id": "trial_T20190909_044327_889269-2%4", "input": "Put the pump bottle on the bottom shelf | STEP 1: Turn around and walk up to the trash bin by the sink | STEP 2: Pick up the pump bottle from the trash bin | STEP 3: Turn around and walk across to the white shelves | STEP 4: Put the pump bottle on the bottom shelf", "output": ["END"]} +{"id": "trial_T20190912_042033_240335-1%0", "input": "put 2 lap tops on the bed", "output": ["STEP 1: turn to the right go forward towards the brown table"]} +{"id": "trial_T20190912_042033_240335-1%1", "input": "put 2 lap tops on the bed | STEP 1: turn to the right go forward towards the brown table", "output": ["STEP 2: pick up the lap top that is on top of the brown table"]} +{"id": "trial_T20190912_042033_240335-1%2", "input": "put 2 lap tops on the bed | STEP 1: turn to the right go forward towards the brown table | STEP 2: pick up the lap top that is on top of the brown table", "output": ["STEP 3: turn around to the left towards the bed"]} +{"id": "trial_T20190912_042033_240335-1%3", "input": "put 2 lap tops on the bed | STEP 1: turn to the right go forward towards the brown table | STEP 2: pick up the lap top that is on top of the brown table | STEP 3: turn around to the left towards the bed", "output": ["STEP 4: put the lap top on top of the bed"]} +{"id": "trial_T20190912_042033_240335-1%4", "input": "put 2 lap tops on the bed | STEP 1: turn to the right go forward towards the brown table | STEP 2: pick up the lap top that is on top of the brown table | STEP 3: turn around to the left towards the bed | STEP 4: put the lap top on top of the bed", "output": ["STEP 5: turn to the right go right towards the white table"]} +{"id": "trial_T20190912_042033_240335-1%5", "input": "put 2 lap tops on the bed | STEP 1: turn to the right go forward towards the brown table | STEP 2: pick up the lap top that is on top of the brown table | STEP 3: turn around to the left towards the bed | STEP 4: put the lap top on top of the bed | STEP 5: turn to the right go right towards the white table", "output": ["STEP 6: close the lap top that is on the table "]} +{"id": "trial_T20190912_042033_240335-1%6", "input": "put 2 lap tops on the bed | STEP 1: turn to the right go forward towards the brown table | STEP 2: pick up the lap top that is on top of the brown table | STEP 3: turn around to the left towards the bed | STEP 4: put the lap top on top of the bed | STEP 5: turn to the right go right towards the white table | STEP 6: close the lap top that is on the table ", "output": ["STEP 7: pick up the lap top turn to the right go forward turn to the right towards the bed"]} +{"id": "trial_T20190912_042033_240335-1%7", "input": "put 2 lap tops on the bed | STEP 1: turn to the right go forward towards the brown table | STEP 2: pick up the lap top that is on top of the brown table | STEP 3: turn around to the left towards the bed | STEP 4: put the lap top on top of the bed | STEP 5: turn to the right go right towards the white table | STEP 6: close the lap top that is on the table | STEP 7: pick up the lap top turn to the right go forward turn to the right towards the bed", "output": ["STEP 8: put the lap top next to the other lap top"]} +{"id": "trial_T20190912_042033_240335-1%8", "input": "put 2 lap tops on the bed | STEP 1: turn to the right go forward towards the brown table | STEP 2: pick up the lap top that is on top of the brown table | STEP 3: turn around to the left towards the bed | STEP 4: put the lap top on top of the bed | STEP 5: turn to the right go right towards the white table | STEP 6: close the lap top that is on the table | STEP 7: pick up the lap top turn to the right go forward turn to the right towards the bed | STEP 8: put the lap top next to the other lap top", "output": ["END"]} +{"id": "trial_T20190918_211056_310337-1%0", "input": "Place two eggs in a microwave", "output": ["STEP 1: Go to the counter right of the stove"]} +{"id": "trial_T20190918_211056_310337-1%1", "input": "Place two eggs in a microwave | STEP 1: Go to the counter right of the stove", "output": ["STEP 2: Pick up an egg from the counter"]} +{"id": "trial_T20190918_211056_310337-1%2", "input": "Place two eggs in a microwave | STEP 1: Go to the counter right of the stove | STEP 2: Pick up an egg from the counter", "output": ["STEP 3: Go to the microwave"]} +{"id": "trial_T20190918_211056_310337-1%3", "input": "Place two eggs in a microwave | STEP 1: Go to the counter right of the stove | STEP 2: Pick up an egg from the counter | STEP 3: Go to the microwave", "output": ["STEP 4: Place the egg in the microwave"]} +{"id": "trial_T20190918_211056_310337-1%4", "input": "Place two eggs in a microwave | STEP 1: Go to the counter right of the stove | STEP 2: Pick up an egg from the counter | STEP 3: Go to the microwave | STEP 4: Place the egg in the microwave", "output": ["STEP 5: Go to the counter right of the stove"]} +{"id": "trial_T20190918_211056_310337-1%5", "input": "Place two eggs in a microwave | STEP 1: Go to the counter right of the stove | STEP 2: Pick up an egg from the counter | STEP 3: Go to the microwave | STEP 4: Place the egg in the microwave | STEP 5: Go to the counter right of the stove", "output": ["STEP 6: Pick up an egg from the counter"]} +{"id": "trial_T20190918_211056_310337-1%6", "input": "Place two eggs in a microwave | STEP 1: Go to the counter right of the stove | STEP 2: Pick up an egg from the counter | STEP 3: Go to the microwave | STEP 4: Place the egg in the microwave | STEP 5: Go to the counter right of the stove | STEP 6: Pick up an egg from the counter", "output": ["STEP 7: Go to the microwave"]} +{"id": "trial_T20190918_211056_310337-1%7", "input": "Place two eggs in a microwave | STEP 1: Go to the counter right of the stove | STEP 2: Pick up an egg from the counter | STEP 3: Go to the microwave | STEP 4: Place the egg in the microwave | STEP 5: Go to the counter right of the stove | STEP 6: Pick up an egg from the counter | STEP 7: Go to the microwave", "output": ["STEP 8: Place the egg in the microwave"]} +{"id": "trial_T20190918_211056_310337-1%8", "input": "Place two eggs in a microwave | STEP 1: Go to the counter right of the stove | STEP 2: Pick up an egg from the counter | STEP 3: Go to the microwave | STEP 4: Place the egg in the microwave | STEP 5: Go to the counter right of the stove | STEP 6: Pick up an egg from the counter | STEP 7: Go to the microwave | STEP 8: Place the egg in the microwave", "output": ["END"]} +{"id": "trial_T20190908_095741_818305-2%0", "input": "Move a watering can to the coffee table.", "output": ["STEP 1: Walk over to the black table against the wall on your left."]} +{"id": "trial_T20190908_095741_818305-2%1", "input": "Move a watering can to the coffee table. | STEP 1: Walk over to the black table against the wall on your left.", "output": ["STEP 2: Pick up the white watering can off of the bottom shelf below the table."]} +{"id": "trial_T20190908_095741_818305-2%2", "input": "Move a watering can to the coffee table. | STEP 1: Walk over to the black table against the wall on your left. | STEP 2: Pick up the white watering can off of the bottom shelf below the table.", "output": ["STEP 3: Turn left and walk towards the television, then hang a left and walk over to the side of the coffee table."]} +{"id": "trial_T20190908_095741_818305-2%3", "input": "Move a watering can to the coffee table. | STEP 1: Walk over to the black table against the wall on your left. | STEP 2: Pick up the white watering can off of the bottom shelf below the table. | STEP 3: Turn left and walk towards the television, then hang a left and walk over to the side of the coffee table.", "output": ["STEP 4: Put the watering can on the coffee table."]} +{"id": "trial_T20190908_095741_818305-2%4", "input": "Move a watering can to the coffee table. | STEP 1: Walk over to the black table against the wall on your left. | STEP 2: Pick up the white watering can off of the bottom shelf below the table. | STEP 3: Turn left and walk towards the television, then hang a left and walk over to the side of the coffee table. | STEP 4: Put the watering can on the coffee table.", "output": ["END"]} +{"id": "trial_T20190906_201856_722157-0%0", "input": "place a cardboard box with a credit card inside on the couch", "output": ["STEP 1: turn around and walk to the end of the room, then turn left to face the brown table against the wall"]} +{"id": "trial_T20190906_201856_722157-0%1", "input": "place a cardboard box with a credit card inside on the couch | STEP 1: turn around and walk to the end of the room, then turn left to face the brown table against the wall", "output": ["STEP 2: pick up the cardboard box from the table"]} +{"id": "trial_T20190906_201856_722157-0%2", "input": "place a cardboard box with a credit card inside on the couch | STEP 1: turn around and walk to the end of the room, then turn left to face the brown table against the wall | STEP 2: pick up the cardboard box from the table", "output": ["STEP 3: turn around and walk over to the couch on the left side of the room against the wall"]} +{"id": "trial_T20190906_201856_722157-0%3", "input": "place a cardboard box with a credit card inside on the couch | STEP 1: turn around and walk to the end of the room, then turn left to face the brown table against the wall | STEP 2: pick up the cardboard box from the table | STEP 3: turn around and walk over to the couch on the left side of the room against the wall", "output": ["STEP 4: place the cardboard box on top of the couch"]} +{"id": "trial_T20190906_201856_722157-0%4", "input": "place a cardboard box with a credit card inside on the couch | STEP 1: turn around and walk to the end of the room, then turn left to face the brown table against the wall | STEP 2: pick up the cardboard box from the table | STEP 3: turn around and walk over to the couch on the left side of the room against the wall | STEP 4: place the cardboard box on top of the couch", "output": ["STEP 5: turn around and face the coffee table"]} +{"id": "trial_T20190906_201856_722157-0%5", "input": "place a cardboard box with a credit card inside on the couch | STEP 1: turn around and walk to the end of the room, then turn left to face the brown table against the wall | STEP 2: pick up the cardboard box from the table | STEP 3: turn around and walk over to the couch on the left side of the room against the wall | STEP 4: place the cardboard box on top of the couch | STEP 5: turn around and face the coffee table", "output": ["STEP 6: grab the credit card off of the coffee table"]} +{"id": "trial_T20190906_201856_722157-0%6", "input": "place a cardboard box with a credit card inside on the couch | STEP 1: turn around and walk to the end of the room, then turn left to face the brown table against the wall | STEP 2: pick up the cardboard box from the table | STEP 3: turn around and walk over to the couch on the left side of the room against the wall | STEP 4: place the cardboard box on top of the couch | STEP 5: turn around and face the coffee table | STEP 6: grab the credit card off of the coffee table", "output": ["STEP 7: turn around and face the cardboard box on the couch"]} +{"id": "trial_T20190906_201856_722157-0%7", "input": "place a cardboard box with a credit card inside on the couch | STEP 1: turn around and walk to the end of the room, then turn left to face the brown table against the wall | STEP 2: pick up the cardboard box from the table | STEP 3: turn around and walk over to the couch on the left side of the room against the wall | STEP 4: place the cardboard box on top of the couch | STEP 5: turn around and face the coffee table | STEP 6: grab the credit card off of the coffee table | STEP 7: turn around and face the cardboard box on the couch", "output": ["STEP 8: place the credit card inside of the cardboard box on the couch and close the box"]} +{"id": "trial_T20190906_201856_722157-0%8", "input": "place a cardboard box with a credit card inside on the couch | STEP 1: turn around and walk to the end of the room, then turn left to face the brown table against the wall | STEP 2: pick up the cardboard box from the table | STEP 3: turn around and walk over to the couch on the left side of the room against the wall | STEP 4: place the cardboard box on top of the couch | STEP 5: turn around and face the coffee table | STEP 6: grab the credit card off of the coffee table | STEP 7: turn around and face the cardboard box on the couch | STEP 8: place the credit card inside of the cardboard box on the couch and close the box", "output": ["END"]} +{"id": "trial_T20190906_201856_722157-2%0", "input": "Place a box with a credit card in it on a couch.", "output": ["STEP 1: Turn around and walk straight and go to the right corner of the room."]} +{"id": "trial_T20190906_201856_722157-2%1", "input": "Place a box with a credit card in it on a couch. | STEP 1: Turn around and walk straight and go to the right corner of the room.", "output": ["STEP 2: Pick up the box off the floor."]} +{"id": "trial_T20190906_201856_722157-2%2", "input": "Place a box with a credit card in it on a couch. | STEP 1: Turn around and walk straight and go to the right corner of the room. | STEP 2: Pick up the box off the floor.", "output": ["STEP 3: Turn right, walk around the coffee table, and go to the far end of the couch."]} +{"id": "trial_T20190906_201856_722157-2%3", "input": "Place a box with a credit card in it on a couch. | STEP 1: Turn around and walk straight and go to the right corner of the room. | STEP 2: Pick up the box off the floor. | STEP 3: Turn right, walk around the coffee table, and go to the far end of the couch.", "output": ["STEP 4: Place the box on the rightmost couch cushion."]} +{"id": "trial_T20190906_201856_722157-2%4", "input": "Place a box with a credit card in it on a couch. | STEP 1: Turn around and walk straight and go to the right corner of the room. | STEP 2: Pick up the box off the floor. | STEP 3: Turn right, walk around the coffee table, and go to the far end of the couch. | STEP 4: Place the box on the rightmost couch cushion.", "output": ["STEP 5: Turn around and take a step right, facing the coffee table."]} +{"id": "trial_T20190906_201856_722157-2%5", "input": "Place a box with a credit card in it on a couch. | STEP 1: Turn around and walk straight and go to the right corner of the room. | STEP 2: Pick up the box off the floor. | STEP 3: Turn right, walk around the coffee table, and go to the far end of the couch. | STEP 4: Place the box on the rightmost couch cushion. | STEP 5: Turn around and take a step right, facing the coffee table.", "output": ["STEP 6: Pick up the credit card on the table."]} +{"id": "trial_T20190906_201856_722157-2%6", "input": "Place a box with a credit card in it on a couch. | STEP 1: Turn around and walk straight and go to the right corner of the room. | STEP 2: Pick up the box off the floor. | STEP 3: Turn right, walk around the coffee table, and go to the far end of the couch. | STEP 4: Place the box on the rightmost couch cushion. | STEP 5: Turn around and take a step right, facing the coffee table. | STEP 6: Pick up the credit card on the table.", "output": ["STEP 7: Turn around and walk back to the box on the couch."]} +{"id": "trial_T20190906_201856_722157-2%7", "input": "Place a box with a credit card in it on a couch. | STEP 1: Turn around and walk straight and go to the right corner of the room. | STEP 2: Pick up the box off the floor. | STEP 3: Turn right, walk around the coffee table, and go to the far end of the couch. | STEP 4: Place the box on the rightmost couch cushion. | STEP 5: Turn around and take a step right, facing the coffee table. | STEP 6: Pick up the credit card on the table. | STEP 7: Turn around and walk back to the box on the couch.", "output": ["STEP 8: Place the credit card in the box on the couch."]} +{"id": "trial_T20190906_201856_722157-2%8", "input": "Place a box with a credit card in it on a couch. | STEP 1: Turn around and walk straight and go to the right corner of the room. | STEP 2: Pick up the box off the floor. | STEP 3: Turn right, walk around the coffee table, and go to the far end of the couch. | STEP 4: Place the box on the rightmost couch cushion. | STEP 5: Turn around and take a step right, facing the coffee table. | STEP 6: Pick up the credit card on the table. | STEP 7: Turn around and walk back to the box on the couch. | STEP 8: Place the credit card in the box on the couch.", "output": ["END"]} +{"id": "trial_T20190907_234208_014074-0%0", "input": "To move a knife and a cup to the table. ", "output": ["STEP 1: Turn around and walk to the counter to the left of the stove. "]} +{"id": "trial_T20190907_234208_014074-0%1", "input": "To move a knife and a cup to the table. | STEP 1: Turn around and walk to the counter to the left of the stove. ", "output": ["STEP 2: Pick up the knife on the edge of the counter. "]} +{"id": "trial_T20190907_234208_014074-0%2", "input": "To move a knife and a cup to the table. | STEP 1: Turn around and walk to the counter to the left of the stove. | STEP 2: Pick up the knife on the edge of the counter. ", "output": ["STEP 3: Move to the front of the stove and look up at the microwave. "]} +{"id": "trial_T20190907_234208_014074-0%3", "input": "To move a knife and a cup to the table. | STEP 1: Turn around and walk to the counter to the left of the stove. | STEP 2: Pick up the knife on the edge of the counter. | STEP 3: Move to the front of the stove and look up at the microwave. ", "output": ["STEP 4: Open the microwave door, place the knife in the cup in the microwave. "]} +{"id": "trial_T20190907_234208_014074-0%4", "input": "To move a knife and a cup to the table. | STEP 1: Turn around and walk to the counter to the left of the stove. | STEP 2: Pick up the knife on the edge of the counter. | STEP 3: Move to the front of the stove and look up at the microwave. | STEP 4: Open the microwave door, place the knife in the cup in the microwave. ", "output": ["STEP 5: Take the cup out of the microwave and shut the door. "]} +{"id": "trial_T20190907_234208_014074-0%5", "input": "To move a knife and a cup to the table. | STEP 1: Turn around and walk to the counter to the left of the stove. | STEP 2: Pick up the knife on the edge of the counter. | STEP 3: Move to the front of the stove and look up at the microwave. | STEP 4: Open the microwave door, place the knife in the cup in the microwave. | STEP 5: Take the cup out of the microwave and shut the door. ", "output": ["STEP 6: Walk to the table to the left of the room. "]} +{"id": "trial_T20190907_234208_014074-0%6", "input": "To move a knife and a cup to the table. | STEP 1: Turn around and walk to the counter to the left of the stove. | STEP 2: Pick up the knife on the edge of the counter. | STEP 3: Move to the front of the stove and look up at the microwave. | STEP 4: Open the microwave door, place the knife in the cup in the microwave. | STEP 5: Take the cup out of the microwave and shut the door. | STEP 6: Walk to the table to the left of the room. ", "output": ["STEP 7: Place the cup down on the table in front of the apple. "]} +{"id": "trial_T20190907_234208_014074-0%7", "input": "To move a knife and a cup to the table. | STEP 1: Turn around and walk to the counter to the left of the stove. | STEP 2: Pick up the knife on the edge of the counter. | STEP 3: Move to the front of the stove and look up at the microwave. | STEP 4: Open the microwave door, place the knife in the cup in the microwave. | STEP 5: Take the cup out of the microwave and shut the door. | STEP 6: Walk to the table to the left of the room. | STEP 7: Place the cup down on the table in front of the apple. ", "output": ["END"]} +{"id": "trial_T20190909_130501_815970-2%0", "input": "Put a warmed slice of bread in the recycling bin.", "output": ["STEP 1: Turn around, turn right and go to the coffee maker."]} +{"id": "trial_T20190909_130501_815970-2%1", "input": "Put a warmed slice of bread in the recycling bin. | STEP 1: Turn around, turn right and go to the coffee maker.", "output": ["STEP 2: Pick up the knife on the counter."]} +{"id": "trial_T20190909_130501_815970-2%2", "input": "Put a warmed slice of bread in the recycling bin. | STEP 1: Turn around, turn right and go to the coffee maker. | STEP 2: Pick up the knife on the counter.", "output": ["STEP 3: Turn around and go to the bread on the counter."]} +{"id": "trial_T20190909_130501_815970-2%3", "input": "Put a warmed slice of bread in the recycling bin. | STEP 1: Turn around, turn right and go to the coffee maker. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and go to the bread on the counter.", "output": ["STEP 4: Cut the bread on the counter."]} +{"id": "trial_T20190909_130501_815970-2%4", "input": "Put a warmed slice of bread in the recycling bin. | STEP 1: Turn around, turn right and go to the coffee maker. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and go to the bread on the counter. | STEP 4: Cut the bread on the counter.", "output": ["STEP 5: Turn left, go across the room and to the recycling bin in the corner."]} +{"id": "trial_T20190909_130501_815970-2%5", "input": "Put a warmed slice of bread in the recycling bin. | STEP 1: Turn around, turn right and go to the coffee maker. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and go to the bread on the counter. | STEP 4: Cut the bread on the counter. | STEP 5: Turn left, go across the room and to the recycling bin in the corner.", "output": ["STEP 6: Put the knife in the recycling bin."]} +{"id": "trial_T20190909_130501_815970-2%6", "input": "Put a warmed slice of bread in the recycling bin. | STEP 1: Turn around, turn right and go to the coffee maker. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and go to the bread on the counter. | STEP 4: Cut the bread on the counter. | STEP 5: Turn left, go across the room and to the recycling bin in the corner. | STEP 6: Put the knife in the recycling bin.", "output": ["STEP 7: Turn around and go back across the room to the bread on the counter."]} +{"id": "trial_T20190909_130501_815970-2%7", "input": "Put a warmed slice of bread in the recycling bin. | STEP 1: Turn around, turn right and go to the coffee maker. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and go to the bread on the counter. | STEP 4: Cut the bread on the counter. | STEP 5: Turn left, go across the room and to the recycling bin in the corner. | STEP 6: Put the knife in the recycling bin. | STEP 7: Turn around and go back across the room to the bread on the counter.", "output": ["STEP 8: Pick up a slice of bread."]} +{"id": "trial_T20190909_130501_815970-2%8", "input": "Put a warmed slice of bread in the recycling bin. | STEP 1: Turn around, turn right and go to the coffee maker. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and go to the bread on the counter. | STEP 4: Cut the bread on the counter. | STEP 5: Turn left, go across the room and to the recycling bin in the corner. | STEP 6: Put the knife in the recycling bin. | STEP 7: Turn around and go back across the room to the bread on the counter. | STEP 8: Pick up a slice of bread.", "output": ["STEP 9: Turn left and head to the microwave above the stove."]} +{"id": "trial_T20190909_130501_815970-2%9", "input": "Put a warmed slice of bread in the recycling bin. | STEP 1: Turn around, turn right and go to the coffee maker. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and go to the bread on the counter. | STEP 4: Cut the bread on the counter. | STEP 5: Turn left, go across the room and to the recycling bin in the corner. | STEP 6: Put the knife in the recycling bin. | STEP 7: Turn around and go back across the room to the bread on the counter. | STEP 8: Pick up a slice of bread. | STEP 9: Turn left and head to the microwave above the stove.", "output": ["STEP 10: Warm the bread in the microwave and pick it back up."]} +{"id": "trial_T20190909_130501_815970-2%10", "input": "Put a warmed slice of bread in the recycling bin. | STEP 1: Turn around, turn right and go to the coffee maker. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and go to the bread on the counter. | STEP 4: Cut the bread on the counter. | STEP 5: Turn left, go across the room and to the recycling bin in the corner. | STEP 6: Put the knife in the recycling bin. | STEP 7: Turn around and go back across the room to the bread on the counter. | STEP 8: Pick up a slice of bread. | STEP 9: Turn left and head to the microwave above the stove. | STEP 10: Warm the bread in the microwave and pick it back up.", "output": ["STEP 11: Turn left and head to the recycling bin."]} +{"id": "trial_T20190909_130501_815970-2%11", "input": "Put a warmed slice of bread in the recycling bin. | STEP 1: Turn around, turn right and go to the coffee maker. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and go to the bread on the counter. | STEP 4: Cut the bread on the counter. | STEP 5: Turn left, go across the room and to the recycling bin in the corner. | STEP 6: Put the knife in the recycling bin. | STEP 7: Turn around and go back across the room to the bread on the counter. | STEP 8: Pick up a slice of bread. | STEP 9: Turn left and head to the microwave above the stove. | STEP 10: Warm the bread in the microwave and pick it back up. | STEP 11: Turn left and head to the recycling bin.", "output": ["STEP 12: Put the slice of bread in the recycling bin."]} +{"id": "trial_T20190909_130501_815970-2%12", "input": "Put a warmed slice of bread in the recycling bin. | STEP 1: Turn around, turn right and go to the coffee maker. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and go to the bread on the counter. | STEP 4: Cut the bread on the counter. | STEP 5: Turn left, go across the room and to the recycling bin in the corner. | STEP 6: Put the knife in the recycling bin. | STEP 7: Turn around and go back across the room to the bread on the counter. | STEP 8: Pick up a slice of bread. | STEP 9: Turn left and head to the microwave above the stove. | STEP 10: Warm the bread in the microwave and pick it back up. | STEP 11: Turn left and head to the recycling bin. | STEP 12: Put the slice of bread in the recycling bin.", "output": ["END"]} +{"id": "trial_T20190918_220534_463098-1%0", "input": "Put bowl with sponge on counter in front of lettuce. ", "output": ["STEP 1: Move to the counter near the coffee machine. "]} +{"id": "trial_T20190918_220534_463098-1%1", "input": "Put bowl with sponge on counter in front of lettuce. | STEP 1: Move to the counter near the coffee machine. ", "output": ["STEP 2: Take the sponge out of the cabinet above the lettuce. "]} +{"id": "trial_T20190918_220534_463098-1%2", "input": "Put bowl with sponge on counter in front of lettuce. | STEP 1: Move to the counter near the coffee machine. | STEP 2: Take the sponge out of the cabinet above the lettuce. ", "output": ["STEP 3: Spring the sponge to the next cabinet on the left. "]} +{"id": "trial_T20190918_220534_463098-1%3", "input": "Put bowl with sponge on counter in front of lettuce. | STEP 1: Move to the counter near the coffee machine. | STEP 2: Take the sponge out of the cabinet above the lettuce. | STEP 3: Spring the sponge to the next cabinet on the left. ", "output": ["STEP 4: Put the sponge in the bowl in the cabinet. "]} +{"id": "trial_T20190918_220534_463098-1%4", "input": "Put bowl with sponge on counter in front of lettuce. | STEP 1: Move to the counter near the coffee machine. | STEP 2: Take the sponge out of the cabinet above the lettuce. | STEP 3: Spring the sponge to the next cabinet on the left. | STEP 4: Put the sponge in the bowl in the cabinet. ", "output": ["STEP 5: Pick up the bowl from the cabinet. "]} +{"id": "trial_T20190918_220534_463098-1%5", "input": "Put bowl with sponge on counter in front of lettuce. | STEP 1: Move to the counter near the coffee machine. | STEP 2: Take the sponge out of the cabinet above the lettuce. | STEP 3: Spring the sponge to the next cabinet on the left. | STEP 4: Put the sponge in the bowl in the cabinet. | STEP 5: Pick up the bowl from the cabinet. ", "output": ["STEP 6: Bring the bowl to the coffee machine."]} +{"id": "trial_T20190918_220534_463098-1%6", "input": "Put bowl with sponge on counter in front of lettuce. | STEP 1: Move to the counter near the coffee machine. | STEP 2: Take the sponge out of the cabinet above the lettuce. | STEP 3: Spring the sponge to the next cabinet on the left. | STEP 4: Put the sponge in the bowl in the cabinet. | STEP 5: Pick up the bowl from the cabinet. | STEP 6: Bring the bowl to the coffee machine.", "output": ["STEP 7: Put the bowl down on the counter in front of the lettuce. "]} +{"id": "trial_T20190918_220534_463098-1%7", "input": "Put bowl with sponge on counter in front of lettuce. | STEP 1: Move to the counter near the coffee machine. | STEP 2: Take the sponge out of the cabinet above the lettuce. | STEP 3: Spring the sponge to the next cabinet on the left. | STEP 4: Put the sponge in the bowl in the cabinet. | STEP 5: Pick up the bowl from the cabinet. | STEP 6: Bring the bowl to the coffee machine. | STEP 7: Put the bowl down on the counter in front of the lettuce. ", "output": ["END"]} +{"id": "trial_T20190909_151931_440231-0%0", "input": "Place a soap bottle in a trash bin.", "output": ["STEP 1: Walk ahead to the sink, then walk left around the counter to the left side."]} +{"id": "trial_T20190909_151931_440231-0%1", "input": "Place a soap bottle in a trash bin. | STEP 1: Walk ahead to the sink, then walk left around the counter to the left side.", "output": ["STEP 2: Pick up the bottle of soap on the counter."]} +{"id": "trial_T20190909_151931_440231-0%2", "input": "Place a soap bottle in a trash bin. | STEP 1: Walk ahead to the sink, then walk left around the counter to the left side. | STEP 2: Pick up the bottle of soap on the counter.", "output": ["STEP 3: Walk right and then veer left to the green bin in the corner of the room."]} +{"id": "trial_T20190909_151931_440231-0%3", "input": "Place a soap bottle in a trash bin. | STEP 1: Walk ahead to the sink, then walk left around the counter to the left side. | STEP 2: Pick up the bottle of soap on the counter. | STEP 3: Walk right and then veer left to the green bin in the corner of the room.", "output": ["STEP 4: Place the soap bottle in the bin."]} +{"id": "trial_T20190909_151931_440231-0%4", "input": "Place a soap bottle in a trash bin. | STEP 1: Walk ahead to the sink, then walk left around the counter to the left side. | STEP 2: Pick up the bottle of soap on the counter. | STEP 3: Walk right and then veer left to the green bin in the corner of the room. | STEP 4: Place the soap bottle in the bin.", "output": ["END"]} +{"id": "trial_T20190909_145829_775749-0%0", "input": "move the remote from the table to the chair", "output": ["STEP 1: turn around and walk straight towards the couch then turn right and walk straight then turn right towards the table"]} +{"id": "trial_T20190909_145829_775749-0%1", "input": "move the remote from the table to the chair | STEP 1: turn around and walk straight towards the couch then turn right and walk straight then turn right towards the table", "output": ["STEP 2: pick up the remote off of the table"]} +{"id": "trial_T20190909_145829_775749-0%2", "input": "move the remote from the table to the chair | STEP 1: turn around and walk straight towards the couch then turn right and walk straight then turn right towards the table | STEP 2: pick up the remote off of the table", "output": ["STEP 3: turn right then turn left then turn right again towards the chair"]} +{"id": "trial_T20190909_145829_775749-0%3", "input": "move the remote from the table to the chair | STEP 1: turn around and walk straight towards the couch then turn right and walk straight then turn right towards the table | STEP 2: pick up the remote off of the table | STEP 3: turn right then turn left then turn right again towards the chair", "output": ["STEP 4: put the remote down on the chair"]} +{"id": "trial_T20190909_145829_775749-0%4", "input": "move the remote from the table to the chair | STEP 1: turn around and walk straight towards the couch then turn right and walk straight then turn right towards the table | STEP 2: pick up the remote off of the table | STEP 3: turn right then turn left then turn right again towards the chair | STEP 4: put the remote down on the chair", "output": ["END"]} +{"id": "trial_T20190908_045621_460199-0%0", "input": "Place a bowl and a potato slice in the microwave.", "output": ["STEP 1: Turn around and walk to the table on the left."]} +{"id": "trial_T20190908_045621_460199-0%1", "input": "Place a bowl and a potato slice in the microwave. | STEP 1: Turn around and walk to the table on the left.", "output": ["STEP 2: Pick up the knife to the left of the bowl."]} +{"id": "trial_T20190908_045621_460199-0%2", "input": "Place a bowl and a potato slice in the microwave. | STEP 1: Turn around and walk to the table on the left. | STEP 2: Pick up the knife to the left of the bowl.", "output": ["STEP 3: Slice the potato that is closest."]} +{"id": "trial_T20190908_045621_460199-0%3", "input": "Place a bowl and a potato slice in the microwave. | STEP 1: Turn around and walk to the table on the left. | STEP 2: Pick up the knife to the left of the bowl. | STEP 3: Slice the potato that is closest.", "output": ["STEP 4: Re-position to be in the middle of the table and chair."]} +{"id": "trial_T20190908_045621_460199-0%4", "input": "Place a bowl and a potato slice in the microwave. | STEP 1: Turn around and walk to the table on the left. | STEP 2: Pick up the knife to the left of the bowl. | STEP 3: Slice the potato that is closest. | STEP 4: Re-position to be in the middle of the table and chair.", "output": ["STEP 5: Place the knife inside of the bowl on the table."]} +{"id": "trial_T20190908_045621_460199-0%5", "input": "Place a bowl and a potato slice in the microwave. | STEP 1: Turn around and walk to the table on the left. | STEP 2: Pick up the knife to the left of the bowl. | STEP 3: Slice the potato that is closest. | STEP 4: Re-position to be in the middle of the table and chair. | STEP 5: Place the knife inside of the bowl on the table.", "output": ["STEP 6: Grab the bowl from the table."]} +{"id": "trial_T20190908_045621_460199-0%6", "input": "Place a bowl and a potato slice in the microwave. | STEP 1: Turn around and walk to the table on the left. | STEP 2: Pick up the knife to the left of the bowl. | STEP 3: Slice the potato that is closest. | STEP 4: Re-position to be in the middle of the table and chair. | STEP 5: Place the knife inside of the bowl on the table. | STEP 6: Grab the bowl from the table.", "output": ["STEP 7: Turn around, walk right, then walk left and face the microwave above the stove."]} +{"id": "trial_T20190908_045621_460199-0%7", "input": "Place a bowl and a potato slice in the microwave. | STEP 1: Turn around and walk to the table on the left. | STEP 2: Pick up the knife to the left of the bowl. | STEP 3: Slice the potato that is closest. | STEP 4: Re-position to be in the middle of the table and chair. | STEP 5: Place the knife inside of the bowl on the table. | STEP 6: Grab the bowl from the table. | STEP 7: Turn around, walk right, then walk left and face the microwave above the stove.", "output": ["STEP 8: Place the bowl inside of the microwave."]} +{"id": "trial_T20190908_045621_460199-0%8", "input": "Place a bowl and a potato slice in the microwave. | STEP 1: Turn around and walk to the table on the left. | STEP 2: Pick up the knife to the left of the bowl. | STEP 3: Slice the potato that is closest. | STEP 4: Re-position to be in the middle of the table and chair. | STEP 5: Place the knife inside of the bowl on the table. | STEP 6: Grab the bowl from the table. | STEP 7: Turn around, walk right, then walk left and face the microwave above the stove. | STEP 8: Place the bowl inside of the microwave.", "output": ["STEP 9: Turn left and head back to the table."]} +{"id": "trial_T20190908_045621_460199-0%9", "input": "Place a bowl and a potato slice in the microwave. | STEP 1: Turn around and walk to the table on the left. | STEP 2: Pick up the knife to the left of the bowl. | STEP 3: Slice the potato that is closest. | STEP 4: Re-position to be in the middle of the table and chair. | STEP 5: Place the knife inside of the bowl on the table. | STEP 6: Grab the bowl from the table. | STEP 7: Turn around, walk right, then walk left and face the microwave above the stove. | STEP 8: Place the bowl inside of the microwave. | STEP 9: Turn left and head back to the table.", "output": ["STEP 10: Grab a potato slice."]} +{"id": "trial_T20190908_045621_460199-0%10", "input": "Place a bowl and a potato slice in the microwave. | STEP 1: Turn around and walk to the table on the left. | STEP 2: Pick up the knife to the left of the bowl. | STEP 3: Slice the potato that is closest. | STEP 4: Re-position to be in the middle of the table and chair. | STEP 5: Place the knife inside of the bowl on the table. | STEP 6: Grab the bowl from the table. | STEP 7: Turn around, walk right, then walk left and face the microwave above the stove. | STEP 8: Place the bowl inside of the microwave. | STEP 9: Turn left and head back to the table. | STEP 10: Grab a potato slice.", "output": ["STEP 11: Turn around again and head right to the microwave."]} +{"id": "trial_T20190908_045621_460199-0%11", "input": "Place a bowl and a potato slice in the microwave. | STEP 1: Turn around and walk to the table on the left. | STEP 2: Pick up the knife to the left of the bowl. | STEP 3: Slice the potato that is closest. | STEP 4: Re-position to be in the middle of the table and chair. | STEP 5: Place the knife inside of the bowl on the table. | STEP 6: Grab the bowl from the table. | STEP 7: Turn around, walk right, then walk left and face the microwave above the stove. | STEP 8: Place the bowl inside of the microwave. | STEP 9: Turn left and head back to the table. | STEP 10: Grab a potato slice. | STEP 11: Turn around again and head right to the microwave.", "output": ["STEP 12: Place the potato slice in the microwave."]} +{"id": "trial_T20190908_045621_460199-0%12", "input": "Place a bowl and a potato slice in the microwave. | STEP 1: Turn around and walk to the table on the left. | STEP 2: Pick up the knife to the left of the bowl. | STEP 3: Slice the potato that is closest. | STEP 4: Re-position to be in the middle of the table and chair. | STEP 5: Place the knife inside of the bowl on the table. | STEP 6: Grab the bowl from the table. | STEP 7: Turn around, walk right, then walk left and face the microwave above the stove. | STEP 8: Place the bowl inside of the microwave. | STEP 9: Turn left and head back to the table. | STEP 10: Grab a potato slice. | STEP 11: Turn around again and head right to the microwave. | STEP 12: Place the potato slice in the microwave.", "output": ["END"]} +{"id": "trial_T20190907_073037_124368-1%0", "input": "Put a chilled cup on the island. ", "output": ["STEP 1: Turn around and go to the the center island."]} +{"id": "trial_T20190907_073037_124368-1%1", "input": "Put a chilled cup on the island. | STEP 1: Turn around and go to the the center island.", "output": ["STEP 2: Pick up the green cup on the right. "]} +{"id": "trial_T20190907_073037_124368-1%2", "input": "Put a chilled cup on the island. | STEP 1: Turn around and go to the the center island. | STEP 2: Pick up the green cup on the right. ", "output": ["STEP 3: Turn around and bring the cup to the fridge."]} +{"id": "trial_T20190907_073037_124368-1%3", "input": "Put a chilled cup on the island. | STEP 1: Turn around and go to the the center island. | STEP 2: Pick up the green cup on the right. | STEP 3: Turn around and bring the cup to the fridge.", "output": ["STEP 4: Chill the cup in the fridge."]} +{"id": "trial_T20190907_073037_124368-1%4", "input": "Put a chilled cup on the island. | STEP 1: Turn around and go to the the center island. | STEP 2: Pick up the green cup on the right. | STEP 3: Turn around and bring the cup to the fridge. | STEP 4: Chill the cup in the fridge.", "output": ["STEP 5: Bring the cup to the island on the left."]} +{"id": "trial_T20190907_073037_124368-1%5", "input": "Put a chilled cup on the island. | STEP 1: Turn around and go to the the center island. | STEP 2: Pick up the green cup on the right. | STEP 3: Turn around and bring the cup to the fridge. | STEP 4: Chill the cup in the fridge. | STEP 5: Bring the cup to the island on the left.", "output": ["STEP 6: Put the cup on the island. "]} +{"id": "trial_T20190907_073037_124368-1%6", "input": "Put a chilled cup on the island. | STEP 1: Turn around and go to the the center island. | STEP 2: Pick up the green cup on the right. | STEP 3: Turn around and bring the cup to the fridge. | STEP 4: Chill the cup in the fridge. | STEP 5: Bring the cup to the island on the left. | STEP 6: Put the cup on the island. ", "output": ["END"]} +{"id": "trial_T20190907_073037_124368-2%0", "input": "Cool down one of the green cups on the counter.", "output": ["STEP 1: Turn around and face the table."]} +{"id": "trial_T20190907_073037_124368-2%1", "input": "Cool down one of the green cups on the counter. | STEP 1: Turn around and face the table.", "output": ["STEP 2: Pick up the green cup closest to you."]} +{"id": "trial_T20190907_073037_124368-2%2", "input": "Cool down one of the green cups on the counter. | STEP 1: Turn around and face the table. | STEP 2: Pick up the green cup closest to you.", "output": ["STEP 3: Turn right towards the fridge."]} +{"id": "trial_T20190907_073037_124368-2%3", "input": "Cool down one of the green cups on the counter. | STEP 1: Turn around and face the table. | STEP 2: Pick up the green cup closest to you. | STEP 3: Turn right towards the fridge.", "output": ["STEP 4: Place the cup inside the fridge to cool it up and take it back out."]} +{"id": "trial_T20190907_073037_124368-2%4", "input": "Cool down one of the green cups on the counter. | STEP 1: Turn around and face the table. | STEP 2: Pick up the green cup closest to you. | STEP 3: Turn right towards the fridge. | STEP 4: Place the cup inside the fridge to cool it up and take it back out.", "output": ["STEP 5: Turn left and face the counter to your left."]} +{"id": "trial_T20190907_073037_124368-2%5", "input": "Cool down one of the green cups on the counter. | STEP 1: Turn around and face the table. | STEP 2: Pick up the green cup closest to you. | STEP 3: Turn right towards the fridge. | STEP 4: Place the cup inside the fridge to cool it up and take it back out. | STEP 5: Turn left and face the counter to your left.", "output": ["STEP 6: Place the cup back on the counter."]} +{"id": "trial_T20190907_073037_124368-2%6", "input": "Cool down one of the green cups on the counter. | STEP 1: Turn around and face the table. | STEP 2: Pick up the green cup closest to you. | STEP 3: Turn right towards the fridge. | STEP 4: Place the cup inside the fridge to cool it up and take it back out. | STEP 5: Turn left and face the counter to your left. | STEP 6: Place the cup back on the counter.", "output": ["END"]} +{"id": "trial_T20190907_073037_124368-3%0", "input": "Chill a glass and place it on the counter.", "output": ["STEP 1: Turn around to face the counter."]} +{"id": "trial_T20190907_073037_124368-3%1", "input": "Chill a glass and place it on the counter. | STEP 1: Turn around to face the counter.", "output": ["STEP 2: Pick up the green glass that is in the front of the counter."]} +{"id": "trial_T20190907_073037_124368-3%2", "input": "Chill a glass and place it on the counter. | STEP 1: Turn around to face the counter. | STEP 2: Pick up the green glass that is in the front of the counter.", "output": ["STEP 3: Take the glass and turn around and to the left to face the fridge."]} +{"id": "trial_T20190907_073037_124368-3%3", "input": "Chill a glass and place it on the counter. | STEP 1: Turn around to face the counter. | STEP 2: Pick up the green glass that is in the front of the counter. | STEP 3: Take the glass and turn around and to the left to face the fridge.", "output": ["STEP 4: Open the fridge and put the glass inside. Shut the door. Open the fridge and take the glass out, and then shut the door."]} +{"id": "trial_T20190907_073037_124368-3%4", "input": "Chill a glass and place it on the counter. | STEP 1: Turn around to face the counter. | STEP 2: Pick up the green glass that is in the front of the counter. | STEP 3: Take the glass and turn around and to the left to face the fridge. | STEP 4: Open the fridge and put the glass inside. Shut the door. Open the fridge and take the glass out, and then shut the door.", "output": ["STEP 5: Carry the glass and turn to the left back towards the counter."]} +{"id": "trial_T20190907_073037_124368-3%5", "input": "Chill a glass and place it on the counter. | STEP 1: Turn around to face the counter. | STEP 2: Pick up the green glass that is in the front of the counter. | STEP 3: Take the glass and turn around and to the left to face the fridge. | STEP 4: Open the fridge and put the glass inside. Shut the door. Open the fridge and take the glass out, and then shut the door. | STEP 5: Carry the glass and turn to the left back towards the counter.", "output": ["STEP 6: Place the glass on the right side edge of the counter."]} +{"id": "trial_T20190907_073037_124368-3%6", "input": "Chill a glass and place it on the counter. | STEP 1: Turn around to face the counter. | STEP 2: Pick up the green glass that is in the front of the counter. | STEP 3: Take the glass and turn around and to the left to face the fridge. | STEP 4: Open the fridge and put the glass inside. Shut the door. Open the fridge and take the glass out, and then shut the door. | STEP 5: Carry the glass and turn to the left back towards the counter. | STEP 6: Place the glass on the right side edge of the counter.", "output": ["END"]} +{"id": "trial_T20190906_190812_248659-0%0", "input": "Look at a container by the light of a lamp.", "output": ["STEP 1: Turn left and walk to the shelves along the wall."]} +{"id": "trial_T20190906_190812_248659-0%1", "input": "Look at a container by the light of a lamp. | STEP 1: Turn left and walk to the shelves along the wall.", "output": ["STEP 2: Pick up the gray container on the right of the shelf."]} +{"id": "trial_T20190906_190812_248659-0%2", "input": "Look at a container by the light of a lamp. | STEP 1: Turn left and walk to the shelves along the wall. | STEP 2: Pick up the gray container on the right of the shelf.", "output": ["STEP 3: Turn right and walk to the lamp."]} +{"id": "trial_T20190906_190812_248659-0%3", "input": "Look at a container by the light of a lamp. | STEP 1: Turn left and walk to the shelves along the wall. | STEP 2: Pick up the gray container on the right of the shelf. | STEP 3: Turn right and walk to the lamp.", "output": ["STEP 4: Turn on the lamp."]} +{"id": "trial_T20190906_190812_248659-0%4", "input": "Look at a container by the light of a lamp. | STEP 1: Turn left and walk to the shelves along the wall. | STEP 2: Pick up the gray container on the right of the shelf. | STEP 3: Turn right and walk to the lamp. | STEP 4: Turn on the lamp.", "output": ["END"]} +{"id": "trial_T20190906_190812_248659-1%0", "input": "turn on a lamp while holding a bowl", "output": ["STEP 1: turn left and walk to the far end of the room with the black cabinet"]} +{"id": "trial_T20190906_190812_248659-1%1", "input": "turn on a lamp while holding a bowl | STEP 1: turn left and walk to the far end of the room with the black cabinet", "output": ["STEP 2: grab a bowl off of the of the shelf of the cabinet"]} +{"id": "trial_T20190906_190812_248659-1%2", "input": "turn on a lamp while holding a bowl | STEP 1: turn left and walk to the far end of the room with the black cabinet | STEP 2: grab a bowl off of the of the shelf of the cabinet", "output": ["STEP 3: turn right and walk over to the oval shaped table against the wall"]} +{"id": "trial_T20190906_190812_248659-1%3", "input": "turn on a lamp while holding a bowl | STEP 1: turn left and walk to the far end of the room with the black cabinet | STEP 2: grab a bowl off of the of the shelf of the cabinet | STEP 3: turn right and walk over to the oval shaped table against the wall", "output": ["STEP 4: turn on the lamp on the table"]} +{"id": "trial_T20190906_190812_248659-1%4", "input": "turn on a lamp while holding a bowl | STEP 1: turn left and walk to the far end of the room with the black cabinet | STEP 2: grab a bowl off of the of the shelf of the cabinet | STEP 3: turn right and walk over to the oval shaped table against the wall | STEP 4: turn on the lamp on the table", "output": ["END"]} +{"id": "trial_T20190908_050137_894267-0%0", "input": "Place a bowl holding a knife and potato slice into the microwave.", "output": ["STEP 1: Turn left and go to face the grey round table."]} +{"id": "trial_T20190908_050137_894267-0%1", "input": "Place a bowl holding a knife and potato slice into the microwave. | STEP 1: Turn left and go to face the grey round table.", "output": ["STEP 2: Pick up the knife on the grey round table."]} +{"id": "trial_T20190908_050137_894267-0%2", "input": "Place a bowl holding a knife and potato slice into the microwave. | STEP 1: Turn left and go to face the grey round table. | STEP 2: Pick up the knife on the grey round table.", "output": ["STEP 3: Turn around and move to the sink at the end of the counter."]} +{"id": "trial_T20190908_050137_894267-0%3", "input": "Place a bowl holding a knife and potato slice into the microwave. | STEP 1: Turn left and go to face the grey round table. | STEP 2: Pick up the knife on the grey round table. | STEP 3: Turn around and move to the sink at the end of the counter.", "output": ["STEP 4: Slice the potato in the sink with the knife."]} +{"id": "trial_T20190908_050137_894267-0%4", "input": "Place a bowl holding a knife and potato slice into the microwave. | STEP 1: Turn left and go to face the grey round table. | STEP 2: Pick up the knife on the grey round table. | STEP 3: Turn around and move to the sink at the end of the counter. | STEP 4: Slice the potato in the sink with the knife.", "output": ["STEP 5: Turn around and head to face the bowl to the left of the lettuce on the other counter."]} +{"id": "trial_T20190908_050137_894267-0%5", "input": "Place a bowl holding a knife and potato slice into the microwave. | STEP 1: Turn left and go to face the grey round table. | STEP 2: Pick up the knife on the grey round table. | STEP 3: Turn around and move to the sink at the end of the counter. | STEP 4: Slice the potato in the sink with the knife. | STEP 5: Turn around and head to face the bowl to the left of the lettuce on the other counter.", "output": ["STEP 6: Place the knife in the bowl to the left of the lettuce."]} +{"id": "trial_T20190908_050137_894267-0%6", "input": "Place a bowl holding a knife and potato slice into the microwave. | STEP 1: Turn left and go to face the grey round table. | STEP 2: Pick up the knife on the grey round table. | STEP 3: Turn around and move to the sink at the end of the counter. | STEP 4: Slice the potato in the sink with the knife. | STEP 5: Turn around and head to face the bowl to the left of the lettuce on the other counter. | STEP 6: Place the knife in the bowl to the left of the lettuce.", "output": ["STEP 7: Turn around and go back to the sink."]} +{"id": "trial_T20190908_050137_894267-0%7", "input": "Place a bowl holding a knife and potato slice into the microwave. | STEP 1: Turn left and go to face the grey round table. | STEP 2: Pick up the knife on the grey round table. | STEP 3: Turn around and move to the sink at the end of the counter. | STEP 4: Slice the potato in the sink with the knife. | STEP 5: Turn around and head to face the bowl to the left of the lettuce on the other counter. | STEP 6: Place the knife in the bowl to the left of the lettuce. | STEP 7: Turn around and go back to the sink.", "output": ["STEP 8: Pick up a potato slice in the sink."]} +{"id": "trial_T20190908_050137_894267-0%8", "input": "Place a bowl holding a knife and potato slice into the microwave. | STEP 1: Turn left and go to face the grey round table. | STEP 2: Pick up the knife on the grey round table. | STEP 3: Turn around and move to the sink at the end of the counter. | STEP 4: Slice the potato in the sink with the knife. | STEP 5: Turn around and head to face the bowl to the left of the lettuce on the other counter. | STEP 6: Place the knife in the bowl to the left of the lettuce. | STEP 7: Turn around and go back to the sink. | STEP 8: Pick up a potato slice in the sink.", "output": ["STEP 9: Turn around and move to face the bowl with the knife in it."]} +{"id": "trial_T20190908_050137_894267-0%9", "input": "Place a bowl holding a knife and potato slice into the microwave. | STEP 1: Turn left and go to face the grey round table. | STEP 2: Pick up the knife on the grey round table. | STEP 3: Turn around and move to the sink at the end of the counter. | STEP 4: Slice the potato in the sink with the knife. | STEP 5: Turn around and head to face the bowl to the left of the lettuce on the other counter. | STEP 6: Place the knife in the bowl to the left of the lettuce. | STEP 7: Turn around and go back to the sink. | STEP 8: Pick up a potato slice in the sink. | STEP 9: Turn around and move to face the bowl with the knife in it.", "output": ["STEP 10: Place the potato slice in the bowl with the knife in it."]} +{"id": "trial_T20190908_050137_894267-0%10", "input": "Place a bowl holding a knife and potato slice into the microwave. | STEP 1: Turn left and go to face the grey round table. | STEP 2: Pick up the knife on the grey round table. | STEP 3: Turn around and move to the sink at the end of the counter. | STEP 4: Slice the potato in the sink with the knife. | STEP 5: Turn around and head to face the bowl to the left of the lettuce on the other counter. | STEP 6: Place the knife in the bowl to the left of the lettuce. | STEP 7: Turn around and go back to the sink. | STEP 8: Pick up a potato slice in the sink. | STEP 9: Turn around and move to face the bowl with the knife in it. | STEP 10: Place the potato slice in the bowl with the knife in it.", "output": ["STEP 11: Pick up the bowl on the counter holding the potato slice and knife."]} +{"id": "trial_T20190908_050137_894267-0%11", "input": "Place a bowl holding a knife and potato slice into the microwave. | STEP 1: Turn left and go to face the grey round table. | STEP 2: Pick up the knife on the grey round table. | STEP 3: Turn around and move to the sink at the end of the counter. | STEP 4: Slice the potato in the sink with the knife. | STEP 5: Turn around and head to face the bowl to the left of the lettuce on the other counter. | STEP 6: Place the knife in the bowl to the left of the lettuce. | STEP 7: Turn around and go back to the sink. | STEP 8: Pick up a potato slice in the sink. | STEP 9: Turn around and move to face the bowl with the knife in it. | STEP 10: Place the potato slice in the bowl with the knife in it. | STEP 11: Pick up the bowl on the counter holding the potato slice and knife.", "output": ["STEP 12: Turn left and go to the microwave above the stove."]} +{"id": "trial_T20190908_050137_894267-0%12", "input": "Place a bowl holding a knife and potato slice into the microwave. | STEP 1: Turn left and go to face the grey round table. | STEP 2: Pick up the knife on the grey round table. | STEP 3: Turn around and move to the sink at the end of the counter. | STEP 4: Slice the potato in the sink with the knife. | STEP 5: Turn around and head to face the bowl to the left of the lettuce on the other counter. | STEP 6: Place the knife in the bowl to the left of the lettuce. | STEP 7: Turn around and go back to the sink. | STEP 8: Pick up a potato slice in the sink. | STEP 9: Turn around and move to face the bowl with the knife in it. | STEP 10: Place the potato slice in the bowl with the knife in it. | STEP 11: Pick up the bowl on the counter holding the potato slice and knife. | STEP 12: Turn left and go to the microwave above the stove.", "output": ["STEP 13: Place the bowl with the knife and potato slice in the microwave."]} +{"id": "trial_T20190908_050137_894267-0%13", "input": "Place a bowl holding a knife and potato slice into the microwave. | STEP 1: Turn left and go to face the grey round table. | STEP 2: Pick up the knife on the grey round table. | STEP 3: Turn around and move to the sink at the end of the counter. | STEP 4: Slice the potato in the sink with the knife. | STEP 5: Turn around and head to face the bowl to the left of the lettuce on the other counter. | STEP 6: Place the knife in the bowl to the left of the lettuce. | STEP 7: Turn around and go back to the sink. | STEP 8: Pick up a potato slice in the sink. | STEP 9: Turn around and move to face the bowl with the knife in it. | STEP 10: Place the potato slice in the bowl with the knife in it. | STEP 11: Pick up the bowl on the counter holding the potato slice and knife. | STEP 12: Turn left and go to the microwave above the stove. | STEP 13: Place the bowl with the knife and potato slice in the microwave.", "output": ["END"]} +{"id": "trial_T20190908_050137_894267-1%0", "input": "Moving a bowl, knife and slice of potato to the microwave", "output": ["STEP 1: Turn left and go to the small table"]} +{"id": "trial_T20190908_050137_894267-1%1", "input": "Moving a bowl, knife and slice of potato to the microwave | STEP 1: Turn left and go to the small table", "output": ["STEP 2: Pick up the knife on the table"]} +{"id": "trial_T20190908_050137_894267-1%2", "input": "Moving a bowl, knife and slice of potato to the microwave | STEP 1: Turn left and go to the small table | STEP 2: Pick up the knife on the table", "output": ["STEP 3: Turn left and go around to the front of the sink"]} +{"id": "trial_T20190908_050137_894267-1%3", "input": "Moving a bowl, knife and slice of potato to the microwave | STEP 1: Turn left and go to the small table | STEP 2: Pick up the knife on the table | STEP 3: Turn left and go around to the front of the sink", "output": ["STEP 4: Slice the potato in the sink"]} +{"id": "trial_T20190908_050137_894267-1%4", "input": "Moving a bowl, knife and slice of potato to the microwave | STEP 1: Turn left and go to the small table | STEP 2: Pick up the knife on the table | STEP 3: Turn left and go around to the front of the sink | STEP 4: Slice the potato in the sink", "output": ["STEP 5: turn around and move to the counter in front and to the right"]} +{"id": "trial_T20190908_050137_894267-1%5", "input": "Moving a bowl, knife and slice of potato to the microwave | STEP 1: Turn left and go to the small table | STEP 2: Pick up the knife on the table | STEP 3: Turn left and go around to the front of the sink | STEP 4: Slice the potato in the sink | STEP 5: turn around and move to the counter in front and to the right", "output": ["STEP 6: Put the knife in the bowl"]} +{"id": "trial_T20190908_050137_894267-1%6", "input": "Moving a bowl, knife and slice of potato to the microwave | STEP 1: Turn left and go to the small table | STEP 2: Pick up the knife on the table | STEP 3: Turn left and go around to the front of the sink | STEP 4: Slice the potato in the sink | STEP 5: turn around and move to the counter in front and to the right | STEP 6: Put the knife in the bowl", "output": ["STEP 7: Turn around and go back to the sink to the right"]} +{"id": "trial_T20190908_050137_894267-1%7", "input": "Moving a bowl, knife and slice of potato to the microwave | STEP 1: Turn left and go to the small table | STEP 2: Pick up the knife on the table | STEP 3: Turn left and go around to the front of the sink | STEP 4: Slice the potato in the sink | STEP 5: turn around and move to the counter in front and to the right | STEP 6: Put the knife in the bowl | STEP 7: Turn around and go back to the sink to the right", "output": ["STEP 8: Pick up a slice of potato from inside the sink"]} +{"id": "trial_T20190908_050137_894267-1%8", "input": "Moving a bowl, knife and slice of potato to the microwave | STEP 1: Turn left and go to the small table | STEP 2: Pick up the knife on the table | STEP 3: Turn left and go around to the front of the sink | STEP 4: Slice the potato in the sink | STEP 5: turn around and move to the counter in front and to the right | STEP 6: Put the knife in the bowl | STEP 7: Turn around and go back to the sink to the right | STEP 8: Pick up a slice of potato from inside the sink", "output": ["STEP 9: Turn around and go back to the counter that's ahead and to the right"]} +{"id": "trial_T20190908_050137_894267-1%9", "input": "Moving a bowl, knife and slice of potato to the microwave | STEP 1: Turn left and go to the small table | STEP 2: Pick up the knife on the table | STEP 3: Turn left and go around to the front of the sink | STEP 4: Slice the potato in the sink | STEP 5: turn around and move to the counter in front and to the right | STEP 6: Put the knife in the bowl | STEP 7: Turn around and go back to the sink to the right | STEP 8: Pick up a slice of potato from inside the sink | STEP 9: Turn around and go back to the counter that's ahead and to the right", "output": ["STEP 10: Put the slice of potato in the bowl"]} +{"id": "trial_T20190908_050137_894267-1%10", "input": "Moving a bowl, knife and slice of potato to the microwave | STEP 1: Turn left and go to the small table | STEP 2: Pick up the knife on the table | STEP 3: Turn left and go around to the front of the sink | STEP 4: Slice the potato in the sink | STEP 5: turn around and move to the counter in front and to the right | STEP 6: Put the knife in the bowl | STEP 7: Turn around and go back to the sink to the right | STEP 8: Pick up a slice of potato from inside the sink | STEP 9: Turn around and go back to the counter that's ahead and to the right | STEP 10: Put the slice of potato in the bowl", "output": ["STEP 11: Pick up the bowl with the knife and potato inside"]} +{"id": "trial_T20190908_050137_894267-1%11", "input": "Moving a bowl, knife and slice of potato to the microwave | STEP 1: Turn left and go to the small table | STEP 2: Pick up the knife on the table | STEP 3: Turn left and go around to the front of the sink | STEP 4: Slice the potato in the sink | STEP 5: turn around and move to the counter in front and to the right | STEP 6: Put the knife in the bowl | STEP 7: Turn around and go back to the sink to the right | STEP 8: Pick up a slice of potato from inside the sink | STEP 9: Turn around and go back to the counter that's ahead and to the right | STEP 10: Put the slice of potato in the bowl | STEP 11: Pick up the bowl with the knife and potato inside", "output": ["STEP 12: Turn to the left and go to the stove"]} +{"id": "trial_T20190908_050137_894267-1%12", "input": "Moving a bowl, knife and slice of potato to the microwave | STEP 1: Turn left and go to the small table | STEP 2: Pick up the knife on the table | STEP 3: Turn left and go around to the front of the sink | STEP 4: Slice the potato in the sink | STEP 5: turn around and move to the counter in front and to the right | STEP 6: Put the knife in the bowl | STEP 7: Turn around and go back to the sink to the right | STEP 8: Pick up a slice of potato from inside the sink | STEP 9: Turn around and go back to the counter that's ahead and to the right | STEP 10: Put the slice of potato in the bowl | STEP 11: Pick up the bowl with the knife and potato inside | STEP 12: Turn to the left and go to the stove", "output": ["STEP 13: Open the microwave, place the bowl with the knife and potato inside, close the door"]} +{"id": "trial_T20190908_050137_894267-1%13", "input": "Moving a bowl, knife and slice of potato to the microwave | STEP 1: Turn left and go to the small table | STEP 2: Pick up the knife on the table | STEP 3: Turn left and go around to the front of the sink | STEP 4: Slice the potato in the sink | STEP 5: turn around and move to the counter in front and to the right | STEP 6: Put the knife in the bowl | STEP 7: Turn around and go back to the sink to the right | STEP 8: Pick up a slice of potato from inside the sink | STEP 9: Turn around and go back to the counter that's ahead and to the right | STEP 10: Put the slice of potato in the bowl | STEP 11: Pick up the bowl with the knife and potato inside | STEP 12: Turn to the left and go to the stove | STEP 13: Open the microwave, place the bowl with the knife and potato inside, close the door", "output": ["END"]} +{"id": "trial_T20190907_211732_655276-0%0", "input": "Move the hand on the shelves to the TV table. ", "output": ["STEP 1: Turn and go to the shelves."]} +{"id": "trial_T20190907_211732_655276-0%1", "input": "Move the hand on the shelves to the TV table. | STEP 1: Turn and go to the shelves.", "output": ["STEP 2: Pick up the hand on the shelves. "]} +{"id": "trial_T20190907_211732_655276-0%2", "input": "Move the hand on the shelves to the TV table. | STEP 1: Turn and go to the shelves. | STEP 2: Pick up the hand on the shelves. ", "output": ["STEP 3: Turn and go to the TV table in the corner. "]} +{"id": "trial_T20190907_211732_655276-0%3", "input": "Move the hand on the shelves to the TV table. | STEP 1: Turn and go to the shelves. | STEP 2: Pick up the hand on the shelves. | STEP 3: Turn and go to the TV table in the corner. ", "output": ["STEP 4: Put the hand on the TV table. "]} +{"id": "trial_T20190907_211732_655276-0%4", "input": "Move the hand on the shelves to the TV table. | STEP 1: Turn and go to the shelves. | STEP 2: Pick up the hand on the shelves. | STEP 3: Turn and go to the TV table in the corner. | STEP 4: Put the hand on the TV table. ", "output": ["END"]} +{"id": "trial_T20190907_211732_655276-1%0", "input": "Put a golden statue hand on the TV stand.", "output": ["STEP 1: Move to the shelf to the right of you"]} +{"id": "trial_T20190907_211732_655276-1%1", "input": "Put a golden statue hand on the TV stand. | STEP 1: Move to the shelf to the right of you", "output": ["STEP 2: Pick up a golden hand from the shelf"]} +{"id": "trial_T20190907_211732_655276-1%2", "input": "Put a golden statue hand on the TV stand. | STEP 1: Move to the shelf to the right of you | STEP 2: Pick up a golden hand from the shelf", "output": ["STEP 3: Move to the TV stand to the right of you"]} +{"id": "trial_T20190907_211732_655276-1%3", "input": "Put a golden statue hand on the TV stand. | STEP 1: Move to the shelf to the right of you | STEP 2: Pick up a golden hand from the shelf | STEP 3: Move to the TV stand to the right of you", "output": ["STEP 4: Place the hand on the stand"]} +{"id": "trial_T20190907_211732_655276-1%4", "input": "Put a golden statue hand on the TV stand. | STEP 1: Move to the shelf to the right of you | STEP 2: Pick up a golden hand from the shelf | STEP 3: Move to the TV stand to the right of you | STEP 4: Place the hand on the stand", "output": ["END"]} +{"id": "trial_T20190908_194026_614803-1%0", "input": "Pick up apple, put in microwave, remove, and put on counter", "output": ["STEP 1: Walk forward, turn left at oven, turn right, walk forward, turn left at end of counter"]} +{"id": "trial_T20190908_194026_614803-1%1", "input": "Pick up apple, put in microwave, remove, and put on counter | STEP 1: Walk forward, turn left at oven, turn right, walk forward, turn left at end of counter", "output": ["STEP 2: Pick up apple off of counter"]} +{"id": "trial_T20190908_194026_614803-1%2", "input": "Pick up apple, put in microwave, remove, and put on counter | STEP 1: Walk forward, turn left at oven, turn right, walk forward, turn left at end of counter | STEP 2: Pick up apple off of counter", "output": ["STEP 3: Turn left, walk to stove, turn right facing the oven"]} +{"id": "trial_T20190908_194026_614803-1%3", "input": "Pick up apple, put in microwave, remove, and put on counter | STEP 1: Walk forward, turn left at oven, turn right, walk forward, turn left at end of counter | STEP 2: Pick up apple off of counter | STEP 3: Turn left, walk to stove, turn right facing the oven", "output": ["STEP 4: Put apple in microwave above oven, close microwave, turn on, turn off, remove from microwave"]} +{"id": "trial_T20190908_194026_614803-1%4", "input": "Pick up apple, put in microwave, remove, and put on counter | STEP 1: Walk forward, turn left at oven, turn right, walk forward, turn left at end of counter | STEP 2: Pick up apple off of counter | STEP 3: Turn left, walk to stove, turn right facing the oven | STEP 4: Put apple in microwave above oven, close microwave, turn on, turn off, remove from microwave", "output": ["STEP 5: Turn right, walk to end of counter, turn right,"]} +{"id": "trial_T20190908_194026_614803-1%5", "input": "Pick up apple, put in microwave, remove, and put on counter | STEP 1: Walk forward, turn left at oven, turn right, walk forward, turn left at end of counter | STEP 2: Pick up apple off of counter | STEP 3: Turn left, walk to stove, turn right facing the oven | STEP 4: Put apple in microwave above oven, close microwave, turn on, turn off, remove from microwave | STEP 5: Turn right, walk to end of counter, turn right,", "output": ["STEP 6: Put apple on counter in front of coffee maker"]} +{"id": "trial_T20190908_194026_614803-1%6", "input": "Pick up apple, put in microwave, remove, and put on counter | STEP 1: Walk forward, turn left at oven, turn right, walk forward, turn left at end of counter | STEP 2: Pick up apple off of counter | STEP 3: Turn left, walk to stove, turn right facing the oven | STEP 4: Put apple in microwave above oven, close microwave, turn on, turn off, remove from microwave | STEP 5: Turn right, walk to end of counter, turn right, | STEP 6: Put apple on counter in front of coffee maker", "output": ["END"]} +{"id": "trial_T20190908_080336_509407-1%0", "input": "Fill a cup with water and place inside cabinet.", "output": ["STEP 1: Step forward, turn and head to the end cabinets on the right."]} +{"id": "trial_T20190908_080336_509407-1%1", "input": "Fill a cup with water and place inside cabinet. | STEP 1: Step forward, turn and head to the end cabinets on the right.", "output": ["STEP 2: Open the top cabinet, pick up the green cup on the top right, close cabinet door."]} +{"id": "trial_T20190908_080336_509407-1%2", "input": "Fill a cup with water and place inside cabinet. | STEP 1: Step forward, turn and head to the end cabinets on the right. | STEP 2: Open the top cabinet, pick up the green cup on the top right, close cabinet door.", "output": ["STEP 3: Turn around and go to the kitchen sink."]} +{"id": "trial_T20190908_080336_509407-1%3", "input": "Fill a cup with water and place inside cabinet. | STEP 1: Step forward, turn and head to the end cabinets on the right. | STEP 2: Open the top cabinet, pick up the green cup on the top right, close cabinet door. | STEP 3: Turn around and go to the kitchen sink.", "output": ["STEP 4: Place the green cup into the sink, turn on faucet to fill cup, then turn off the faucet."]} +{"id": "trial_T20190908_080336_509407-1%4", "input": "Fill a cup with water and place inside cabinet. | STEP 1: Step forward, turn and head to the end cabinets on the right. | STEP 2: Open the top cabinet, pick up the green cup on the top right, close cabinet door. | STEP 3: Turn around and go to the kitchen sink. | STEP 4: Place the green cup into the sink, turn on faucet to fill cup, then turn off the faucet.", "output": ["STEP 5: Turn around to face the kitchen counter with an apple."]} +{"id": "trial_T20190908_080336_509407-1%5", "input": "Fill a cup with water and place inside cabinet. | STEP 1: Step forward, turn and head to the end cabinets on the right. | STEP 2: Open the top cabinet, pick up the green cup on the top right, close cabinet door. | STEP 3: Turn around and go to the kitchen sink. | STEP 4: Place the green cup into the sink, turn on faucet to fill cup, then turn off the faucet. | STEP 5: Turn around to face the kitchen counter with an apple.", "output": ["STEP 6: Open the cabinet door directly under the apple, place the cup of water inside and close the door."]} +{"id": "trial_T20190908_080336_509407-1%6", "input": "Fill a cup with water and place inside cabinet. | STEP 1: Step forward, turn and head to the end cabinets on the right. | STEP 2: Open the top cabinet, pick up the green cup on the top right, close cabinet door. | STEP 3: Turn around and go to the kitchen sink. | STEP 4: Place the green cup into the sink, turn on faucet to fill cup, then turn off the faucet. | STEP 5: Turn around to face the kitchen counter with an apple. | STEP 6: Open the cabinet door directly under the apple, place the cup of water inside and close the door.", "output": ["END"]} +{"id": "trial_T20190909_014524_943132-0%0", "input": "Heat up a slice of apple in the microwave to put it in the sink.", "output": ["STEP 1: Turn left to walk towards the counter to the left of the sink."]} +{"id": "trial_T20190909_014524_943132-0%1", "input": "Heat up a slice of apple in the microwave to put it in the sink. | STEP 1: Turn left to walk towards the counter to the left of the sink.", "output": ["STEP 2: Pick up the large knife from the countertop to the left of the sink."]} +{"id": "trial_T20190909_014524_943132-0%2", "input": "Heat up a slice of apple in the microwave to put it in the sink. | STEP 1: Turn left to walk towards the counter to the left of the sink. | STEP 2: Pick up the large knife from the countertop to the left of the sink.", "output": ["STEP 3: Turn around to face the opposite countertop."]} +{"id": "trial_T20190909_014524_943132-0%3", "input": "Heat up a slice of apple in the microwave to put it in the sink. | STEP 1: Turn left to walk towards the counter to the left of the sink. | STEP 2: Pick up the large knife from the countertop to the left of the sink. | STEP 3: Turn around to face the opposite countertop.", "output": ["STEP 4: Slice the apple on the countertop."]} +{"id": "trial_T20190909_014524_943132-0%4", "input": "Heat up a slice of apple in the microwave to put it in the sink. | STEP 1: Turn left to walk towards the counter to the left of the sink. | STEP 2: Pick up the large knife from the countertop to the left of the sink. | STEP 3: Turn around to face the opposite countertop. | STEP 4: Slice the apple on the countertop.", "output": ["STEP 5: Turn left to walk to the microwave."]} +{"id": "trial_T20190909_014524_943132-0%5", "input": "Heat up a slice of apple in the microwave to put it in the sink. | STEP 1: Turn left to walk towards the counter to the left of the sink. | STEP 2: Pick up the large knife from the countertop to the left of the sink. | STEP 3: Turn around to face the opposite countertop. | STEP 4: Slice the apple on the countertop. | STEP 5: Turn left to walk to the microwave.", "output": ["STEP 6: Put the large knife in the microwave."]} +{"id": "trial_T20190909_014524_943132-0%6", "input": "Heat up a slice of apple in the microwave to put it in the sink. | STEP 1: Turn left to walk towards the counter to the left of the sink. | STEP 2: Pick up the large knife from the countertop to the left of the sink. | STEP 3: Turn around to face the opposite countertop. | STEP 4: Slice the apple on the countertop. | STEP 5: Turn left to walk to the microwave. | STEP 6: Put the large knife in the microwave.", "output": ["STEP 7: Turn right to face the countertop with the apple slices."]} +{"id": "trial_T20190909_014524_943132-0%7", "input": "Heat up a slice of apple in the microwave to put it in the sink. | STEP 1: Turn left to walk towards the counter to the left of the sink. | STEP 2: Pick up the large knife from the countertop to the left of the sink. | STEP 3: Turn around to face the opposite countertop. | STEP 4: Slice the apple on the countertop. | STEP 5: Turn left to walk to the microwave. | STEP 6: Put the large knife in the microwave. | STEP 7: Turn right to face the countertop with the apple slices.", "output": ["STEP 8: Pick up an apple slice from the countertop."]} +{"id": "trial_T20190909_014524_943132-0%8", "input": "Heat up a slice of apple in the microwave to put it in the sink. | STEP 1: Turn left to walk towards the counter to the left of the sink. | STEP 2: Pick up the large knife from the countertop to the left of the sink. | STEP 3: Turn around to face the opposite countertop. | STEP 4: Slice the apple on the countertop. | STEP 5: Turn left to walk to the microwave. | STEP 6: Put the large knife in the microwave. | STEP 7: Turn right to face the countertop with the apple slices. | STEP 8: Pick up an apple slice from the countertop.", "output": ["STEP 9: Turn left to walk to the microwave."]} +{"id": "trial_T20190909_014524_943132-0%9", "input": "Heat up a slice of apple in the microwave to put it in the sink. | STEP 1: Turn left to walk towards the counter to the left of the sink. | STEP 2: Pick up the large knife from the countertop to the left of the sink. | STEP 3: Turn around to face the opposite countertop. | STEP 4: Slice the apple on the countertop. | STEP 5: Turn left to walk to the microwave. | STEP 6: Put the large knife in the microwave. | STEP 7: Turn right to face the countertop with the apple slices. | STEP 8: Pick up an apple slice from the countertop. | STEP 9: Turn left to walk to the microwave.", "output": ["STEP 10: Heat up the apple slice in the microwave, removing it afterwards."]} +{"id": "trial_T20190909_014524_943132-0%10", "input": "Heat up a slice of apple in the microwave to put it in the sink. | STEP 1: Turn left to walk towards the counter to the left of the sink. | STEP 2: Pick up the large knife from the countertop to the left of the sink. | STEP 3: Turn around to face the opposite countertop. | STEP 4: Slice the apple on the countertop. | STEP 5: Turn left to walk to the microwave. | STEP 6: Put the large knife in the microwave. | STEP 7: Turn right to face the countertop with the apple slices. | STEP 8: Pick up an apple slice from the countertop. | STEP 9: Turn left to walk to the microwave. | STEP 10: Heat up the apple slice in the microwave, removing it afterwards.", "output": ["STEP 11: Turn around the face the sink."]} +{"id": "trial_T20190909_014524_943132-0%11", "input": "Heat up a slice of apple in the microwave to put it in the sink. | STEP 1: Turn left to walk towards the counter to the left of the sink. | STEP 2: Pick up the large knife from the countertop to the left of the sink. | STEP 3: Turn around to face the opposite countertop. | STEP 4: Slice the apple on the countertop. | STEP 5: Turn left to walk to the microwave. | STEP 6: Put the large knife in the microwave. | STEP 7: Turn right to face the countertop with the apple slices. | STEP 8: Pick up an apple slice from the countertop. | STEP 9: Turn left to walk to the microwave. | STEP 10: Heat up the apple slice in the microwave, removing it afterwards. | STEP 11: Turn around the face the sink.", "output": ["STEP 12: Put the apple slice in the sink."]} +{"id": "trial_T20190909_014524_943132-0%12", "input": "Heat up a slice of apple in the microwave to put it in the sink. | STEP 1: Turn left to walk towards the counter to the left of the sink. | STEP 2: Pick up the large knife from the countertop to the left of the sink. | STEP 3: Turn around to face the opposite countertop. | STEP 4: Slice the apple on the countertop. | STEP 5: Turn left to walk to the microwave. | STEP 6: Put the large knife in the microwave. | STEP 7: Turn right to face the countertop with the apple slices. | STEP 8: Pick up an apple slice from the countertop. | STEP 9: Turn left to walk to the microwave. | STEP 10: Heat up the apple slice in the microwave, removing it afterwards. | STEP 11: Turn around the face the sink. | STEP 12: Put the apple slice in the sink.", "output": ["END"]} +{"id": "trial_T20190908_041041_521601-1%0", "input": "Place a warmed apple in the recycling bin.", "output": ["STEP 1: Approach the counter to the left of the stove."]} +{"id": "trial_T20190908_041041_521601-1%1", "input": "Place a warmed apple in the recycling bin. | STEP 1: Approach the counter to the left of the stove.", "output": ["STEP 2: Pick up the apple from the counter."]} +{"id": "trial_T20190908_041041_521601-1%2", "input": "Place a warmed apple in the recycling bin. | STEP 1: Approach the counter to the left of the stove. | STEP 2: Pick up the apple from the counter.", "output": ["STEP 3: Approach the microwave above the stove."]} +{"id": "trial_T20190908_041041_521601-1%3", "input": "Place a warmed apple in the recycling bin. | STEP 1: Approach the counter to the left of the stove. | STEP 2: Pick up the apple from the counter. | STEP 3: Approach the microwave above the stove.", "output": ["STEP 4: Put the apple in the microwave, turn the microwave on and wait before removing the apple. "]} +{"id": "trial_T20190908_041041_521601-1%4", "input": "Place a warmed apple in the recycling bin. | STEP 1: Approach the counter to the left of the stove. | STEP 2: Pick up the apple from the counter. | STEP 3: Approach the microwave above the stove. | STEP 4: Put the apple in the microwave, turn the microwave on and wait before removing the apple. ", "output": ["STEP 5: Turn to your left and walk to the recycling bin."]} +{"id": "trial_T20190908_041041_521601-1%5", "input": "Place a warmed apple in the recycling bin. | STEP 1: Approach the counter to the left of the stove. | STEP 2: Pick up the apple from the counter. | STEP 3: Approach the microwave above the stove. | STEP 4: Put the apple in the microwave, turn the microwave on and wait before removing the apple. | STEP 5: Turn to your left and walk to the recycling bin.", "output": ["STEP 6: Place the apple in the recycling bin."]} +{"id": "trial_T20190908_041041_521601-1%6", "input": "Place a warmed apple in the recycling bin. | STEP 1: Approach the counter to the left of the stove. | STEP 2: Pick up the apple from the counter. | STEP 3: Approach the microwave above the stove. | STEP 4: Put the apple in the microwave, turn the microwave on and wait before removing the apple. | STEP 5: Turn to your left and walk to the recycling bin. | STEP 6: Place the apple in the recycling bin.", "output": ["END"]} +{"id": "trial_T20190908_041041_521601-2%0", "input": "Place a microwaved apple in a garbage can.", "output": ["STEP 1: Walk forward slightly and turn right towards the counter top."]} +{"id": "trial_T20190908_041041_521601-2%1", "input": "Place a microwaved apple in a garbage can. | STEP 1: Walk forward slightly and turn right towards the counter top.", "output": ["STEP 2: Pick up the apple from the counter top."]} +{"id": "trial_T20190908_041041_521601-2%2", "input": "Place a microwaved apple in a garbage can. | STEP 1: Walk forward slightly and turn right towards the counter top. | STEP 2: Pick up the apple from the counter top.", "output": ["STEP 3: Turn right and walk to the microwave above the stove top."]} +{"id": "trial_T20190908_041041_521601-2%3", "input": "Place a microwaved apple in a garbage can. | STEP 1: Walk forward slightly and turn right towards the counter top. | STEP 2: Pick up the apple from the counter top. | STEP 3: Turn right and walk to the microwave above the stove top.", "output": ["STEP 4: Microwave the apple for a few seconds, then take it out and close the microwave."]} +{"id": "trial_T20190908_041041_521601-2%4", "input": "Place a microwaved apple in a garbage can. | STEP 1: Walk forward slightly and turn right towards the counter top. | STEP 2: Pick up the apple from the counter top. | STEP 3: Turn right and walk to the microwave above the stove top. | STEP 4: Microwave the apple for a few seconds, then take it out and close the microwave.", "output": ["STEP 5: Turn left and walk to the blue garbage can in the corner of the room."]} +{"id": "trial_T20190908_041041_521601-2%5", "input": "Place a microwaved apple in a garbage can. | STEP 1: Walk forward slightly and turn right towards the counter top. | STEP 2: Pick up the apple from the counter top. | STEP 3: Turn right and walk to the microwave above the stove top. | STEP 4: Microwave the apple for a few seconds, then take it out and close the microwave. | STEP 5: Turn left and walk to the blue garbage can in the corner of the room.", "output": ["STEP 6: Put the apple in the garbage can."]} +{"id": "trial_T20190908_041041_521601-2%6", "input": "Place a microwaved apple in a garbage can. | STEP 1: Walk forward slightly and turn right towards the counter top. | STEP 2: Pick up the apple from the counter top. | STEP 3: Turn right and walk to the microwave above the stove top. | STEP 4: Microwave the apple for a few seconds, then take it out and close the microwave. | STEP 5: Turn left and walk to the blue garbage can in the corner of the room. | STEP 6: Put the apple in the garbage can.", "output": ["END"]} +{"id": "trial_T20190909_004150_970566-0%0", "input": "Move a pen from a dresser to a small table below a desk.", "output": ["STEP 1: Walk forward to the brown dresser which is in front of you."]} +{"id": "trial_T20190909_004150_970566-0%1", "input": "Move a pen from a dresser to a small table below a desk. | STEP 1: Walk forward to the brown dresser which is in front of you.", "output": ["STEP 2: Pick up the pen from the dresser."]} +{"id": "trial_T20190909_004150_970566-0%2", "input": "Move a pen from a dresser to a small table below a desk. | STEP 1: Walk forward to the brown dresser which is in front of you. | STEP 2: Pick up the pen from the dresser.", "output": ["STEP 3: Turn around and walk forward to the left side of the desk on your right."]} +{"id": "trial_T20190909_004150_970566-0%3", "input": "Move a pen from a dresser to a small table below a desk. | STEP 1: Walk forward to the brown dresser which is in front of you. | STEP 2: Pick up the pen from the dresser. | STEP 3: Turn around and walk forward to the left side of the desk on your right.", "output": ["STEP 4: Put the pen on the front of the small table below the desk."]} +{"id": "trial_T20190909_004150_970566-0%4", "input": "Move a pen from a dresser to a small table below a desk. | STEP 1: Walk forward to the brown dresser which is in front of you. | STEP 2: Pick up the pen from the dresser. | STEP 3: Turn around and walk forward to the left side of the desk on your right. | STEP 4: Put the pen on the front of the small table below the desk.", "output": ["END"]} +{"id": "trial_T20190909_004150_970566-1%0", "input": "Move a pen from the dresser to the shelves.", "output": ["STEP 1: Turn left, move to the dresser, right of the CD."]} +{"id": "trial_T20190909_004150_970566-1%1", "input": "Move a pen from the dresser to the shelves. | STEP 1: Turn left, move to the dresser, right of the CD.", "output": ["STEP 2: Pick up the pen from the dresser."]} +{"id": "trial_T20190909_004150_970566-1%2", "input": "Move a pen from the dresser to the shelves. | STEP 1: Turn left, move to the dresser, right of the CD. | STEP 2: Pick up the pen from the dresser.", "output": ["STEP 3: Turn right, move to the desk, near the clock."]} +{"id": "trial_T20190909_004150_970566-1%3", "input": "Move a pen from the dresser to the shelves. | STEP 1: Turn left, move to the dresser, right of the CD. | STEP 2: Pick up the pen from the dresser. | STEP 3: Turn right, move to the desk, near the clock.", "output": ["STEP 4: Put the pen on top of the shelves."]} +{"id": "trial_T20190909_004150_970566-1%4", "input": "Move a pen from the dresser to the shelves. | STEP 1: Turn left, move to the dresser, right of the CD. | STEP 2: Pick up the pen from the dresser. | STEP 3: Turn right, move to the desk, near the clock. | STEP 4: Put the pen on top of the shelves.", "output": ["END"]} +{"id": "trial_T20190907_041009_508960-2%0", "input": "Place the spatula from the counter into the sink.", "output": ["STEP 1: Turn left towards the coffee maker on the counter to your left."]} +{"id": "trial_T20190907_041009_508960-2%1", "input": "Place the spatula from the counter into the sink. | STEP 1: Turn left towards the coffee maker on the counter to your left.", "output": ["STEP 2: Pick up the spatula from the counter."]} +{"id": "trial_T20190907_041009_508960-2%2", "input": "Place the spatula from the counter into the sink. | STEP 1: Turn left towards the coffee maker on the counter to your left. | STEP 2: Pick up the spatula from the counter.", "output": ["STEP 3: Take a step to the left to face the sink."]} +{"id": "trial_T20190907_041009_508960-2%3", "input": "Place the spatula from the counter into the sink. | STEP 1: Turn left towards the coffee maker on the counter to your left. | STEP 2: Pick up the spatula from the counter. | STEP 3: Take a step to the left to face the sink.", "output": ["STEP 4: Place the spatula in the sink."]} +{"id": "trial_T20190907_041009_508960-2%4", "input": "Place the spatula from the counter into the sink. | STEP 1: Turn left towards the coffee maker on the counter to your left. | STEP 2: Pick up the spatula from the counter. | STEP 3: Take a step to the left to face the sink. | STEP 4: Place the spatula in the sink.", "output": ["END"]} +{"id": "trial_T20190907_195032_047862-1%0", "input": "Transport a white ball from a fridge to a trash-can.", "output": ["STEP 1: Turn left and head to the trash-can in the corner on your right."]} +{"id": "trial_T20190907_195032_047862-1%1", "input": "Transport a white ball from a fridge to a trash-can. | STEP 1: Turn left and head to the trash-can in the corner on your right.", "output": ["STEP 2: Take out the white ball from the trash-can."]} +{"id": "trial_T20190907_195032_047862-1%2", "input": "Transport a white ball from a fridge to a trash-can. | STEP 1: Turn left and head to the trash-can in the corner on your right. | STEP 2: Take out the white ball from the trash-can.", "output": ["STEP 3: Turn left and head to the fridge."]} +{"id": "trial_T20190907_195032_047862-1%3", "input": "Transport a white ball from a fridge to a trash-can. | STEP 1: Turn left and head to the trash-can in the corner on your right. | STEP 2: Take out the white ball from the trash-can. | STEP 3: Turn left and head to the fridge.", "output": ["STEP 4: Open the fridge, put the ball inside, close it, open it, take the ball out, and close it again."]} +{"id": "trial_T20190907_195032_047862-1%4", "input": "Transport a white ball from a fridge to a trash-can. | STEP 1: Turn left and head to the trash-can in the corner on your right. | STEP 2: Take out the white ball from the trash-can. | STEP 3: Turn left and head to the fridge. | STEP 4: Open the fridge, put the ball inside, close it, open it, take the ball out, and close it again.", "output": ["STEP 5: Turn around and head to the trash-can in the corner."]} +{"id": "trial_T20190907_195032_047862-1%5", "input": "Transport a white ball from a fridge to a trash-can. | STEP 1: Turn left and head to the trash-can in the corner on your right. | STEP 2: Take out the white ball from the trash-can. | STEP 3: Turn left and head to the fridge. | STEP 4: Open the fridge, put the ball inside, close it, open it, take the ball out, and close it again. | STEP 5: Turn around and head to the trash-can in the corner.", "output": ["STEP 6: Put the white ball in the trash-can."]} +{"id": "trial_T20190907_195032_047862-1%6", "input": "Transport a white ball from a fridge to a trash-can. | STEP 1: Turn left and head to the trash-can in the corner on your right. | STEP 2: Take out the white ball from the trash-can. | STEP 3: Turn left and head to the fridge. | STEP 4: Open the fridge, put the ball inside, close it, open it, take the ball out, and close it again. | STEP 5: Turn around and head to the trash-can in the corner. | STEP 6: Put the white ball in the trash-can.", "output": ["END"]} +{"id": "trial_T20190907_195032_047862-2%0", "input": "Place a chilled egg in the trash can.", "output": ["STEP 1: Turn left and go to the trash can on the left."]} +{"id": "trial_T20190907_195032_047862-2%1", "input": "Place a chilled egg in the trash can. | STEP 1: Turn left and go to the trash can on the left.", "output": ["STEP 2: Take the egg out of the trash can."]} +{"id": "trial_T20190907_195032_047862-2%2", "input": "Place a chilled egg in the trash can. | STEP 1: Turn left and go to the trash can on the left. | STEP 2: Take the egg out of the trash can.", "output": ["STEP 3: Turn left and go across the room to the fridge."]} +{"id": "trial_T20190907_195032_047862-2%3", "input": "Place a chilled egg in the trash can. | STEP 1: Turn left and go to the trash can on the left. | STEP 2: Take the egg out of the trash can. | STEP 3: Turn left and go across the room to the fridge.", "output": ["STEP 4: Open the fridge and place the egg on the second shelf. Close the door, wait a moment, and take the egg out of the fridge."]} +{"id": "trial_T20190907_195032_047862-2%4", "input": "Place a chilled egg in the trash can. | STEP 1: Turn left and go to the trash can on the left. | STEP 2: Take the egg out of the trash can. | STEP 3: Turn left and go across the room to the fridge. | STEP 4: Open the fridge and place the egg on the second shelf. Close the door, wait a moment, and take the egg out of the fridge.", "output": ["STEP 5: Turn around and move towards the trash can across the room."]} +{"id": "trial_T20190907_195032_047862-2%5", "input": "Place a chilled egg in the trash can. | STEP 1: Turn left and go to the trash can on the left. | STEP 2: Take the egg out of the trash can. | STEP 3: Turn left and go across the room to the fridge. | STEP 4: Open the fridge and place the egg on the second shelf. Close the door, wait a moment, and take the egg out of the fridge. | STEP 5: Turn around and move towards the trash can across the room.", "output": ["STEP 6: Put the egg in the trash can."]} +{"id": "trial_T20190907_195032_047862-2%6", "input": "Place a chilled egg in the trash can. | STEP 1: Turn left and go to the trash can on the left. | STEP 2: Take the egg out of the trash can. | STEP 3: Turn left and go across the room to the fridge. | STEP 4: Open the fridge and place the egg on the second shelf. Close the door, wait a moment, and take the egg out of the fridge. | STEP 5: Turn around and move towards the trash can across the room. | STEP 6: Put the egg in the trash can.", "output": ["END"]} +{"id": "trial_T20190908_054754_429618-0%0", "input": "move a newspaper to the TV stand", "output": ["STEP 1: Move to the right where the dark wood shelves are"]} +{"id": "trial_T20190908_054754_429618-0%1", "input": "move a newspaper to the TV stand | STEP 1: Move to the right where the dark wood shelves are", "output": ["STEP 2: Pick up the newspaper on the shelf"]} +{"id": "trial_T20190908_054754_429618-0%2", "input": "move a newspaper to the TV stand | STEP 1: Move to the right where the dark wood shelves are | STEP 2: Pick up the newspaper on the shelf", "output": ["STEP 3: Carry the newspaper to the left side of the TV stand"]} +{"id": "trial_T20190908_054754_429618-0%3", "input": "move a newspaper to the TV stand | STEP 1: Move to the right where the dark wood shelves are | STEP 2: Pick up the newspaper on the shelf | STEP 3: Carry the newspaper to the left side of the TV stand", "output": ["STEP 4: place the newspaper on the left side of the TV stand in front of the TV"]} +{"id": "trial_T20190908_054754_429618-0%4", "input": "move a newspaper to the TV stand | STEP 1: Move to the right where the dark wood shelves are | STEP 2: Pick up the newspaper on the shelf | STEP 3: Carry the newspaper to the left side of the TV stand | STEP 4: place the newspaper on the left side of the TV stand in front of the TV", "output": ["END"]} +{"id": "trial_T20190908_054754_429618-1%0", "input": "move the newspaper from the shelf to the tv stand", "output": ["STEP 1: Turn left and walk to the middle of the room. turn right at the shelves"]} +{"id": "trial_T20190908_054754_429618-1%1", "input": "move the newspaper from the shelf to the tv stand | STEP 1: Turn left and walk to the middle of the room. turn right at the shelves", "output": ["STEP 2: pick up the newspaper from the shelf"]} +{"id": "trial_T20190908_054754_429618-1%2", "input": "move the newspaper from the shelf to the tv stand | STEP 1: Turn left and walk to the middle of the room. turn right at the shelves | STEP 2: pick up the newspaper from the shelf", "output": ["STEP 3: turn right and walk towards to the television"]} +{"id": "trial_T20190908_054754_429618-1%3", "input": "move the newspaper from the shelf to the tv stand | STEP 1: Turn left and walk to the middle of the room. turn right at the shelves | STEP 2: pick up the newspaper from the shelf | STEP 3: turn right and walk towards to the television", "output": ["STEP 4: place the newspaper next to the tv"]} +{"id": "trial_T20190908_054754_429618-1%4", "input": "move the newspaper from the shelf to the tv stand | STEP 1: Turn left and walk to the middle of the room. turn right at the shelves | STEP 2: pick up the newspaper from the shelf | STEP 3: turn right and walk towards to the television | STEP 4: place the newspaper next to the tv", "output": ["END"]} +{"id": "trial_T20190918_210707_124696-1%0", "input": "Move two clocks from a desk to a dresser", "output": ["STEP 1: Go to the desk"]} +{"id": "trial_T20190918_210707_124696-1%1", "input": "Move two clocks from a desk to a dresser | STEP 1: Go to the desk", "output": ["STEP 2: Pick up a clock from the desk"]} +{"id": "trial_T20190918_210707_124696-1%2", "input": "Move two clocks from a desk to a dresser | STEP 1: Go to the desk | STEP 2: Pick up a clock from the desk", "output": ["STEP 3: Go to the dresser"]} +{"id": "trial_T20190918_210707_124696-1%3", "input": "Move two clocks from a desk to a dresser | STEP 1: Go to the desk | STEP 2: Pick up a clock from the desk | STEP 3: Go to the dresser", "output": ["STEP 4: Place the clock on top of the dresser"]} +{"id": "trial_T20190918_210707_124696-1%4", "input": "Move two clocks from a desk to a dresser | STEP 1: Go to the desk | STEP 2: Pick up a clock from the desk | STEP 3: Go to the dresser | STEP 4: Place the clock on top of the dresser", "output": ["STEP 5: Go to the desk"]} +{"id": "trial_T20190918_210707_124696-1%5", "input": "Move two clocks from a desk to a dresser | STEP 1: Go to the desk | STEP 2: Pick up a clock from the desk | STEP 3: Go to the dresser | STEP 4: Place the clock on top of the dresser | STEP 5: Go to the desk", "output": ["STEP 6: Pick up a clock from the desk"]} +{"id": "trial_T20190918_210707_124696-1%6", "input": "Move two clocks from a desk to a dresser | STEP 1: Go to the desk | STEP 2: Pick up a clock from the desk | STEP 3: Go to the dresser | STEP 4: Place the clock on top of the dresser | STEP 5: Go to the desk | STEP 6: Pick up a clock from the desk", "output": ["STEP 7: Go to the dresser"]} +{"id": "trial_T20190918_210707_124696-1%7", "input": "Move two clocks from a desk to a dresser | STEP 1: Go to the desk | STEP 2: Pick up a clock from the desk | STEP 3: Go to the dresser | STEP 4: Place the clock on top of the dresser | STEP 5: Go to the desk | STEP 6: Pick up a clock from the desk | STEP 7: Go to the dresser", "output": ["STEP 8: Place the clock on the dresser to the left of the first clock"]} +{"id": "trial_T20190918_210707_124696-1%8", "input": "Move two clocks from a desk to a dresser | STEP 1: Go to the desk | STEP 2: Pick up a clock from the desk | STEP 3: Go to the dresser | STEP 4: Place the clock on top of the dresser | STEP 5: Go to the desk | STEP 6: Pick up a clock from the desk | STEP 7: Go to the dresser | STEP 8: Place the clock on the dresser to the left of the first clock", "output": ["END"]} +{"id": "trial_T20190908_182628_947130-1%0", "input": "To heat an egg and put it on the table. ", "output": ["STEP 1: Walk to the small table ahead of you. "]} +{"id": "trial_T20190908_182628_947130-1%1", "input": "To heat an egg and put it on the table. | STEP 1: Walk to the small table ahead of you. ", "output": ["STEP 2: Pick up the egg in front of the butter knife. "]} +{"id": "trial_T20190908_182628_947130-1%2", "input": "To heat an egg and put it on the table. | STEP 1: Walk to the small table ahead of you. | STEP 2: Pick up the egg in front of the butter knife. ", "output": ["STEP 3: Turn around, walk to the stove, look up at the microwave above the stove. "]} +{"id": "trial_T20190908_182628_947130-1%3", "input": "To heat an egg and put it on the table. | STEP 1: Walk to the small table ahead of you. | STEP 2: Pick up the egg in front of the butter knife. | STEP 3: Turn around, walk to the stove, look up at the microwave above the stove. ", "output": ["STEP 4: Open the microwave door, place the egg inside the microwave, heat up the egg, take the egg out of the microwave, close the microwave door. "]} +{"id": "trial_T20190908_182628_947130-1%4", "input": "To heat an egg and put it on the table. | STEP 1: Walk to the small table ahead of you. | STEP 2: Pick up the egg in front of the butter knife. | STEP 3: Turn around, walk to the stove, look up at the microwave above the stove. | STEP 4: Open the microwave door, place the egg inside the microwave, heat up the egg, take the egg out of the microwave, close the microwave door. ", "output": ["STEP 5: Turn left, turn left at the window, walk to the small table ahead of you. "]} +{"id": "trial_T20190908_182628_947130-1%5", "input": "To heat an egg and put it on the table. | STEP 1: Walk to the small table ahead of you. | STEP 2: Pick up the egg in front of the butter knife. | STEP 3: Turn around, walk to the stove, look up at the microwave above the stove. | STEP 4: Open the microwave door, place the egg inside the microwave, heat up the egg, take the egg out of the microwave, close the microwave door. | STEP 5: Turn left, turn left at the window, walk to the small table ahead of you. ", "output": ["STEP 6: Put the egg down on the table to the right of the pen. "]} +{"id": "trial_T20190908_182628_947130-1%6", "input": "To heat an egg and put it on the table. | STEP 1: Walk to the small table ahead of you. | STEP 2: Pick up the egg in front of the butter knife. | STEP 3: Turn around, walk to the stove, look up at the microwave above the stove. | STEP 4: Open the microwave door, place the egg inside the microwave, heat up the egg, take the egg out of the microwave, close the microwave door. | STEP 5: Turn left, turn left at the window, walk to the small table ahead of you. | STEP 6: Put the egg down on the table to the right of the pen. ", "output": ["END"]} +{"id": "trial_T20190908_182628_947130-2%0", "input": "Heat up the egg on the table using the microwave.", "output": ["STEP 1: Move forward to the round table."]} +{"id": "trial_T20190908_182628_947130-2%1", "input": "Heat up the egg on the table using the microwave. | STEP 1: Move forward to the round table.", "output": ["STEP 2: Pick up the egg from the table."]} +{"id": "trial_T20190908_182628_947130-2%2", "input": "Heat up the egg on the table using the microwave. | STEP 1: Move forward to the round table. | STEP 2: Pick up the egg from the table.", "output": ["STEP 3: Turn left twice, move forward, turn right, move forward to the microwave and turn left to face it."]} +{"id": "trial_T20190908_182628_947130-2%3", "input": "Heat up the egg on the table using the microwave. | STEP 1: Move forward to the round table. | STEP 2: Pick up the egg from the table. | STEP 3: Turn left twice, move forward, turn right, move forward to the microwave and turn left to face it.", "output": ["STEP 4: Heat the egg in the microwave and remove it."]} +{"id": "trial_T20190908_182628_947130-2%4", "input": "Heat up the egg on the table using the microwave. | STEP 1: Move forward to the round table. | STEP 2: Pick up the egg from the table. | STEP 3: Turn left twice, move forward, turn right, move forward to the microwave and turn left to face it. | STEP 4: Heat the egg in the microwave and remove it.", "output": ["STEP 5: Turn to the left, move forward, turn to the left again and walk to the table."]} +{"id": "trial_T20190908_182628_947130-2%5", "input": "Heat up the egg on the table using the microwave. | STEP 1: Move forward to the round table. | STEP 2: Pick up the egg from the table. | STEP 3: Turn left twice, move forward, turn right, move forward to the microwave and turn left to face it. | STEP 4: Heat the egg in the microwave and remove it. | STEP 5: Turn to the left, move forward, turn to the left again and walk to the table.", "output": ["STEP 6: Put the egg on the table."]} +{"id": "trial_T20190908_182628_947130-2%6", "input": "Heat up the egg on the table using the microwave. | STEP 1: Move forward to the round table. | STEP 2: Pick up the egg from the table. | STEP 3: Turn left twice, move forward, turn right, move forward to the microwave and turn left to face it. | STEP 4: Heat the egg in the microwave and remove it. | STEP 5: Turn to the left, move forward, turn to the left again and walk to the table. | STEP 6: Put the egg on the table.", "output": ["END"]} +{"id": "trial_T20190909_074332_993453-0%0", "input": "examine a pen by the light of the lamp on the table", "output": ["STEP 1: turn to the left and move forward to the dresser that is to the left of the bed"]} +{"id": "trial_T20190909_074332_993453-0%1", "input": "examine a pen by the light of the lamp on the table | STEP 1: turn to the left and move forward to the dresser that is to the left of the bed", "output": ["STEP 2: pick up the pen that is on the dresser"]} +{"id": "trial_T20190909_074332_993453-0%2", "input": "examine a pen by the light of the lamp on the table | STEP 1: turn to the left and move forward to the dresser that is to the left of the bed | STEP 2: pick up the pen that is on the dresser", "output": ["STEP 3: turn around and move forward to the table with the lamp"]} +{"id": "trial_T20190909_074332_993453-0%3", "input": "examine a pen by the light of the lamp on the table | STEP 1: turn to the left and move forward to the dresser that is to the left of the bed | STEP 2: pick up the pen that is on the dresser | STEP 3: turn around and move forward to the table with the lamp", "output": ["STEP 4: turn on the lamp"]} +{"id": "trial_T20190909_074332_993453-0%4", "input": "examine a pen by the light of the lamp on the table | STEP 1: turn to the left and move forward to the dresser that is to the left of the bed | STEP 2: pick up the pen that is on the dresser | STEP 3: turn around and move forward to the table with the lamp | STEP 4: turn on the lamp", "output": ["END"]} +{"id": "trial_T20190909_074332_993453-1%0", "input": "Turn on a lamp with a pen. ", "output": ["STEP 1: Turn to the left then left again then turn to the right and go to the brown dresser."]} +{"id": "trial_T20190909_074332_993453-1%1", "input": "Turn on a lamp with a pen. | STEP 1: Turn to the left then left again then turn to the right and go to the brown dresser.", "output": ["STEP 2: Pick up the pen from the dresser."]} +{"id": "trial_T20190909_074332_993453-1%2", "input": "Turn on a lamp with a pen. | STEP 1: Turn to the left then left again then turn to the right and go to the brown dresser. | STEP 2: Pick up the pen from the dresser.", "output": ["STEP 3: Turn around and walk forward to the lamp."]} +{"id": "trial_T20190909_074332_993453-1%3", "input": "Turn on a lamp with a pen. | STEP 1: Turn to the left then left again then turn to the right and go to the brown dresser. | STEP 2: Pick up the pen from the dresser. | STEP 3: Turn around and walk forward to the lamp.", "output": ["STEP 4: Use the pen to turn on the lamp. "]} +{"id": "trial_T20190909_074332_993453-1%4", "input": "Turn on a lamp with a pen. | STEP 1: Turn to the left then left again then turn to the right and go to the brown dresser. | STEP 2: Pick up the pen from the dresser. | STEP 3: Turn around and walk forward to the lamp. | STEP 4: Use the pen to turn on the lamp. ", "output": ["END"]} +{"id": "trial_T20190908_074855_782261-2%0", "input": "Put the chilled mug on the coffee maker", "output": ["STEP 1: Walk few steps then turn to your left then head to the coffee maker"]} +{"id": "trial_T20190908_074855_782261-2%1", "input": "Put the chilled mug on the coffee maker | STEP 1: Walk few steps then turn to your left then head to the coffee maker", "output": ["STEP 2: Pick up the mug on the coffee maker"]} +{"id": "trial_T20190908_074855_782261-2%2", "input": "Put the chilled mug on the coffee maker | STEP 1: Walk few steps then turn to your left then head to the coffee maker | STEP 2: Pick up the mug on the coffee maker", "output": ["STEP 3: Turn around to your right, then turn right head towards the fridge"]} +{"id": "trial_T20190908_074855_782261-2%3", "input": "Put the chilled mug on the coffee maker | STEP 1: Walk few steps then turn to your left then head to the coffee maker | STEP 2: Pick up the mug on the coffee maker | STEP 3: Turn around to your right, then turn right head towards the fridge", "output": ["STEP 4: Open the fridge put in and out the the mug then close the door"]} +{"id": "trial_T20190908_074855_782261-2%4", "input": "Put the chilled mug on the coffee maker | STEP 1: Walk few steps then turn to your left then head to the coffee maker | STEP 2: Pick up the mug on the coffee maker | STEP 3: Turn around to your right, then turn right head towards the fridge | STEP 4: Open the fridge put in and out the the mug then close the door", "output": ["STEP 5: Turn to your right then turn left face the coffee maker"]} +{"id": "trial_T20190908_074855_782261-2%5", "input": "Put the chilled mug on the coffee maker | STEP 1: Walk few steps then turn to your left then head to the coffee maker | STEP 2: Pick up the mug on the coffee maker | STEP 3: Turn around to your right, then turn right head towards the fridge | STEP 4: Open the fridge put in and out the the mug then close the door | STEP 5: Turn to your right then turn left face the coffee maker", "output": ["STEP 6: Put the mug on the coffee maker"]} +{"id": "trial_T20190908_074855_782261-2%6", "input": "Put the chilled mug on the coffee maker | STEP 1: Walk few steps then turn to your left then head to the coffee maker | STEP 2: Pick up the mug on the coffee maker | STEP 3: Turn around to your right, then turn right head towards the fridge | STEP 4: Open the fridge put in and out the the mug then close the door | STEP 5: Turn to your right then turn left face the coffee maker | STEP 6: Put the mug on the coffee maker", "output": ["END"]} +{"id": "trial_T20190909_040235_282356-1%0", "input": "Put keys on top of drawers", "output": ["STEP 1: Move around the bed to the dresser"]} +{"id": "trial_T20190909_040235_282356-1%1", "input": "Put keys on top of drawers | STEP 1: Move around the bed to the dresser", "output": ["STEP 2: Pick up the keys from the top of the dresser"]} +{"id": "trial_T20190909_040235_282356-1%2", "input": "Put keys on top of drawers | STEP 1: Move around the bed to the dresser | STEP 2: Pick up the keys from the top of the dresser", "output": ["STEP 3: Turn around and go to the desk"]} +{"id": "trial_T20190909_040235_282356-1%3", "input": "Put keys on top of drawers | STEP 1: Move around the bed to the dresser | STEP 2: Pick up the keys from the top of the dresser | STEP 3: Turn around and go to the desk", "output": ["STEP 4: Place the keys on the drawers under the desk"]} +{"id": "trial_T20190909_040235_282356-1%4", "input": "Put keys on top of drawers | STEP 1: Move around the bed to the dresser | STEP 2: Pick up the keys from the top of the dresser | STEP 3: Turn around and go to the desk | STEP 4: Place the keys on the drawers under the desk", "output": ["END"]} +{"id": "trial_T20190908_182516_451816-1%0", "input": "Put a heated egg on a round table.", "output": ["STEP 1: Turn right and walk over to the sink."]} +{"id": "trial_T20190908_182516_451816-1%1", "input": "Put a heated egg on a round table. | STEP 1: Turn right and walk over to the sink.", "output": ["STEP 2: Pick up the egg out of the sink."]} +{"id": "trial_T20190908_182516_451816-1%2", "input": "Put a heated egg on a round table. | STEP 1: Turn right and walk over to the sink. | STEP 2: Pick up the egg out of the sink.", "output": ["STEP 3: Walk over to the oven that is behind you and look up at the microwave."]} +{"id": "trial_T20190908_182516_451816-1%3", "input": "Put a heated egg on a round table. | STEP 1: Turn right and walk over to the sink. | STEP 2: Pick up the egg out of the sink. | STEP 3: Walk over to the oven that is behind you and look up at the microwave.", "output": ["STEP 4: Open the microwave and put the egg inside, then close the door and turn on the microwave, after a couple seconds take the egg out of the microwave and close the door."]} +{"id": "trial_T20190908_182516_451816-1%4", "input": "Put a heated egg on a round table. | STEP 1: Turn right and walk over to the sink. | STEP 2: Pick up the egg out of the sink. | STEP 3: Walk over to the oven that is behind you and look up at the microwave. | STEP 4: Open the microwave and put the egg inside, then close the door and turn on the microwave, after a couple seconds take the egg out of the microwave and close the door.", "output": ["STEP 5: Turn left and walk towards the window, then hang a left and walk over to the round table."]} +{"id": "trial_T20190908_182516_451816-1%5", "input": "Put a heated egg on a round table. | STEP 1: Turn right and walk over to the sink. | STEP 2: Pick up the egg out of the sink. | STEP 3: Walk over to the oven that is behind you and look up at the microwave. | STEP 4: Open the microwave and put the egg inside, then close the door and turn on the microwave, after a couple seconds take the egg out of the microwave and close the door. | STEP 5: Turn left and walk towards the window, then hang a left and walk over to the round table.", "output": ["STEP 6: Put the heated egg on the round table."]} +{"id": "trial_T20190908_182516_451816-1%6", "input": "Put a heated egg on a round table. | STEP 1: Turn right and walk over to the sink. | STEP 2: Pick up the egg out of the sink. | STEP 3: Walk over to the oven that is behind you and look up at the microwave. | STEP 4: Open the microwave and put the egg inside, then close the door and turn on the microwave, after a couple seconds take the egg out of the microwave and close the door. | STEP 5: Turn left and walk towards the window, then hang a left and walk over to the round table. | STEP 6: Put the heated egg on the round table.", "output": ["END"]} +{"id": "trial_T20190908_182516_451816-2%0", "input": "To heat an egg and put it down on the table. ", "output": ["STEP 1: Turn right and walk to the sink on the left. "]} +{"id": "trial_T20190908_182516_451816-2%1", "input": "To heat an egg and put it down on the table. | STEP 1: Turn right and walk to the sink on the left. ", "output": ["STEP 2: Pick up the egg from the sink. "]} +{"id": "trial_T20190908_182516_451816-2%2", "input": "To heat an egg and put it down on the table. | STEP 1: Turn right and walk to the sink on the left. | STEP 2: Pick up the egg from the sink. ", "output": ["STEP 3: Turn around and walk to the stove and look up at the microwave above the stove. "]} +{"id": "trial_T20190908_182516_451816-2%3", "input": "To heat an egg and put it down on the table. | STEP 1: Turn right and walk to the sink on the left. | STEP 2: Pick up the egg from the sink. | STEP 3: Turn around and walk to the stove and look up at the microwave above the stove. ", "output": ["STEP 4: Open the microwave door, put the egg inside of the microwave, close the door, heat the egg, open the door, take the egg out of the microwave, and close the door. "]} +{"id": "trial_T20190908_182516_451816-2%4", "input": "To heat an egg and put it down on the table. | STEP 1: Turn right and walk to the sink on the left. | STEP 2: Pick up the egg from the sink. | STEP 3: Turn around and walk to the stove and look up at the microwave above the stove. | STEP 4: Open the microwave door, put the egg inside of the microwave, close the door, heat the egg, open the door, take the egg out of the microwave, and close the door. ", "output": ["STEP 5: Turn left, turn left at the window, walk to the small table. "]} +{"id": "trial_T20190908_182516_451816-2%5", "input": "To heat an egg and put it down on the table. | STEP 1: Turn right and walk to the sink on the left. | STEP 2: Pick up the egg from the sink. | STEP 3: Turn around and walk to the stove and look up at the microwave above the stove. | STEP 4: Open the microwave door, put the egg inside of the microwave, close the door, heat the egg, open the door, take the egg out of the microwave, and close the door. | STEP 5: Turn left, turn left at the window, walk to the small table. ", "output": ["STEP 6: Put the egg down on the table in front of the tomato. "]} +{"id": "trial_T20190908_182516_451816-2%6", "input": "To heat an egg and put it down on the table. | STEP 1: Turn right and walk to the sink on the left. | STEP 2: Pick up the egg from the sink. | STEP 3: Turn around and walk to the stove and look up at the microwave above the stove. | STEP 4: Open the microwave door, put the egg inside of the microwave, close the door, heat the egg, open the door, take the egg out of the microwave, and close the door. | STEP 5: Turn left, turn left at the window, walk to the small table. | STEP 6: Put the egg down on the table in front of the tomato. ", "output": ["END"]} +{"id": "trial_T20190907_211751_246871-2%0", "input": "Put a statue in front of a television.", "output": ["STEP 1: Turn left and face the black shelves to the left."]} +{"id": "trial_T20190907_211751_246871-2%1", "input": "Put a statue in front of a television. | STEP 1: Turn left and face the black shelves to the left.", "output": ["STEP 2: Pick the statue up from the shelf."]} +{"id": "trial_T20190907_211751_246871-2%2", "input": "Put a statue in front of a television. | STEP 1: Turn left and face the black shelves to the left. | STEP 2: Pick the statue up from the shelf.", "output": ["STEP 3: Turn to the right and face the television."]} +{"id": "trial_T20190907_211751_246871-2%3", "input": "Put a statue in front of a television. | STEP 1: Turn left and face the black shelves to the left. | STEP 2: Pick the statue up from the shelf. | STEP 3: Turn to the right and face the television.", "output": ["STEP 4: Put the statue down in front of the television"]} +{"id": "trial_T20190907_211751_246871-2%4", "input": "Put a statue in front of a television. | STEP 1: Turn left and face the black shelves to the left. | STEP 2: Pick the statue up from the shelf. | STEP 3: Turn to the right and face the television. | STEP 4: Put the statue down in front of the television", "output": ["END"]} +{"id": "trial_T20190906_191824_139023-1%0", "input": "Put a heated mug in the cabinet above the microwave. ", "output": ["STEP 1: Move the the counter right of the sink."]} +{"id": "trial_T20190906_191824_139023-1%1", "input": "Put a heated mug in the cabinet above the microwave. | STEP 1: Move the the counter right of the sink.", "output": ["STEP 2: Pick up the mug from the coffee machine. "]} +{"id": "trial_T20190906_191824_139023-1%2", "input": "Put a heated mug in the cabinet above the microwave. | STEP 1: Move the the counter right of the sink. | STEP 2: Pick up the mug from the coffee machine. ", "output": ["STEP 3: Bring the mug to the microwave."]} +{"id": "trial_T20190906_191824_139023-1%3", "input": "Put a heated mug in the cabinet above the microwave. | STEP 1: Move the the counter right of the sink. | STEP 2: Pick up the mug from the coffee machine. | STEP 3: Bring the mug to the microwave.", "output": ["STEP 4: Heat the mug in the microwave."]} +{"id": "trial_T20190906_191824_139023-1%4", "input": "Put a heated mug in the cabinet above the microwave. | STEP 1: Move the the counter right of the sink. | STEP 2: Pick up the mug from the coffee machine. | STEP 3: Bring the mug to the microwave. | STEP 4: Heat the mug in the microwave.", "output": ["STEP 5: Bring the heated mug to the cabinet above the microwave."]} +{"id": "trial_T20190906_191824_139023-1%5", "input": "Put a heated mug in the cabinet above the microwave. | STEP 1: Move the the counter right of the sink. | STEP 2: Pick up the mug from the coffee machine. | STEP 3: Bring the mug to the microwave. | STEP 4: Heat the mug in the microwave. | STEP 5: Bring the heated mug to the cabinet above the microwave.", "output": ["STEP 6: Put the heated mug in the cabinet above the microwave. "]} +{"id": "trial_T20190906_191824_139023-1%6", "input": "Put a heated mug in the cabinet above the microwave. | STEP 1: Move the the counter right of the sink. | STEP 2: Pick up the mug from the coffee machine. | STEP 3: Bring the mug to the microwave. | STEP 4: Heat the mug in the microwave. | STEP 5: Bring the heated mug to the cabinet above the microwave. | STEP 6: Put the heated mug in the cabinet above the microwave. ", "output": ["END"]} +{"id": "trial_T20190906_191824_139023-2%0", "input": "Place a heated mug in a cabinet.", "output": ["STEP 1: Turn left and walk all the way to the wall and face left."]} +{"id": "trial_T20190906_191824_139023-2%1", "input": "Place a heated mug in a cabinet. | STEP 1: Turn left and walk all the way to the wall and face left.", "output": ["STEP 2: Pick up the mug out of the coffee maker."]} +{"id": "trial_T20190906_191824_139023-2%2", "input": "Place a heated mug in a cabinet. | STEP 1: Turn left and walk all the way to the wall and face left. | STEP 2: Pick up the mug out of the coffee maker.", "output": ["STEP 3: Turn around and walk to the wall. Face the microwave on the left."]} +{"id": "trial_T20190906_191824_139023-2%3", "input": "Place a heated mug in a cabinet. | STEP 1: Turn left and walk all the way to the wall and face left. | STEP 2: Pick up the mug out of the coffee maker. | STEP 3: Turn around and walk to the wall. Face the microwave on the left.", "output": ["STEP 4: Heat the mug in the microwave."]} +{"id": "trial_T20190906_191824_139023-2%4", "input": "Place a heated mug in a cabinet. | STEP 1: Turn left and walk all the way to the wall and face left. | STEP 2: Pick up the mug out of the coffee maker. | STEP 3: Turn around and walk to the wall. Face the microwave on the left. | STEP 4: Heat the mug in the microwave.", "output": ["STEP 5: Look up at the cabinet."]} +{"id": "trial_T20190906_191824_139023-2%5", "input": "Place a heated mug in a cabinet. | STEP 1: Turn left and walk all the way to the wall and face left. | STEP 2: Pick up the mug out of the coffee maker. | STEP 3: Turn around and walk to the wall. Face the microwave on the left. | STEP 4: Heat the mug in the microwave. | STEP 5: Look up at the cabinet.", "output": ["STEP 6: Place the mug in the right side of the cabinet."]} +{"id": "trial_T20190906_191824_139023-2%6", "input": "Place a heated mug in a cabinet. | STEP 1: Turn left and walk all the way to the wall and face left. | STEP 2: Pick up the mug out of the coffee maker. | STEP 3: Turn around and walk to the wall. Face the microwave on the left. | STEP 4: Heat the mug in the microwave. | STEP 5: Look up at the cabinet. | STEP 6: Place the mug in the right side of the cabinet.", "output": ["END"]} +{"id": "trial_T20190919_055146_844513-1%0", "input": "Place a bowl filled with a lettuce slice and a butterknife in a fridge", "output": ["STEP 1: Turn to the counter right of the stove"]} +{"id": "trial_T20190919_055146_844513-1%1", "input": "Place a bowl filled with a lettuce slice and a butterknife in a fridge | STEP 1: Turn to the counter right of the stove", "output": ["STEP 2: Pick up a butterknife from the counter"]} +{"id": "trial_T20190919_055146_844513-1%2", "input": "Place a bowl filled with a lettuce slice and a butterknife in a fridge | STEP 1: Turn to the counter right of the stove | STEP 2: Pick up a butterknife from the counter", "output": ["STEP 3: Go to the right where the lettuce is on the counter"]} +{"id": "trial_T20190919_055146_844513-1%3", "input": "Place a bowl filled with a lettuce slice and a butterknife in a fridge | STEP 1: Turn to the counter right of the stove | STEP 2: Pick up a butterknife from the counter | STEP 3: Go to the right where the lettuce is on the counter", "output": ["STEP 4: Cut the lettuce on the left"]} +{"id": "trial_T20190919_055146_844513-1%4", "input": "Place a bowl filled with a lettuce slice and a butterknife in a fridge | STEP 1: Turn to the counter right of the stove | STEP 2: Pick up a butterknife from the counter | STEP 3: Go to the right where the lettuce is on the counter | STEP 4: Cut the lettuce on the left", "output": ["STEP 5: Turn around and go to the cupboards"]} +{"id": "trial_T20190919_055146_844513-1%5", "input": "Place a bowl filled with a lettuce slice and a butterknife in a fridge | STEP 1: Turn to the counter right of the stove | STEP 2: Pick up a butterknife from the counter | STEP 3: Go to the right where the lettuce is on the counter | STEP 4: Cut the lettuce on the left | STEP 5: Turn around and go to the cupboards", "output": ["STEP 6: Place the butterknife in the bowl in the cupboard"]} +{"id": "trial_T20190919_055146_844513-1%6", "input": "Place a bowl filled with a lettuce slice and a butterknife in a fridge | STEP 1: Turn to the counter right of the stove | STEP 2: Pick up a butterknife from the counter | STEP 3: Go to the right where the lettuce is on the counter | STEP 4: Cut the lettuce on the left | STEP 5: Turn around and go to the cupboards | STEP 6: Place the butterknife in the bowl in the cupboard", "output": ["STEP 7: Go to the lettuce on the counter"]} +{"id": "trial_T20190919_055146_844513-1%7", "input": "Place a bowl filled with a lettuce slice and a butterknife in a fridge | STEP 1: Turn to the counter right of the stove | STEP 2: Pick up a butterknife from the counter | STEP 3: Go to the right where the lettuce is on the counter | STEP 4: Cut the lettuce on the left | STEP 5: Turn around and go to the cupboards | STEP 6: Place the butterknife in the bowl in the cupboard | STEP 7: Go to the lettuce on the counter", "output": ["STEP 8: Pick up a slice of lettuce"]} +{"id": "trial_T20190919_055146_844513-1%8", "input": "Place a bowl filled with a lettuce slice and a butterknife in a fridge | STEP 1: Turn to the counter right of the stove | STEP 2: Pick up a butterknife from the counter | STEP 3: Go to the right where the lettuce is on the counter | STEP 4: Cut the lettuce on the left | STEP 5: Turn around and go to the cupboards | STEP 6: Place the butterknife in the bowl in the cupboard | STEP 7: Go to the lettuce on the counter | STEP 8: Pick up a slice of lettuce", "output": ["STEP 9: Go to the cupboards"]} +{"id": "trial_T20190919_055146_844513-1%9", "input": "Place a bowl filled with a lettuce slice and a butterknife in a fridge | STEP 1: Turn to the counter right of the stove | STEP 2: Pick up a butterknife from the counter | STEP 3: Go to the right where the lettuce is on the counter | STEP 4: Cut the lettuce on the left | STEP 5: Turn around and go to the cupboards | STEP 6: Place the butterknife in the bowl in the cupboard | STEP 7: Go to the lettuce on the counter | STEP 8: Pick up a slice of lettuce | STEP 9: Go to the cupboards", "output": ["STEP 10: Place the lettuce in the bowl in the cupboards"]} +{"id": "trial_T20190919_055146_844513-1%10", "input": "Place a bowl filled with a lettuce slice and a butterknife in a fridge | STEP 1: Turn to the counter right of the stove | STEP 2: Pick up a butterknife from the counter | STEP 3: Go to the right where the lettuce is on the counter | STEP 4: Cut the lettuce on the left | STEP 5: Turn around and go to the cupboards | STEP 6: Place the butterknife in the bowl in the cupboard | STEP 7: Go to the lettuce on the counter | STEP 8: Pick up a slice of lettuce | STEP 9: Go to the cupboards | STEP 10: Place the lettuce in the bowl in the cupboards", "output": ["STEP 11: Take the bowl out of the cupboard"]} +{"id": "trial_T20190919_055146_844513-1%11", "input": "Place a bowl filled with a lettuce slice and a butterknife in a fridge | STEP 1: Turn to the counter right of the stove | STEP 2: Pick up a butterknife from the counter | STEP 3: Go to the right where the lettuce is on the counter | STEP 4: Cut the lettuce on the left | STEP 5: Turn around and go to the cupboards | STEP 6: Place the butterknife in the bowl in the cupboard | STEP 7: Go to the lettuce on the counter | STEP 8: Pick up a slice of lettuce | STEP 9: Go to the cupboards | STEP 10: Place the lettuce in the bowl in the cupboards | STEP 11: Take the bowl out of the cupboard", "output": ["STEP 12: Go to the fridge"]} +{"id": "trial_T20190919_055146_844513-1%12", "input": "Place a bowl filled with a lettuce slice and a butterknife in a fridge | STEP 1: Turn to the counter right of the stove | STEP 2: Pick up a butterknife from the counter | STEP 3: Go to the right where the lettuce is on the counter | STEP 4: Cut the lettuce on the left | STEP 5: Turn around and go to the cupboards | STEP 6: Place the butterknife in the bowl in the cupboard | STEP 7: Go to the lettuce on the counter | STEP 8: Pick up a slice of lettuce | STEP 9: Go to the cupboards | STEP 10: Place the lettuce in the bowl in the cupboards | STEP 11: Take the bowl out of the cupboard | STEP 12: Go to the fridge", "output": ["STEP 13: Place the bowl in the fridge"]} +{"id": "trial_T20190919_055146_844513-1%13", "input": "Place a bowl filled with a lettuce slice and a butterknife in a fridge | STEP 1: Turn to the counter right of the stove | STEP 2: Pick up a butterknife from the counter | STEP 3: Go to the right where the lettuce is on the counter | STEP 4: Cut the lettuce on the left | STEP 5: Turn around and go to the cupboards | STEP 6: Place the butterknife in the bowl in the cupboard | STEP 7: Go to the lettuce on the counter | STEP 8: Pick up a slice of lettuce | STEP 9: Go to the cupboards | STEP 10: Place the lettuce in the bowl in the cupboards | STEP 11: Take the bowl out of the cupboard | STEP 12: Go to the fridge | STEP 13: Place the bowl in the fridge", "output": ["END"]} +{"id": "trial_T20190919_055146_844513-2%0", "input": "Put the blue bowl with the knife and cut lettuce in the refrigerator.", "output": ["STEP 1: Turn around and go to the counter top on the right of the stove."]} +{"id": "trial_T20190919_055146_844513-2%1", "input": "Put the blue bowl with the knife and cut lettuce in the refrigerator. | STEP 1: Turn around and go to the counter top on the right of the stove.", "output": ["STEP 2: Pick up the gray knife on the left of the blue plate on the counter."]} +{"id": "trial_T20190919_055146_844513-2%2", "input": "Put the blue bowl with the knife and cut lettuce in the refrigerator. | STEP 1: Turn around and go to the counter top on the right of the stove. | STEP 2: Pick up the gray knife on the left of the blue plate on the counter.", "output": ["STEP 3: Move over to the right side of the counter in front of the lettuce. "]} +{"id": "trial_T20190919_055146_844513-2%3", "input": "Put the blue bowl with the knife and cut lettuce in the refrigerator. | STEP 1: Turn around and go to the counter top on the right of the stove. | STEP 2: Pick up the gray knife on the left of the blue plate on the counter. | STEP 3: Move over to the right side of the counter in front of the lettuce. ", "output": ["STEP 4: Cut the lettuce on the right of the spatula towards the back."]} +{"id": "trial_T20190919_055146_844513-2%4", "input": "Put the blue bowl with the knife and cut lettuce in the refrigerator. | STEP 1: Turn around and go to the counter top on the right of the stove. | STEP 2: Pick up the gray knife on the left of the blue plate on the counter. | STEP 3: Move over to the right side of the counter in front of the lettuce. | STEP 4: Cut the lettuce on the right of the spatula towards the back.", "output": ["STEP 5: Turn around and go to the cabinet above the coffee machine."]} +{"id": "trial_T20190919_055146_844513-2%5", "input": "Put the blue bowl with the knife and cut lettuce in the refrigerator. | STEP 1: Turn around and go to the counter top on the right of the stove. | STEP 2: Pick up the gray knife on the left of the blue plate on the counter. | STEP 3: Move over to the right side of the counter in front of the lettuce. | STEP 4: Cut the lettuce on the right of the spatula towards the back. | STEP 5: Turn around and go to the cabinet above the coffee machine.", "output": ["STEP 6: Place the knife in the blue bowl in the cabinet."]} +{"id": "trial_T20190919_055146_844513-2%6", "input": "Put the blue bowl with the knife and cut lettuce in the refrigerator. | STEP 1: Turn around and go to the counter top on the right of the stove. | STEP 2: Pick up the gray knife on the left of the blue plate on the counter. | STEP 3: Move over to the right side of the counter in front of the lettuce. | STEP 4: Cut the lettuce on the right of the spatula towards the back. | STEP 5: Turn around and go to the cabinet above the coffee machine. | STEP 6: Place the knife in the blue bowl in the cabinet.", "output": ["STEP 7: Turn around and go back to the counter with the cut lettuce."]} +{"id": "trial_T20190919_055146_844513-2%7", "input": "Put the blue bowl with the knife and cut lettuce in the refrigerator. | STEP 1: Turn around and go to the counter top on the right of the stove. | STEP 2: Pick up the gray knife on the left of the blue plate on the counter. | STEP 3: Move over to the right side of the counter in front of the lettuce. | STEP 4: Cut the lettuce on the right of the spatula towards the back. | STEP 5: Turn around and go to the cabinet above the coffee machine. | STEP 6: Place the knife in the blue bowl in the cabinet. | STEP 7: Turn around and go back to the counter with the cut lettuce.", "output": ["STEP 8: Pick up one piece of the lettuce."]} +{"id": "trial_T20190919_055146_844513-2%8", "input": "Put the blue bowl with the knife and cut lettuce in the refrigerator. | STEP 1: Turn around and go to the counter top on the right of the stove. | STEP 2: Pick up the gray knife on the left of the blue plate on the counter. | STEP 3: Move over to the right side of the counter in front of the lettuce. | STEP 4: Cut the lettuce on the right of the spatula towards the back. | STEP 5: Turn around and go to the cabinet above the coffee machine. | STEP 6: Place the knife in the blue bowl in the cabinet. | STEP 7: Turn around and go back to the counter with the cut lettuce. | STEP 8: Pick up one piece of the lettuce.", "output": ["STEP 9: Turn around and go back to the cabinet with the blue bowl."]} +{"id": "trial_T20190919_055146_844513-2%9", "input": "Put the blue bowl with the knife and cut lettuce in the refrigerator. | STEP 1: Turn around and go to the counter top on the right of the stove. | STEP 2: Pick up the gray knife on the left of the blue plate on the counter. | STEP 3: Move over to the right side of the counter in front of the lettuce. | STEP 4: Cut the lettuce on the right of the spatula towards the back. | STEP 5: Turn around and go to the cabinet above the coffee machine. | STEP 6: Place the knife in the blue bowl in the cabinet. | STEP 7: Turn around and go back to the counter with the cut lettuce. | STEP 8: Pick up one piece of the lettuce. | STEP 9: Turn around and go back to the cabinet with the blue bowl.", "output": ["STEP 10: Place the lettuce inside the blue bowl."]} +{"id": "trial_T20190919_055146_844513-2%10", "input": "Put the blue bowl with the knife and cut lettuce in the refrigerator. | STEP 1: Turn around and go to the counter top on the right of the stove. | STEP 2: Pick up the gray knife on the left of the blue plate on the counter. | STEP 3: Move over to the right side of the counter in front of the lettuce. | STEP 4: Cut the lettuce on the right of the spatula towards the back. | STEP 5: Turn around and go to the cabinet above the coffee machine. | STEP 6: Place the knife in the blue bowl in the cabinet. | STEP 7: Turn around and go back to the counter with the cut lettuce. | STEP 8: Pick up one piece of the lettuce. | STEP 9: Turn around and go back to the cabinet with the blue bowl. | STEP 10: Place the lettuce inside the blue bowl.", "output": ["STEP 11: Take out the blue bowl with the knife and lettuce inside."]} +{"id": "trial_T20190919_055146_844513-2%11", "input": "Put the blue bowl with the knife and cut lettuce in the refrigerator. | STEP 1: Turn around and go to the counter top on the right of the stove. | STEP 2: Pick up the gray knife on the left of the blue plate on the counter. | STEP 3: Move over to the right side of the counter in front of the lettuce. | STEP 4: Cut the lettuce on the right of the spatula towards the back. | STEP 5: Turn around and go to the cabinet above the coffee machine. | STEP 6: Place the knife in the blue bowl in the cabinet. | STEP 7: Turn around and go back to the counter with the cut lettuce. | STEP 8: Pick up one piece of the lettuce. | STEP 9: Turn around and go back to the cabinet with the blue bowl. | STEP 10: Place the lettuce inside the blue bowl. | STEP 11: Take out the blue bowl with the knife and lettuce inside.", "output": ["STEP 12: Turn left and go to the front of the refrigerator. "]} +{"id": "trial_T20190919_055146_844513-2%12", "input": "Put the blue bowl with the knife and cut lettuce in the refrigerator. | STEP 1: Turn around and go to the counter top on the right of the stove. | STEP 2: Pick up the gray knife on the left of the blue plate on the counter. | STEP 3: Move over to the right side of the counter in front of the lettuce. | STEP 4: Cut the lettuce on the right of the spatula towards the back. | STEP 5: Turn around and go to the cabinet above the coffee machine. | STEP 6: Place the knife in the blue bowl in the cabinet. | STEP 7: Turn around and go back to the counter with the cut lettuce. | STEP 8: Pick up one piece of the lettuce. | STEP 9: Turn around and go back to the cabinet with the blue bowl. | STEP 10: Place the lettuce inside the blue bowl. | STEP 11: Take out the blue bowl with the knife and lettuce inside. | STEP 12: Turn left and go to the front of the refrigerator. ", "output": ["STEP 13: Place the blue bowl with the knife and lettuce in it on the shelf next to the apple. "]} +{"id": "trial_T20190919_055146_844513-2%13", "input": "Put the blue bowl with the knife and cut lettuce in the refrigerator. | STEP 1: Turn around and go to the counter top on the right of the stove. | STEP 2: Pick up the gray knife on the left of the blue plate on the counter. | STEP 3: Move over to the right side of the counter in front of the lettuce. | STEP 4: Cut the lettuce on the right of the spatula towards the back. | STEP 5: Turn around and go to the cabinet above the coffee machine. | STEP 6: Place the knife in the blue bowl in the cabinet. | STEP 7: Turn around and go back to the counter with the cut lettuce. | STEP 8: Pick up one piece of the lettuce. | STEP 9: Turn around and go back to the cabinet with the blue bowl. | STEP 10: Place the lettuce inside the blue bowl. | STEP 11: Take out the blue bowl with the knife and lettuce inside. | STEP 12: Turn left and go to the front of the refrigerator. | STEP 13: Place the blue bowl with the knife and lettuce in it on the shelf next to the apple. ", "output": ["END"]} +{"id": "trial_T20190907_002230_575700-1%0", "input": "put both of the tissue boxes on top of the bathroom toilet", "output": ["STEP 1: walk over to the bathroom shelves"]} +{"id": "trial_T20190907_002230_575700-1%1", "input": "put both of the tissue boxes on top of the bathroom toilet | STEP 1: walk over to the bathroom shelves", "output": ["STEP 2: pick up a box of tissues"]} +{"id": "trial_T20190907_002230_575700-1%2", "input": "put both of the tissue boxes on top of the bathroom toilet | STEP 1: walk over to the bathroom shelves | STEP 2: pick up a box of tissues", "output": ["STEP 3: bring the box of tissues over to the toilet"]} +{"id": "trial_T20190907_002230_575700-1%3", "input": "put both of the tissue boxes on top of the bathroom toilet | STEP 1: walk over to the bathroom shelves | STEP 2: pick up a box of tissues | STEP 3: bring the box of tissues over to the toilet", "output": ["STEP 4: put the box of tissues on top of the toilet"]} +{"id": "trial_T20190907_002230_575700-1%4", "input": "put both of the tissue boxes on top of the bathroom toilet | STEP 1: walk over to the bathroom shelves | STEP 2: pick up a box of tissues | STEP 3: bring the box of tissues over to the toilet | STEP 4: put the box of tissues on top of the toilet", "output": ["STEP 5: turn around and walk back over to the bathroom shelves"]} +{"id": "trial_T20190907_002230_575700-1%5", "input": "put both of the tissue boxes on top of the bathroom toilet | STEP 1: walk over to the bathroom shelves | STEP 2: pick up a box of tissues | STEP 3: bring the box of tissues over to the toilet | STEP 4: put the box of tissues on top of the toilet | STEP 5: turn around and walk back over to the bathroom shelves", "output": ["STEP 6: pick up the box of tissues off the top shelf"]} +{"id": "trial_T20190907_002230_575700-1%6", "input": "put both of the tissue boxes on top of the bathroom toilet | STEP 1: walk over to the bathroom shelves | STEP 2: pick up a box of tissues | STEP 3: bring the box of tissues over to the toilet | STEP 4: put the box of tissues on top of the toilet | STEP 5: turn around and walk back over to the bathroom shelves | STEP 6: pick up the box of tissues off the top shelf", "output": ["STEP 7: walk back over to the toilet"]} +{"id": "trial_T20190907_002230_575700-1%7", "input": "put both of the tissue boxes on top of the bathroom toilet | STEP 1: walk over to the bathroom shelves | STEP 2: pick up a box of tissues | STEP 3: bring the box of tissues over to the toilet | STEP 4: put the box of tissues on top of the toilet | STEP 5: turn around and walk back over to the bathroom shelves | STEP 6: pick up the box of tissues off the top shelf | STEP 7: walk back over to the toilet", "output": ["STEP 8: put the tissue box on its side next to the other tissue box"]} +{"id": "trial_T20190907_002230_575700-1%8", "input": "put both of the tissue boxes on top of the bathroom toilet | STEP 1: walk over to the bathroom shelves | STEP 2: pick up a box of tissues | STEP 3: bring the box of tissues over to the toilet | STEP 4: put the box of tissues on top of the toilet | STEP 5: turn around and walk back over to the bathroom shelves | STEP 6: pick up the box of tissues off the top shelf | STEP 7: walk back over to the toilet | STEP 8: put the tissue box on its side next to the other tissue box", "output": ["END"]} +{"id": "trial_T20190907_181201_854866-1%0", "input": "Place both books on the bed. ", "output": ["STEP 1: Turn around to face the brown dresser. "]} +{"id": "trial_T20190907_181201_854866-1%1", "input": "Place both books on the bed. | STEP 1: Turn around to face the brown dresser. ", "output": ["STEP 2: Pick up the book from off of the dresser."]} +{"id": "trial_T20190907_181201_854866-1%2", "input": "Place both books on the bed. | STEP 1: Turn around to face the brown dresser. | STEP 2: Pick up the book from off of the dresser.", "output": ["STEP 3: Move to the right to face the bed."]} +{"id": "trial_T20190907_181201_854866-1%3", "input": "Place both books on the bed. | STEP 1: Turn around to face the brown dresser. | STEP 2: Pick up the book from off of the dresser. | STEP 3: Move to the right to face the bed.", "output": ["STEP 4: Place the book on the bed."]} +{"id": "trial_T20190907_181201_854866-1%4", "input": "Place both books on the bed. | STEP 1: Turn around to face the brown dresser. | STEP 2: Pick up the book from off of the dresser. | STEP 3: Move to the right to face the bed. | STEP 4: Place the book on the bed.", "output": ["STEP 5: Turn around and move to the left to face the white desk."]} +{"id": "trial_T20190907_181201_854866-1%5", "input": "Place both books on the bed. | STEP 1: Turn around to face the brown dresser. | STEP 2: Pick up the book from off of the dresser. | STEP 3: Move to the right to face the bed. | STEP 4: Place the book on the bed. | STEP 5: Turn around and move to the left to face the white desk.", "output": ["STEP 6: Pick up the book from off of the desk. "]} +{"id": "trial_T20190907_181201_854866-1%6", "input": "Place both books on the bed. | STEP 1: Turn around to face the brown dresser. | STEP 2: Pick up the book from off of the dresser. | STEP 3: Move to the right to face the bed. | STEP 4: Place the book on the bed. | STEP 5: Turn around and move to the left to face the white desk. | STEP 6: Pick up the book from off of the desk. ", "output": ["STEP 7: Turn around and move to the left to face the bed."]} +{"id": "trial_T20190907_181201_854866-1%7", "input": "Place both books on the bed. | STEP 1: Turn around to face the brown dresser. | STEP 2: Pick up the book from off of the dresser. | STEP 3: Move to the right to face the bed. | STEP 4: Place the book on the bed. | STEP 5: Turn around and move to the left to face the white desk. | STEP 6: Pick up the book from off of the desk. | STEP 7: Turn around and move to the left to face the bed.", "output": ["STEP 8: Place the book on the bed next to the other book."]} +{"id": "trial_T20190907_181201_854866-1%8", "input": "Place both books on the bed. | STEP 1: Turn around to face the brown dresser. | STEP 2: Pick up the book from off of the dresser. | STEP 3: Move to the right to face the bed. | STEP 4: Place the book on the bed. | STEP 5: Turn around and move to the left to face the white desk. | STEP 6: Pick up the book from off of the desk. | STEP 7: Turn around and move to the left to face the bed. | STEP 8: Place the book on the bed next to the other book.", "output": ["END"]} +{"id": "trial_T20190907_181201_854866-2%0", "input": "Put two textbooks on a bed.", "output": ["STEP 1: Turn around and walk forward to the dresser against the wall."]} +{"id": "trial_T20190907_181201_854866-2%1", "input": "Put two textbooks on a bed. | STEP 1: Turn around and walk forward to the dresser against the wall.", "output": ["STEP 2: Pick up the textbook from the dresser."]} +{"id": "trial_T20190907_181201_854866-2%2", "input": "Put two textbooks on a bed. | STEP 1: Turn around and walk forward to the dresser against the wall. | STEP 2: Pick up the textbook from the dresser.", "output": ["STEP 3: Turn right and walk forward to the bed."]} +{"id": "trial_T20190907_181201_854866-2%3", "input": "Put two textbooks on a bed. | STEP 1: Turn around and walk forward to the dresser against the wall. | STEP 2: Pick up the textbook from the dresser. | STEP 3: Turn right and walk forward to the bed.", "output": ["STEP 4: Put the textbook on the bed, in front of the pillow."]} +{"id": "trial_T20190907_181201_854866-2%4", "input": "Put two textbooks on a bed. | STEP 1: Turn around and walk forward to the dresser against the wall. | STEP 2: Pick up the textbook from the dresser. | STEP 3: Turn right and walk forward to the bed. | STEP 4: Put the textbook on the bed, in front of the pillow.", "output": ["STEP 5: Turn right and walk forward to the desk on the right."]} +{"id": "trial_T20190907_181201_854866-2%5", "input": "Put two textbooks on a bed. | STEP 1: Turn around and walk forward to the dresser against the wall. | STEP 2: Pick up the textbook from the dresser. | STEP 3: Turn right and walk forward to the bed. | STEP 4: Put the textbook on the bed, in front of the pillow. | STEP 5: Turn right and walk forward to the desk on the right.", "output": ["STEP 6: Pick up the textbook from the desk."]} +{"id": "trial_T20190907_181201_854866-2%6", "input": "Put two textbooks on a bed. | STEP 1: Turn around and walk forward to the dresser against the wall. | STEP 2: Pick up the textbook from the dresser. | STEP 3: Turn right and walk forward to the bed. | STEP 4: Put the textbook on the bed, in front of the pillow. | STEP 5: Turn right and walk forward to the desk on the right. | STEP 6: Pick up the textbook from the desk.", "output": ["STEP 7: Turn right and walk forward to the front of the bed."]} +{"id": "trial_T20190907_181201_854866-2%7", "input": "Put two textbooks on a bed. | STEP 1: Turn around and walk forward to the dresser against the wall. | STEP 2: Pick up the textbook from the dresser. | STEP 3: Turn right and walk forward to the bed. | STEP 4: Put the textbook on the bed, in front of the pillow. | STEP 5: Turn right and walk forward to the desk on the right. | STEP 6: Pick up the textbook from the desk. | STEP 7: Turn right and walk forward to the front of the bed.", "output": ["STEP 8: Put the textbook on the bed, to the left of the first textbook."]} +{"id": "trial_T20190907_181201_854866-2%8", "input": "Put two textbooks on a bed. | STEP 1: Turn around and walk forward to the dresser against the wall. | STEP 2: Pick up the textbook from the dresser. | STEP 3: Turn right and walk forward to the bed. | STEP 4: Put the textbook on the bed, in front of the pillow. | STEP 5: Turn right and walk forward to the desk on the right. | STEP 6: Pick up the textbook from the desk. | STEP 7: Turn right and walk forward to the front of the bed. | STEP 8: Put the textbook on the bed, to the left of the first textbook.", "output": ["END"]} +{"id": "trial_T20190909_075511_068519-2%0", "input": "Heat a potato and place it on the table.", "output": ["STEP 1: Turn around, then turn left and face the sink on the right."]} +{"id": "trial_T20190909_075511_068519-2%1", "input": "Heat a potato and place it on the table. | STEP 1: Turn around, then turn left and face the sink on the right.", "output": ["STEP 2: Pick up the potato from inside the sink."]} +{"id": "trial_T20190909_075511_068519-2%2", "input": "Heat a potato and place it on the table. | STEP 1: Turn around, then turn left and face the sink on the right. | STEP 2: Pick up the potato from inside the sink.", "output": ["STEP 3: Hold the potato and turn around to the stove. Look up to the microwave. "]} +{"id": "trial_T20190909_075511_068519-2%3", "input": "Heat a potato and place it on the table. | STEP 1: Turn around, then turn left and face the sink on the right. | STEP 2: Pick up the potato from inside the sink. | STEP 3: Hold the potato and turn around to the stove. Look up to the microwave. ", "output": ["STEP 4: Open the microwave and place the potato inside. Shut the door and then open it. Take out the potato."]} +{"id": "trial_T20190909_075511_068519-2%4", "input": "Heat a potato and place it on the table. | STEP 1: Turn around, then turn left and face the sink on the right. | STEP 2: Pick up the potato from inside the sink. | STEP 3: Hold the potato and turn around to the stove. Look up to the microwave. | STEP 4: Open the microwave and place the potato inside. Shut the door and then open it. Take out the potato.", "output": ["STEP 5: Carry the potato and turn to the left. Turn left again to move to the round table."]} +{"id": "trial_T20190909_075511_068519-2%5", "input": "Heat a potato and place it on the table. | STEP 1: Turn around, then turn left and face the sink on the right. | STEP 2: Pick up the potato from inside the sink. | STEP 3: Hold the potato and turn around to the stove. Look up to the microwave. | STEP 4: Open the microwave and place the potato inside. Shut the door and then open it. Take out the potato. | STEP 5: Carry the potato and turn to the left. Turn left again to move to the round table.", "output": ["STEP 6: Place the potato on the table, to the left side."]} +{"id": "trial_T20190909_075511_068519-2%6", "input": "Heat a potato and place it on the table. | STEP 1: Turn around, then turn left and face the sink on the right. | STEP 2: Pick up the potato from inside the sink. | STEP 3: Hold the potato and turn around to the stove. Look up to the microwave. | STEP 4: Open the microwave and place the potato inside. Shut the door and then open it. Take out the potato. | STEP 5: Carry the potato and turn to the left. Turn left again to move to the round table. | STEP 6: Place the potato on the table, to the left side.", "output": ["END"]} +{"id": "trial_T20190909_075221_435001-0%0", "input": "To move a pencil from the top of a computer desk to a space above the drawers on the left side of the desk.", "output": ["STEP 1: Turn right to face the computer desk."]} +{"id": "trial_T20190909_075221_435001-0%1", "input": "To move a pencil from the top of a computer desk to a space above the drawers on the left side of the desk. | STEP 1: Turn right to face the computer desk.", "output": ["STEP 2: Pick up the pencil on the computer desk."]} +{"id": "trial_T20190909_075221_435001-0%2", "input": "To move a pencil from the top of a computer desk to a space above the drawers on the left side of the desk. | STEP 1: Turn right to face the computer desk. | STEP 2: Pick up the pencil on the computer desk.", "output": ["STEP 3: Look down to face the space above the drawers on the left side of the desk."]} +{"id": "trial_T20190909_075221_435001-0%3", "input": "To move a pencil from the top of a computer desk to a space above the drawers on the left side of the desk. | STEP 1: Turn right to face the computer desk. | STEP 2: Pick up the pencil on the computer desk. | STEP 3: Look down to face the space above the drawers on the left side of the desk.", "output": ["STEP 4: Place the pencil in the space above the drawers on the left side of the desk."]} +{"id": "trial_T20190909_075221_435001-0%4", "input": "To move a pencil from the top of a computer desk to a space above the drawers on the left side of the desk. | STEP 1: Turn right to face the computer desk. | STEP 2: Pick up the pencil on the computer desk. | STEP 3: Look down to face the space above the drawers on the left side of the desk. | STEP 4: Place the pencil in the space above the drawers on the left side of the desk.", "output": ["END"]} +{"id": "trial_T20190907_164906_987673-2%0", "input": "Put a cup with a pen in it on the dresser at the foot of the bed.", "output": ["STEP 1: Move to the table to the left of the dresser"]} +{"id": "trial_T20190907_164906_987673-2%1", "input": "Put a cup with a pen in it on the dresser at the foot of the bed. | STEP 1: Move to the table to the left of the dresser", "output": ["STEP 2: Pick up a pen from the desk"]} +{"id": "trial_T20190907_164906_987673-2%2", "input": "Put a cup with a pen in it on the dresser at the foot of the bed. | STEP 1: Move to the table to the left of the dresser | STEP 2: Pick up a pen from the desk", "output": ["STEP 3: Move to a few steps to the right"]} +{"id": "trial_T20190907_164906_987673-2%3", "input": "Put a cup with a pen in it on the dresser at the foot of the bed. | STEP 1: Move to the table to the left of the dresser | STEP 2: Pick up a pen from the desk | STEP 3: Move to a few steps to the right", "output": ["STEP 4: Place the pen in a cup on the table"]} +{"id": "trial_T20190907_164906_987673-2%4", "input": "Put a cup with a pen in it on the dresser at the foot of the bed. | STEP 1: Move to the table to the left of the dresser | STEP 2: Pick up a pen from the desk | STEP 3: Move to a few steps to the right | STEP 4: Place the pen in a cup on the table", "output": ["STEP 5: Pick up the cup from the table"]} +{"id": "trial_T20190907_164906_987673-2%5", "input": "Put a cup with a pen in it on the dresser at the foot of the bed. | STEP 1: Move to the table to the left of the dresser | STEP 2: Pick up a pen from the desk | STEP 3: Move to a few steps to the right | STEP 4: Place the pen in a cup on the table | STEP 5: Pick up the cup from the table", "output": ["STEP 6: Move to the dresser to the right of you"]} +{"id": "trial_T20190907_164906_987673-2%6", "input": "Put a cup with a pen in it on the dresser at the foot of the bed. | STEP 1: Move to the table to the left of the dresser | STEP 2: Pick up a pen from the desk | STEP 3: Move to a few steps to the right | STEP 4: Place the pen in a cup on the table | STEP 5: Pick up the cup from the table | STEP 6: Move to the dresser to the right of you", "output": ["STEP 7: Place the cup on the dresser"]} +{"id": "trial_T20190907_164906_987673-2%7", "input": "Put a cup with a pen in it on the dresser at the foot of the bed. | STEP 1: Move to the table to the left of the dresser | STEP 2: Pick up a pen from the desk | STEP 3: Move to a few steps to the right | STEP 4: Place the pen in a cup on the table | STEP 5: Pick up the cup from the table | STEP 6: Move to the dresser to the right of you | STEP 7: Place the cup on the dresser", "output": ["END"]} +{"id": "trial_T20190908_042910_141978-2%0", "input": "drop a cooked potato in the sink", "output": ["STEP 1: turn right to the sink"]} +{"id": "trial_T20190908_042910_141978-2%1", "input": "drop a cooked potato in the sink | STEP 1: turn right to the sink", "output": ["STEP 2: pick up a potato from the sink"]} +{"id": "trial_T20190908_042910_141978-2%2", "input": "drop a cooked potato in the sink | STEP 1: turn right to the sink | STEP 2: pick up a potato from the sink", "output": ["STEP 3: head to the microwave"]} +{"id": "trial_T20190908_042910_141978-2%3", "input": "drop a cooked potato in the sink | STEP 1: turn right to the sink | STEP 2: pick up a potato from the sink | STEP 3: head to the microwave", "output": ["STEP 4: cook the potato in the oven and take it out"]} +{"id": "trial_T20190908_042910_141978-2%4", "input": "drop a cooked potato in the sink | STEP 1: turn right to the sink | STEP 2: pick up a potato from the sink | STEP 3: head to the microwave | STEP 4: cook the potato in the oven and take it out", "output": ["STEP 5: turn around and head to the sink"]} +{"id": "trial_T20190908_042910_141978-2%5", "input": "drop a cooked potato in the sink | STEP 1: turn right to the sink | STEP 2: pick up a potato from the sink | STEP 3: head to the microwave | STEP 4: cook the potato in the oven and take it out | STEP 5: turn around and head to the sink", "output": ["STEP 6: drop the potato in the sink"]} +{"id": "trial_T20190908_042910_141978-2%6", "input": "drop a cooked potato in the sink | STEP 1: turn right to the sink | STEP 2: pick up a potato from the sink | STEP 3: head to the microwave | STEP 4: cook the potato in the oven and take it out | STEP 5: turn around and head to the sink | STEP 6: drop the potato in the sink", "output": ["END"]} +{"id": "trial_T20190909_080044_436637-2%0", "input": " put a clean slice of apple in the microwave", "output": ["STEP 1: turn and walk to the counter "]} +{"id": "trial_T20190909_080044_436637-2%1", "input": " put a clean slice of apple in the microwave | STEP 1: turn and walk to the counter ", "output": ["STEP 2: pick up the knife that is on the counter "]} +{"id": "trial_T20190909_080044_436637-2%2", "input": " put a clean slice of apple in the microwave | STEP 1: turn and walk to the counter | STEP 2: pick up the knife that is on the counter ", "output": ["STEP 3: turn and walk to the microwave "]} +{"id": "trial_T20190909_080044_436637-2%3", "input": " put a clean slice of apple in the microwave | STEP 1: turn and walk to the counter | STEP 2: pick up the knife that is on the counter | STEP 3: turn and walk to the microwave ", "output": ["STEP 4: slice the Apple that's in the microwave"]} +{"id": "trial_T20190909_080044_436637-2%4", "input": " put a clean slice of apple in the microwave | STEP 1: turn and walk to the counter | STEP 2: pick up the knife that is on the counter | STEP 3: turn and walk to the microwave | STEP 4: slice the Apple that's in the microwave", "output": ["STEP 5: Put The Knife into the microwave"]} +{"id": "trial_T20190909_080044_436637-2%5", "input": " put a clean slice of apple in the microwave | STEP 1: turn and walk to the counter | STEP 2: pick up the knife that is on the counter | STEP 3: turn and walk to the microwave | STEP 4: slice the Apple that's in the microwave | STEP 5: Put The Knife into the microwave", "output": ["STEP 6: take the Apple out of the microwave"]} +{"id": "trial_T20190909_080044_436637-2%6", "input": " put a clean slice of apple in the microwave | STEP 1: turn and walk to the counter | STEP 2: pick up the knife that is on the counter | STEP 3: turn and walk to the microwave | STEP 4: slice the Apple that's in the microwave | STEP 5: Put The Knife into the microwave | STEP 6: take the Apple out of the microwave", "output": ["STEP 7: turn and walk to the sink "]} +{"id": "trial_T20190909_080044_436637-2%7", "input": " put a clean slice of apple in the microwave | STEP 1: turn and walk to the counter | STEP 2: pick up the knife that is on the counter | STEP 3: turn and walk to the microwave | STEP 4: slice the Apple that's in the microwave | STEP 5: Put The Knife into the microwave | STEP 6: take the Apple out of the microwave | STEP 7: turn and walk to the sink ", "output": ["STEP 8: put the Apple into the sink"]} +{"id": "trial_T20190909_080044_436637-2%8", "input": " put a clean slice of apple in the microwave | STEP 1: turn and walk to the counter | STEP 2: pick up the knife that is on the counter | STEP 3: turn and walk to the microwave | STEP 4: slice the Apple that's in the microwave | STEP 5: Put The Knife into the microwave | STEP 6: take the Apple out of the microwave | STEP 7: turn and walk to the sink | STEP 8: put the Apple into the sink", "output": ["STEP 9: turn the water on turn the water off"]} +{"id": "trial_T20190909_080044_436637-2%9", "input": " put a clean slice of apple in the microwave | STEP 1: turn and walk to the counter | STEP 2: pick up the knife that is on the counter | STEP 3: turn and walk to the microwave | STEP 4: slice the Apple that's in the microwave | STEP 5: Put The Knife into the microwave | STEP 6: take the Apple out of the microwave | STEP 7: turn and walk to the sink | STEP 8: put the Apple into the sink | STEP 9: turn the water on turn the water off", "output": ["STEP 10: take the Apple out of the sink"]} +{"id": "trial_T20190909_080044_436637-2%10", "input": " put a clean slice of apple in the microwave | STEP 1: turn and walk to the counter | STEP 2: pick up the knife that is on the counter | STEP 3: turn and walk to the microwave | STEP 4: slice the Apple that's in the microwave | STEP 5: Put The Knife into the microwave | STEP 6: take the Apple out of the microwave | STEP 7: turn and walk to the sink | STEP 8: put the Apple into the sink | STEP 9: turn the water on turn the water off | STEP 10: take the Apple out of the sink", "output": ["STEP 11: turn and walk to the microwave "]} +{"id": "trial_T20190909_080044_436637-2%11", "input": " put a clean slice of apple in the microwave | STEP 1: turn and walk to the counter | STEP 2: pick up the knife that is on the counter | STEP 3: turn and walk to the microwave | STEP 4: slice the Apple that's in the microwave | STEP 5: Put The Knife into the microwave | STEP 6: take the Apple out of the microwave | STEP 7: turn and walk to the sink | STEP 8: put the Apple into the sink | STEP 9: turn the water on turn the water off | STEP 10: take the Apple out of the sink | STEP 11: turn and walk to the microwave ", "output": ["STEP 12: put the Apple into the microwave "]} +{"id": "trial_T20190909_080044_436637-2%12", "input": " put a clean slice of apple in the microwave | STEP 1: turn and walk to the counter | STEP 2: pick up the knife that is on the counter | STEP 3: turn and walk to the microwave | STEP 4: slice the Apple that's in the microwave | STEP 5: Put The Knife into the microwave | STEP 6: take the Apple out of the microwave | STEP 7: turn and walk to the sink | STEP 8: put the Apple into the sink | STEP 9: turn the water on turn the water off | STEP 10: take the Apple out of the sink | STEP 11: turn and walk to the microwave | STEP 12: put the Apple into the microwave ", "output": ["END"]} +{"id": "trial_T20190907_020543_865134-1%0", "input": "Examine a small statue by the light of a table lamp.", "output": ["STEP 1: Turn around and walk to the table in the top right corner of the room containing a small statue."]} +{"id": "trial_T20190907_020543_865134-1%1", "input": "Examine a small statue by the light of a table lamp. | STEP 1: Turn around and walk to the table in the top right corner of the room containing a small statue.", "output": ["STEP 2: Pick up the statue from the table."]} +{"id": "trial_T20190907_020543_865134-1%2", "input": "Examine a small statue by the light of a table lamp. | STEP 1: Turn around and walk to the table in the top right corner of the room containing a small statue. | STEP 2: Pick up the statue from the table.", "output": ["STEP 3: Move very slightly to the lamp on that same table."]} +{"id": "trial_T20190907_020543_865134-1%3", "input": "Examine a small statue by the light of a table lamp. | STEP 1: Turn around and walk to the table in the top right corner of the room containing a small statue. | STEP 2: Pick up the statue from the table. | STEP 3: Move very slightly to the lamp on that same table.", "output": ["STEP 4: Turn on the lamp."]} +{"id": "trial_T20190907_020543_865134-1%4", "input": "Examine a small statue by the light of a table lamp. | STEP 1: Turn around and walk to the table in the top right corner of the room containing a small statue. | STEP 2: Pick up the statue from the table. | STEP 3: Move very slightly to the lamp on that same table. | STEP 4: Turn on the lamp.", "output": ["END"]} +{"id": "trial_T20190907_041154_785948-2%0", "input": "Put a clean glass in the fridge.", "output": ["STEP 1: Turn left and walk until your a step from the window and turn left and walk to the table."]} +{"id": "trial_T20190907_041154_785948-2%1", "input": "Put a clean glass in the fridge. | STEP 1: Turn left and walk until your a step from the window and turn left and walk to the table.", "output": ["STEP 2: Pick up a glass to the right of the yellow handled knife."]} +{"id": "trial_T20190907_041154_785948-2%2", "input": "Put a clean glass in the fridge. | STEP 1: Turn left and walk until your a step from the window and turn left and walk to the table. | STEP 2: Pick up a glass to the right of the yellow handled knife.", "output": ["STEP 3: Turn around and walk until you clear the counter to your right then turn right and walk to the sink and stand to face it."]} +{"id": "trial_T20190907_041154_785948-2%3", "input": "Put a clean glass in the fridge. | STEP 1: Turn left and walk until your a step from the window and turn left and walk to the table. | STEP 2: Pick up a glass to the right of the yellow handled knife. | STEP 3: Turn around and walk until you clear the counter to your right then turn right and walk to the sink and stand to face it.", "output": ["STEP 4: Put the glass in the sink and wash it before picking it back up. and closing the tap."]} +{"id": "trial_T20190907_041154_785948-2%4", "input": "Put a clean glass in the fridge. | STEP 1: Turn left and walk until your a step from the window and turn left and walk to the table. | STEP 2: Pick up a glass to the right of the yellow handled knife. | STEP 3: Turn around and walk until you clear the counter to your right then turn right and walk to the sink and stand to face it. | STEP 4: Put the glass in the sink and wash it before picking it back up. and closing the tap.", "output": ["STEP 5: Turn left and walk to the fridge that will be on your right and face it."]} +{"id": "trial_T20190907_041154_785948-2%5", "input": "Put a clean glass in the fridge. | STEP 1: Turn left and walk until your a step from the window and turn left and walk to the table. | STEP 2: Pick up a glass to the right of the yellow handled knife. | STEP 3: Turn around and walk until you clear the counter to your right then turn right and walk to the sink and stand to face it. | STEP 4: Put the glass in the sink and wash it before picking it back up. and closing the tap. | STEP 5: Turn left and walk to the fridge that will be on your right and face it.", "output": ["STEP 6: Put the glass on the top shelf of the right side of the fridge."]} +{"id": "trial_T20190907_041154_785948-2%6", "input": "Put a clean glass in the fridge. | STEP 1: Turn left and walk until your a step from the window and turn left and walk to the table. | STEP 2: Pick up a glass to the right of the yellow handled knife. | STEP 3: Turn around and walk until you clear the counter to your right then turn right and walk to the sink and stand to face it. | STEP 4: Put the glass in the sink and wash it before picking it back up. and closing the tap. | STEP 5: Turn left and walk to the fridge that will be on your right and face it. | STEP 6: Put the glass on the top shelf of the right side of the fridge.", "output": ["END"]} +{"id": "trial_T20190906_200112_258135-1%0", "input": "Place the washed potato in the fridge.", "output": ["STEP 1: Turn around, head towards the end of the counter, turn right to face the potato on the counter."]} +{"id": "trial_T20190906_200112_258135-1%1", "input": "Place the washed potato in the fridge. | STEP 1: Turn around, head towards the end of the counter, turn right to face the potato on the counter.", "output": ["STEP 2: Pick up the potato from the counter."]} +{"id": "trial_T20190906_200112_258135-1%2", "input": "Place the washed potato in the fridge. | STEP 1: Turn around, head towards the end of the counter, turn right to face the potato on the counter. | STEP 2: Pick up the potato from the counter.", "output": ["STEP 3: Turn around and head towards the sink."]} +{"id": "trial_T20190906_200112_258135-1%3", "input": "Place the washed potato in the fridge. | STEP 1: Turn around, head towards the end of the counter, turn right to face the potato on the counter. | STEP 2: Pick up the potato from the counter. | STEP 3: Turn around and head towards the sink.", "output": ["STEP 4: Place the potato in the sink, wash it, and pick it back up."]} +{"id": "trial_T20190906_200112_258135-1%4", "input": "Place the washed potato in the fridge. | STEP 1: Turn around, head towards the end of the counter, turn right to face the potato on the counter. | STEP 2: Pick up the potato from the counter. | STEP 3: Turn around and head towards the sink. | STEP 4: Place the potato in the sink, wash it, and pick it back up.", "output": ["STEP 5: Turn left and walk towards the wall, turn left to face the fridge."]} +{"id": "trial_T20190906_200112_258135-1%5", "input": "Place the washed potato in the fridge. | STEP 1: Turn around, head towards the end of the counter, turn right to face the potato on the counter. | STEP 2: Pick up the potato from the counter. | STEP 3: Turn around and head towards the sink. | STEP 4: Place the potato in the sink, wash it, and pick it back up. | STEP 5: Turn left and walk towards the wall, turn left to face the fridge.", "output": ["STEP 6: Open the fridge and place the potato on the top right shelf."]} +{"id": "trial_T20190906_200112_258135-1%6", "input": "Place the washed potato in the fridge. | STEP 1: Turn around, head towards the end of the counter, turn right to face the potato on the counter. | STEP 2: Pick up the potato from the counter. | STEP 3: Turn around and head towards the sink. | STEP 4: Place the potato in the sink, wash it, and pick it back up. | STEP 5: Turn left and walk towards the wall, turn left to face the fridge. | STEP 6: Open the fridge and place the potato on the top right shelf.", "output": ["END"]} +{"id": "trial_T20190907_040937_164723-0%0", "input": "Move the spatula from the counter to the sink", "output": ["STEP 1: Turn left, walk straight to the end cabinet"]} +{"id": "trial_T20190907_040937_164723-0%1", "input": "Move the spatula from the counter to the sink | STEP 1: Turn left, walk straight to the end cabinet", "output": ["STEP 2: Grab the spatula on the counter"]} +{"id": "trial_T20190907_040937_164723-0%2", "input": "Move the spatula from the counter to the sink | STEP 1: Turn left, walk straight to the end cabinet | STEP 2: Grab the spatula on the counter", "output": ["STEP 3: Turn around to the sink"]} +{"id": "trial_T20190907_040937_164723-0%3", "input": "Move the spatula from the counter to the sink | STEP 1: Turn left, walk straight to the end cabinet | STEP 2: Grab the spatula on the counter | STEP 3: Turn around to the sink", "output": ["STEP 4: Put the spatula in the sink"]} +{"id": "trial_T20190907_040937_164723-0%4", "input": "Move the spatula from the counter to the sink | STEP 1: Turn left, walk straight to the end cabinet | STEP 2: Grab the spatula on the counter | STEP 3: Turn around to the sink | STEP 4: Put the spatula in the sink", "output": ["END"]} +{"id": "trial_T20190907_040937_164723-2%0", "input": "Move a spatula from a counter top to a sink.", "output": ["STEP 1: Walk to the left to the spatula on the counter top to the left of the stove."]} +{"id": "trial_T20190907_040937_164723-2%1", "input": "Move a spatula from a counter top to a sink. | STEP 1: Walk to the left to the spatula on the counter top to the left of the stove.", "output": ["STEP 2: Pick up the spatula from the counter top."]} +{"id": "trial_T20190907_040937_164723-2%2", "input": "Move a spatula from a counter top to a sink. | STEP 1: Walk to the left to the spatula on the counter top to the left of the stove. | STEP 2: Pick up the spatula from the counter top.", "output": ["STEP 3: Turn around and walk slightly forward to the sink."]} +{"id": "trial_T20190907_040937_164723-2%3", "input": "Move a spatula from a counter top to a sink. | STEP 1: Walk to the left to the spatula on the counter top to the left of the stove. | STEP 2: Pick up the spatula from the counter top. | STEP 3: Turn around and walk slightly forward to the sink.", "output": ["STEP 4: Put the spatula in the sink basin."]} +{"id": "trial_T20190907_040937_164723-2%4", "input": "Move a spatula from a counter top to a sink. | STEP 1: Walk to the left to the spatula on the counter top to the left of the stove. | STEP 2: Pick up the spatula from the counter top. | STEP 3: Turn around and walk slightly forward to the sink. | STEP 4: Put the spatula in the sink basin.", "output": ["END"]} +{"id": "trial_T20190906_185249_051254-1%0", "input": "Move the alarm clock from the desk to the dresser.", "output": ["STEP 1: Turn left towards the wall and then turn right to face the alarm clock."]} +{"id": "trial_T20190906_185249_051254-1%1", "input": "Move the alarm clock from the desk to the dresser. | STEP 1: Turn left towards the wall and then turn right to face the alarm clock.", "output": ["STEP 2: Pick up the alarm clock from the desk."]} +{"id": "trial_T20190906_185249_051254-1%2", "input": "Move the alarm clock from the desk to the dresser. | STEP 1: Turn left towards the wall and then turn right to face the alarm clock. | STEP 2: Pick up the alarm clock from the desk.", "output": ["STEP 3: Turn right towards the dresser."]} +{"id": "trial_T20190906_185249_051254-1%3", "input": "Move the alarm clock from the desk to the dresser. | STEP 1: Turn left towards the wall and then turn right to face the alarm clock. | STEP 2: Pick up the alarm clock from the desk. | STEP 3: Turn right towards the dresser.", "output": ["STEP 4: Place the alarm clock on the left side of the dresser."]} +{"id": "trial_T20190906_185249_051254-1%4", "input": "Move the alarm clock from the desk to the dresser. | STEP 1: Turn left towards the wall and then turn right to face the alarm clock. | STEP 2: Pick up the alarm clock from the desk. | STEP 3: Turn right towards the dresser. | STEP 4: Place the alarm clock on the left side of the dresser.", "output": ["END"]} +{"id": "trial_T20190912_213111_315672-2%0", "input": "drop a plate with a card on it on the center table", "output": ["STEP 1: move right to the lamp stand"]} +{"id": "trial_T20190912_213111_315672-2%1", "input": "drop a plate with a card on it on the center table | STEP 1: move right to the lamp stand", "output": ["STEP 2: pick up a card"]} +{"id": "trial_T20190912_213111_315672-2%2", "input": "drop a plate with a card on it on the center table | STEP 1: move right to the lamp stand | STEP 2: pick up a card", "output": ["STEP 3: head left on the lamp stand"]} +{"id": "trial_T20190912_213111_315672-2%3", "input": "drop a plate with a card on it on the center table | STEP 1: move right to the lamp stand | STEP 2: pick up a card | STEP 3: head left on the lamp stand", "output": ["STEP 4: drop the card on a plate"]} +{"id": "trial_T20190912_213111_315672-2%4", "input": "drop a plate with a card on it on the center table | STEP 1: move right to the lamp stand | STEP 2: pick up a card | STEP 3: head left on the lamp stand | STEP 4: drop the card on a plate", "output": ["STEP 5: pick up the plate"]} +{"id": "trial_T20190912_213111_315672-2%5", "input": "drop a plate with a card on it on the center table | STEP 1: move right to the lamp stand | STEP 2: pick up a card | STEP 3: head left on the lamp stand | STEP 4: drop the card on a plate | STEP 5: pick up the plate", "output": ["STEP 6: turn around to the center table"]} +{"id": "trial_T20190912_213111_315672-2%6", "input": "drop a plate with a card on it on the center table | STEP 1: move right to the lamp stand | STEP 2: pick up a card | STEP 3: head left on the lamp stand | STEP 4: drop the card on a plate | STEP 5: pick up the plate | STEP 6: turn around to the center table", "output": ["STEP 7: drop the plate on the center table"]} +{"id": "trial_T20190912_213111_315672-2%7", "input": "drop a plate with a card on it on the center table | STEP 1: move right to the lamp stand | STEP 2: pick up a card | STEP 3: head left on the lamp stand | STEP 4: drop the card on a plate | STEP 5: pick up the plate | STEP 6: turn around to the center table | STEP 7: drop the plate on the center table", "output": ["END"]} +{"id": "trial_T20190908_020804_090982-0%0", "input": "Put a clean pot filled with water on a stove top.", "output": ["STEP 1: Walk forward and turn right towards the stove top."]} +{"id": "trial_T20190908_020804_090982-0%1", "input": "Put a clean pot filled with water on a stove top. | STEP 1: Walk forward and turn right towards the stove top.", "output": ["STEP 2: Pick up the large pot from the stove top on the back burner."]} +{"id": "trial_T20190908_020804_090982-0%2", "input": "Put a clean pot filled with water on a stove top. | STEP 1: Walk forward and turn right towards the stove top. | STEP 2: Pick up the large pot from the stove top on the back burner.", "output": ["STEP 3: Turn around and walk to the sink."]} +{"id": "trial_T20190908_020804_090982-0%3", "input": "Put a clean pot filled with water on a stove top. | STEP 1: Walk forward and turn right towards the stove top. | STEP 2: Pick up the large pot from the stove top on the back burner. | STEP 3: Turn around and walk to the sink.", "output": ["STEP 4: Put the pot in the sink, rinse it off, fill it with water, and take it back out."]} +{"id": "trial_T20190908_020804_090982-0%4", "input": "Put a clean pot filled with water on a stove top. | STEP 1: Walk forward and turn right towards the stove top. | STEP 2: Pick up the large pot from the stove top on the back burner. | STEP 3: Turn around and walk to the sink. | STEP 4: Put the pot in the sink, rinse it off, fill it with water, and take it back out.", "output": ["STEP 5: Turn around and walk back to the stove top."]} +{"id": "trial_T20190908_020804_090982-0%5", "input": "Put a clean pot filled with water on a stove top. | STEP 1: Walk forward and turn right towards the stove top. | STEP 2: Pick up the large pot from the stove top on the back burner. | STEP 3: Turn around and walk to the sink. | STEP 4: Put the pot in the sink, rinse it off, fill it with water, and take it back out. | STEP 5: Turn around and walk back to the stove top.", "output": ["STEP 6: Put the pot back on the stove top on its original burner."]} +{"id": "trial_T20190908_020804_090982-0%6", "input": "Put a clean pot filled with water on a stove top. | STEP 1: Walk forward and turn right towards the stove top. | STEP 2: Pick up the large pot from the stove top on the back burner. | STEP 3: Turn around and walk to the sink. | STEP 4: Put the pot in the sink, rinse it off, fill it with water, and take it back out. | STEP 5: Turn around and walk back to the stove top. | STEP 6: Put the pot back on the stove top on its original burner.", "output": ["END"]} +{"id": "trial_T20190908_020804_090982-2%0", "input": "To Fill the pot on the back left burner with water as well as return it to the burner.", "output": ["STEP 1: Turn to the right to face the stove."]} +{"id": "trial_T20190908_020804_090982-2%1", "input": "To Fill the pot on the back left burner with water as well as return it to the burner. | STEP 1: Turn to the right to face the stove.", "output": ["STEP 2: Pick up the pot on the back left burner."]} +{"id": "trial_T20190908_020804_090982-2%2", "input": "To Fill the pot on the back left burner with water as well as return it to the burner. | STEP 1: Turn to the right to face the stove. | STEP 2: Pick up the pot on the back left burner.", "output": ["STEP 3: Turn around and walk forward to face the sink."]} +{"id": "trial_T20190908_020804_090982-2%3", "input": "To Fill the pot on the back left burner with water as well as return it to the burner. | STEP 1: Turn to the right to face the stove. | STEP 2: Pick up the pot on the back left burner. | STEP 3: Turn around and walk forward to face the sink.", "output": ["STEP 4: Fill the pot up with water and pick it back up."]} +{"id": "trial_T20190908_020804_090982-2%4", "input": "To Fill the pot on the back left burner with water as well as return it to the burner. | STEP 1: Turn to the right to face the stove. | STEP 2: Pick up the pot on the back left burner. | STEP 3: Turn around and walk forward to face the sink. | STEP 4: Fill the pot up with water and pick it back up.", "output": ["STEP 5: Turn around and walk forward to face the stove."]} +{"id": "trial_T20190908_020804_090982-2%5", "input": "To Fill the pot on the back left burner with water as well as return it to the burner. | STEP 1: Turn to the right to face the stove. | STEP 2: Pick up the pot on the back left burner. | STEP 3: Turn around and walk forward to face the sink. | STEP 4: Fill the pot up with water and pick it back up. | STEP 5: Turn around and walk forward to face the stove.", "output": ["STEP 6: Place the pot with water in it on the back left burner."]} +{"id": "trial_T20190908_020804_090982-2%6", "input": "To Fill the pot on the back left burner with water as well as return it to the burner. | STEP 1: Turn to the right to face the stove. | STEP 2: Pick up the pot on the back left burner. | STEP 3: Turn around and walk forward to face the sink. | STEP 4: Fill the pot up with water and pick it back up. | STEP 5: Turn around and walk forward to face the stove. | STEP 6: Place the pot with water in it on the back left burner.", "output": ["END"]} +{"id": "trial_T20190907_224416_535857-2%0", "input": "Slice two bread loafs and place the slices on a table. ", "output": ["STEP 1: Go straight to the end of the kitchen counter-top to the right, towards a loaf of bread and a knife that sits to the left of the oven stove. "]} +{"id": "trial_T20190907_224416_535857-2%1", "input": "Slice two bread loafs and place the slices on a table. | STEP 1: Go straight to the end of the kitchen counter-top to the right, towards a loaf of bread and a knife that sits to the left of the oven stove. ", "output": ["STEP 2: Pick up the knife."]} +{"id": "trial_T20190907_224416_535857-2%2", "input": "Slice two bread loafs and place the slices on a table. | STEP 1: Go straight to the end of the kitchen counter-top to the right, towards a loaf of bread and a knife that sits to the left of the oven stove. | STEP 2: Pick up the knife.", "output": ["STEP 3: Turn right and head to the other end of the same kitchen cabinet, now on the left, and face the other loaf of bread and a plate."]} +{"id": "trial_T20190907_224416_535857-2%3", "input": "Slice two bread loafs and place the slices on a table. | STEP 1: Go straight to the end of the kitchen counter-top to the right, towards a loaf of bread and a knife that sits to the left of the oven stove. | STEP 2: Pick up the knife. | STEP 3: Turn right and head to the other end of the same kitchen cabinet, now on the left, and face the other loaf of bread and a plate.", "output": ["STEP 4: Use the knife to cut a slice from the loaf of bread."]} +{"id": "trial_T20190907_224416_535857-2%4", "input": "Slice two bread loafs and place the slices on a table. | STEP 1: Go straight to the end of the kitchen counter-top to the right, towards a loaf of bread and a knife that sits to the left of the oven stove. | STEP 2: Pick up the knife. | STEP 3: Turn right and head to the other end of the same kitchen cabinet, now on the left, and face the other loaf of bread and a plate. | STEP 4: Use the knife to cut a slice from the loaf of bread.", "output": ["STEP 5: Head back to the other end of the counter and make a left towards the table draped with a grey cloth. "]} +{"id": "trial_T20190907_224416_535857-2%5", "input": "Slice two bread loafs and place the slices on a table. | STEP 1: Go straight to the end of the kitchen counter-top to the right, towards a loaf of bread and a knife that sits to the left of the oven stove. | STEP 2: Pick up the knife. | STEP 3: Turn right and head to the other end of the same kitchen cabinet, now on the left, and face the other loaf of bread and a plate. | STEP 4: Use the knife to cut a slice from the loaf of bread. | STEP 5: Head back to the other end of the counter and make a left towards the table draped with a grey cloth. ", "output": ["STEP 6: Place the knife on the table with the grey table cloth. "]} +{"id": "trial_T20190907_224416_535857-2%6", "input": "Slice two bread loafs and place the slices on a table. | STEP 1: Go straight to the end of the kitchen counter-top to the right, towards a loaf of bread and a knife that sits to the left of the oven stove. | STEP 2: Pick up the knife. | STEP 3: Turn right and head to the other end of the same kitchen cabinet, now on the left, and face the other loaf of bread and a plate. | STEP 4: Use the knife to cut a slice from the loaf of bread. | STEP 5: Head back to the other end of the counter and make a left towards the table draped with a grey cloth. | STEP 6: Place the knife on the table with the grey table cloth. ", "output": ["STEP 7: Turn around and head back towards the loaf of bread that was sliced. "]} +{"id": "trial_T20190907_224416_535857-2%7", "input": "Slice two bread loafs and place the slices on a table. | STEP 1: Go straight to the end of the kitchen counter-top to the right, towards a loaf of bread and a knife that sits to the left of the oven stove. | STEP 2: Pick up the knife. | STEP 3: Turn right and head to the other end of the same kitchen cabinet, now on the left, and face the other loaf of bread and a plate. | STEP 4: Use the knife to cut a slice from the loaf of bread. | STEP 5: Head back to the other end of the counter and make a left towards the table draped with a grey cloth. | STEP 6: Place the knife on the table with the grey table cloth. | STEP 7: Turn around and head back towards the loaf of bread that was sliced. ", "output": ["STEP 8: Pick up a slice of bread. "]} +{"id": "trial_T20190907_224416_535857-2%8", "input": "Slice two bread loafs and place the slices on a table. | STEP 1: Go straight to the end of the kitchen counter-top to the right, towards a loaf of bread and a knife that sits to the left of the oven stove. | STEP 2: Pick up the knife. | STEP 3: Turn right and head to the other end of the same kitchen cabinet, now on the left, and face the other loaf of bread and a plate. | STEP 4: Use the knife to cut a slice from the loaf of bread. | STEP 5: Head back to the other end of the counter and make a left towards the table draped with a grey cloth. | STEP 6: Place the knife on the table with the grey table cloth. | STEP 7: Turn around and head back towards the loaf of bread that was sliced. | STEP 8: Pick up a slice of bread. ", "output": ["STEP 9: Head back towards the table with a grey table cloth. "]} +{"id": "trial_T20190907_224416_535857-2%9", "input": "Slice two bread loafs and place the slices on a table. | STEP 1: Go straight to the end of the kitchen counter-top to the right, towards a loaf of bread and a knife that sits to the left of the oven stove. | STEP 2: Pick up the knife. | STEP 3: Turn right and head to the other end of the same kitchen cabinet, now on the left, and face the other loaf of bread and a plate. | STEP 4: Use the knife to cut a slice from the loaf of bread. | STEP 5: Head back to the other end of the counter and make a left towards the table draped with a grey cloth. | STEP 6: Place the knife on the table with the grey table cloth. | STEP 7: Turn around and head back towards the loaf of bread that was sliced. | STEP 8: Pick up a slice of bread. | STEP 9: Head back towards the table with a grey table cloth. ", "output": ["STEP 10: Place the slice of bread on the table. "]} +{"id": "trial_T20190907_224416_535857-2%10", "input": "Slice two bread loafs and place the slices on a table. | STEP 1: Go straight to the end of the kitchen counter-top to the right, towards a loaf of bread and a knife that sits to the left of the oven stove. | STEP 2: Pick up the knife. | STEP 3: Turn right and head to the other end of the same kitchen cabinet, now on the left, and face the other loaf of bread and a plate. | STEP 4: Use the knife to cut a slice from the loaf of bread. | STEP 5: Head back to the other end of the counter and make a left towards the table draped with a grey cloth. | STEP 6: Place the knife on the table with the grey table cloth. | STEP 7: Turn around and head back towards the loaf of bread that was sliced. | STEP 8: Pick up a slice of bread. | STEP 9: Head back towards the table with a grey table cloth. | STEP 10: Place the slice of bread on the table. ", "output": ["STEP 11: Pick up the knife from the table. "]} +{"id": "trial_T20190907_224416_535857-2%11", "input": "Slice two bread loafs and place the slices on a table. | STEP 1: Go straight to the end of the kitchen counter-top to the right, towards a loaf of bread and a knife that sits to the left of the oven stove. | STEP 2: Pick up the knife. | STEP 3: Turn right and head to the other end of the same kitchen cabinet, now on the left, and face the other loaf of bread and a plate. | STEP 4: Use the knife to cut a slice from the loaf of bread. | STEP 5: Head back to the other end of the counter and make a left towards the table draped with a grey cloth. | STEP 6: Place the knife on the table with the grey table cloth. | STEP 7: Turn around and head back towards the loaf of bread that was sliced. | STEP 8: Pick up a slice of bread. | STEP 9: Head back towards the table with a grey table cloth. | STEP 10: Place the slice of bread on the table. | STEP 11: Pick up the knife from the table. ", "output": ["STEP 12: Turn around and head towards the kitchen counter-top with the unsliced loaf of bread. "]} +{"id": "trial_T20190907_224416_535857-2%12", "input": "Slice two bread loafs and place the slices on a table. | STEP 1: Go straight to the end of the kitchen counter-top to the right, towards a loaf of bread and a knife that sits to the left of the oven stove. | STEP 2: Pick up the knife. | STEP 3: Turn right and head to the other end of the same kitchen cabinet, now on the left, and face the other loaf of bread and a plate. | STEP 4: Use the knife to cut a slice from the loaf of bread. | STEP 5: Head back to the other end of the counter and make a left towards the table draped with a grey cloth. | STEP 6: Place the knife on the table with the grey table cloth. | STEP 7: Turn around and head back towards the loaf of bread that was sliced. | STEP 8: Pick up a slice of bread. | STEP 9: Head back towards the table with a grey table cloth. | STEP 10: Place the slice of bread on the table. | STEP 11: Pick up the knife from the table. | STEP 12: Turn around and head towards the kitchen counter-top with the unsliced loaf of bread. ", "output": ["STEP 13: Use the knife to cut a slice from the loaf of bread."]} +{"id": "trial_T20190907_224416_535857-2%13", "input": "Slice two bread loafs and place the slices on a table. | STEP 1: Go straight to the end of the kitchen counter-top to the right, towards a loaf of bread and a knife that sits to the left of the oven stove. | STEP 2: Pick up the knife. | STEP 3: Turn right and head to the other end of the same kitchen cabinet, now on the left, and face the other loaf of bread and a plate. | STEP 4: Use the knife to cut a slice from the loaf of bread. | STEP 5: Head back to the other end of the counter and make a left towards the table draped with a grey cloth. | STEP 6: Place the knife on the table with the grey table cloth. | STEP 7: Turn around and head back towards the loaf of bread that was sliced. | STEP 8: Pick up a slice of bread. | STEP 9: Head back towards the table with a grey table cloth. | STEP 10: Place the slice of bread on the table. | STEP 11: Pick up the knife from the table. | STEP 12: Turn around and head towards the kitchen counter-top with the unsliced loaf of bread. | STEP 13: Use the knife to cut a slice from the loaf of bread.", "output": ["STEP 14: Turn left with the knife and head back towards the table with the grey table cloth. "]} +{"id": "trial_T20190907_224416_535857-2%14", "input": "Slice two bread loafs and place the slices on a table. | STEP 1: Go straight to the end of the kitchen counter-top to the right, towards a loaf of bread and a knife that sits to the left of the oven stove. | STEP 2: Pick up the knife. | STEP 3: Turn right and head to the other end of the same kitchen cabinet, now on the left, and face the other loaf of bread and a plate. | STEP 4: Use the knife to cut a slice from the loaf of bread. | STEP 5: Head back to the other end of the counter and make a left towards the table draped with a grey cloth. | STEP 6: Place the knife on the table with the grey table cloth. | STEP 7: Turn around and head back towards the loaf of bread that was sliced. | STEP 8: Pick up a slice of bread. | STEP 9: Head back towards the table with a grey table cloth. | STEP 10: Place the slice of bread on the table. | STEP 11: Pick up the knife from the table. | STEP 12: Turn around and head towards the kitchen counter-top with the unsliced loaf of bread. | STEP 13: Use the knife to cut a slice from the loaf of bread. | STEP 14: Turn left with the knife and head back towards the table with the grey table cloth. ", "output": ["STEP 15: Place the knife on the table with the grey table cloth. "]} +{"id": "trial_T20190907_224416_535857-2%15", "input": "Slice two bread loafs and place the slices on a table. | STEP 1: Go straight to the end of the kitchen counter-top to the right, towards a loaf of bread and a knife that sits to the left of the oven stove. | STEP 2: Pick up the knife. | STEP 3: Turn right and head to the other end of the same kitchen cabinet, now on the left, and face the other loaf of bread and a plate. | STEP 4: Use the knife to cut a slice from the loaf of bread. | STEP 5: Head back to the other end of the counter and make a left towards the table draped with a grey cloth. | STEP 6: Place the knife on the table with the grey table cloth. | STEP 7: Turn around and head back towards the loaf of bread that was sliced. | STEP 8: Pick up a slice of bread. | STEP 9: Head back towards the table with a grey table cloth. | STEP 10: Place the slice of bread on the table. | STEP 11: Pick up the knife from the table. | STEP 12: Turn around and head towards the kitchen counter-top with the unsliced loaf of bread. | STEP 13: Use the knife to cut a slice from the loaf of bread. | STEP 14: Turn left with the knife and head back towards the table with the grey table cloth. | STEP 15: Place the knife on the table with the grey table cloth. ", "output": ["STEP 16: Turn around and head back to the loaf of bread that was just sliced. "]} +{"id": "trial_T20190907_224416_535857-2%16", "input": "Slice two bread loafs and place the slices on a table. | STEP 1: Go straight to the end of the kitchen counter-top to the right, towards a loaf of bread and a knife that sits to the left of the oven stove. | STEP 2: Pick up the knife. | STEP 3: Turn right and head to the other end of the same kitchen cabinet, now on the left, and face the other loaf of bread and a plate. | STEP 4: Use the knife to cut a slice from the loaf of bread. | STEP 5: Head back to the other end of the counter and make a left towards the table draped with a grey cloth. | STEP 6: Place the knife on the table with the grey table cloth. | STEP 7: Turn around and head back towards the loaf of bread that was sliced. | STEP 8: Pick up a slice of bread. | STEP 9: Head back towards the table with a grey table cloth. | STEP 10: Place the slice of bread on the table. | STEP 11: Pick up the knife from the table. | STEP 12: Turn around and head towards the kitchen counter-top with the unsliced loaf of bread. | STEP 13: Use the knife to cut a slice from the loaf of bread. | STEP 14: Turn left with the knife and head back towards the table with the grey table cloth. | STEP 15: Place the knife on the table with the grey table cloth. | STEP 16: Turn around and head back to the loaf of bread that was just sliced. ", "output": ["STEP 17: Pick up a slice of bread. "]} +{"id": "trial_T20190907_224416_535857-2%17", "input": "Slice two bread loafs and place the slices on a table. | STEP 1: Go straight to the end of the kitchen counter-top to the right, towards a loaf of bread and a knife that sits to the left of the oven stove. | STEP 2: Pick up the knife. | STEP 3: Turn right and head to the other end of the same kitchen cabinet, now on the left, and face the other loaf of bread and a plate. | STEP 4: Use the knife to cut a slice from the loaf of bread. | STEP 5: Head back to the other end of the counter and make a left towards the table draped with a grey cloth. | STEP 6: Place the knife on the table with the grey table cloth. | STEP 7: Turn around and head back towards the loaf of bread that was sliced. | STEP 8: Pick up a slice of bread. | STEP 9: Head back towards the table with a grey table cloth. | STEP 10: Place the slice of bread on the table. | STEP 11: Pick up the knife from the table. | STEP 12: Turn around and head towards the kitchen counter-top with the unsliced loaf of bread. | STEP 13: Use the knife to cut a slice from the loaf of bread. | STEP 14: Turn left with the knife and head back towards the table with the grey table cloth. | STEP 15: Place the knife on the table with the grey table cloth. | STEP 16: Turn around and head back to the loaf of bread that was just sliced. | STEP 17: Pick up a slice of bread. ", "output": ["STEP 18: Turn left and head back towards the table with the grey table cloth. "]} +{"id": "trial_T20190907_224416_535857-2%18", "input": "Slice two bread loafs and place the slices on a table. | STEP 1: Go straight to the end of the kitchen counter-top to the right, towards a loaf of bread and a knife that sits to the left of the oven stove. | STEP 2: Pick up the knife. | STEP 3: Turn right and head to the other end of the same kitchen cabinet, now on the left, and face the other loaf of bread and a plate. | STEP 4: Use the knife to cut a slice from the loaf of bread. | STEP 5: Head back to the other end of the counter and make a left towards the table draped with a grey cloth. | STEP 6: Place the knife on the table with the grey table cloth. | STEP 7: Turn around and head back towards the loaf of bread that was sliced. | STEP 8: Pick up a slice of bread. | STEP 9: Head back towards the table with a grey table cloth. | STEP 10: Place the slice of bread on the table. | STEP 11: Pick up the knife from the table. | STEP 12: Turn around and head towards the kitchen counter-top with the unsliced loaf of bread. | STEP 13: Use the knife to cut a slice from the loaf of bread. | STEP 14: Turn left with the knife and head back towards the table with the grey table cloth. | STEP 15: Place the knife on the table with the grey table cloth. | STEP 16: Turn around and head back to the loaf of bread that was just sliced. | STEP 17: Pick up a slice of bread. | STEP 18: Turn left and head back towards the table with the grey table cloth. ", "output": ["STEP 19: Place the slice of bread on the table. "]} +{"id": "trial_T20190907_224416_535857-2%19", "input": "Slice two bread loafs and place the slices on a table. | STEP 1: Go straight to the end of the kitchen counter-top to the right, towards a loaf of bread and a knife that sits to the left of the oven stove. | STEP 2: Pick up the knife. | STEP 3: Turn right and head to the other end of the same kitchen cabinet, now on the left, and face the other loaf of bread and a plate. | STEP 4: Use the knife to cut a slice from the loaf of bread. | STEP 5: Head back to the other end of the counter and make a left towards the table draped with a grey cloth. | STEP 6: Place the knife on the table with the grey table cloth. | STEP 7: Turn around and head back towards the loaf of bread that was sliced. | STEP 8: Pick up a slice of bread. | STEP 9: Head back towards the table with a grey table cloth. | STEP 10: Place the slice of bread on the table. | STEP 11: Pick up the knife from the table. | STEP 12: Turn around and head towards the kitchen counter-top with the unsliced loaf of bread. | STEP 13: Use the knife to cut a slice from the loaf of bread. | STEP 14: Turn left with the knife and head back towards the table with the grey table cloth. | STEP 15: Place the knife on the table with the grey table cloth. | STEP 16: Turn around and head back to the loaf of bread that was just sliced. | STEP 17: Pick up a slice of bread. | STEP 18: Turn left and head back towards the table with the grey table cloth. | STEP 19: Place the slice of bread on the table. ", "output": ["END"]} +{"id": "trial_T20190909_130959_018918-1%0", "input": "pick up knife, cut bread, cook in microwave, place bread in the trash can", "output": ["STEP 1: turn left, turn right to the sink"]} +{"id": "trial_T20190909_130959_018918-1%1", "input": "pick up knife, cut bread, cook in microwave, place bread in the trash can | STEP 1: turn left, turn right to the sink", "output": ["STEP 2: pick up knife from sink"]} +{"id": "trial_T20190909_130959_018918-1%2", "input": "pick up knife, cut bread, cook in microwave, place bread in the trash can | STEP 1: turn left, turn right to the sink | STEP 2: pick up knife from sink", "output": ["STEP 3: turn around, walk straight to the counter"]} +{"id": "trial_T20190909_130959_018918-1%3", "input": "pick up knife, cut bread, cook in microwave, place bread in the trash can | STEP 1: turn left, turn right to the sink | STEP 2: pick up knife from sink | STEP 3: turn around, walk straight to the counter", "output": ["STEP 4: cut in to the bread with the knife"]} +{"id": "trial_T20190909_130959_018918-1%4", "input": "pick up knife, cut bread, cook in microwave, place bread in the trash can | STEP 1: turn left, turn right to the sink | STEP 2: pick up knife from sink | STEP 3: turn around, walk straight to the counter | STEP 4: cut in to the bread with the knife", "output": ["STEP 5: turn left, turn right, turn left to the trash can"]} +{"id": "trial_T20190909_130959_018918-1%5", "input": "pick up knife, cut bread, cook in microwave, place bread in the trash can | STEP 1: turn left, turn right to the sink | STEP 2: pick up knife from sink | STEP 3: turn around, walk straight to the counter | STEP 4: cut in to the bread with the knife | STEP 5: turn left, turn right, turn left to the trash can", "output": ["STEP 6: place knife in the trash can"]} +{"id": "trial_T20190909_130959_018918-1%6", "input": "pick up knife, cut bread, cook in microwave, place bread in the trash can | STEP 1: turn left, turn right to the sink | STEP 2: pick up knife from sink | STEP 3: turn around, walk straight to the counter | STEP 4: cut in to the bread with the knife | STEP 5: turn left, turn right, turn left to the trash can | STEP 6: place knife in the trash can", "output": ["STEP 7: turn left, turn left, turn left to the counter"]} +{"id": "trial_T20190909_130959_018918-1%7", "input": "pick up knife, cut bread, cook in microwave, place bread in the trash can | STEP 1: turn left, turn right to the sink | STEP 2: pick up knife from sink | STEP 3: turn around, walk straight to the counter | STEP 4: cut in to the bread with the knife | STEP 5: turn left, turn right, turn left to the trash can | STEP 6: place knife in the trash can | STEP 7: turn left, turn left, turn left to the counter", "output": ["STEP 8: pick up bread from the counter"]} +{"id": "trial_T20190909_130959_018918-1%8", "input": "pick up knife, cut bread, cook in microwave, place bread in the trash can | STEP 1: turn left, turn right to the sink | STEP 2: pick up knife from sink | STEP 3: turn around, walk straight to the counter | STEP 4: cut in to the bread with the knife | STEP 5: turn left, turn right, turn left to the trash can | STEP 6: place knife in the trash can | STEP 7: turn left, turn left, turn left to the counter | STEP 8: pick up bread from the counter", "output": ["STEP 9: turn around, turn left, turn left to the microwave"]} +{"id": "trial_T20190909_130959_018918-1%9", "input": "pick up knife, cut bread, cook in microwave, place bread in the trash can | STEP 1: turn left, turn right to the sink | STEP 2: pick up knife from sink | STEP 3: turn around, walk straight to the counter | STEP 4: cut in to the bread with the knife | STEP 5: turn left, turn right, turn left to the trash can | STEP 6: place knife in the trash can | STEP 7: turn left, turn left, turn left to the counter | STEP 8: pick up bread from the counter | STEP 9: turn around, turn left, turn left to the microwave", "output": ["STEP 10: open door, place bread on shelf, close door, open door, remove bread, close door"]} +{"id": "trial_T20190909_130959_018918-1%10", "input": "pick up knife, cut bread, cook in microwave, place bread in the trash can | STEP 1: turn left, turn right to the sink | STEP 2: pick up knife from sink | STEP 3: turn around, walk straight to the counter | STEP 4: cut in to the bread with the knife | STEP 5: turn left, turn right, turn left to the trash can | STEP 6: place knife in the trash can | STEP 7: turn left, turn left, turn left to the counter | STEP 8: pick up bread from the counter | STEP 9: turn around, turn left, turn left to the microwave | STEP 10: open door, place bread on shelf, close door, open door, remove bread, close door", "output": ["STEP 11: turn left, turn right, turn left to the trash can"]} +{"id": "trial_T20190909_130959_018918-1%11", "input": "pick up knife, cut bread, cook in microwave, place bread in the trash can | STEP 1: turn left, turn right to the sink | STEP 2: pick up knife from sink | STEP 3: turn around, walk straight to the counter | STEP 4: cut in to the bread with the knife | STEP 5: turn left, turn right, turn left to the trash can | STEP 6: place knife in the trash can | STEP 7: turn left, turn left, turn left to the counter | STEP 8: pick up bread from the counter | STEP 9: turn around, turn left, turn left to the microwave | STEP 10: open door, place bread on shelf, close door, open door, remove bread, close door | STEP 11: turn left, turn right, turn left to the trash can", "output": ["STEP 12: place bread in the trash can"]} +{"id": "trial_T20190909_130959_018918-1%12", "input": "pick up knife, cut bread, cook in microwave, place bread in the trash can | STEP 1: turn left, turn right to the sink | STEP 2: pick up knife from sink | STEP 3: turn around, walk straight to the counter | STEP 4: cut in to the bread with the knife | STEP 5: turn left, turn right, turn left to the trash can | STEP 6: place knife in the trash can | STEP 7: turn left, turn left, turn left to the counter | STEP 8: pick up bread from the counter | STEP 9: turn around, turn left, turn left to the microwave | STEP 10: open door, place bread on shelf, close door, open door, remove bread, close door | STEP 11: turn left, turn right, turn left to the trash can | STEP 12: place bread in the trash can", "output": ["END"]} +{"id": "trial_T20190909_130959_018918-2%0", "input": "Place a cooked slice of bread in the recycle bin.", "output": ["STEP 1: Walk to the sink."]} +{"id": "trial_T20190909_130959_018918-2%1", "input": "Place a cooked slice of bread in the recycle bin. | STEP 1: Walk to the sink.", "output": ["STEP 2: Pick up the knife from the sink."]} +{"id": "trial_T20190909_130959_018918-2%2", "input": "Place a cooked slice of bread in the recycle bin. | STEP 1: Walk to the sink. | STEP 2: Pick up the knife from the sink.", "output": ["STEP 3: Walk over to the counter to the left of the stove."]} +{"id": "trial_T20190909_130959_018918-2%3", "input": "Place a cooked slice of bread in the recycle bin. | STEP 1: Walk to the sink. | STEP 2: Pick up the knife from the sink. | STEP 3: Walk over to the counter to the left of the stove.", "output": ["STEP 4: Slice the loaf of bread."]} +{"id": "trial_T20190909_130959_018918-2%4", "input": "Place a cooked slice of bread in the recycle bin. | STEP 1: Walk to the sink. | STEP 2: Pick up the knife from the sink. | STEP 3: Walk over to the counter to the left of the stove. | STEP 4: Slice the loaf of bread.", "output": ["STEP 5: Walk over to the recycle bin."]} +{"id": "trial_T20190909_130959_018918-2%5", "input": "Place a cooked slice of bread in the recycle bin. | STEP 1: Walk to the sink. | STEP 2: Pick up the knife from the sink. | STEP 3: Walk over to the counter to the left of the stove. | STEP 4: Slice the loaf of bread. | STEP 5: Walk over to the recycle bin.", "output": ["STEP 6: Put the knife in the recycle bin."]} +{"id": "trial_T20190909_130959_018918-2%6", "input": "Place a cooked slice of bread in the recycle bin. | STEP 1: Walk to the sink. | STEP 2: Pick up the knife from the sink. | STEP 3: Walk over to the counter to the left of the stove. | STEP 4: Slice the loaf of bread. | STEP 5: Walk over to the recycle bin. | STEP 6: Put the knife in the recycle bin.", "output": ["STEP 7: Walk back to the loaf of bread."]} +{"id": "trial_T20190909_130959_018918-2%7", "input": "Place a cooked slice of bread in the recycle bin. | STEP 1: Walk to the sink. | STEP 2: Pick up the knife from the sink. | STEP 3: Walk over to the counter to the left of the stove. | STEP 4: Slice the loaf of bread. | STEP 5: Walk over to the recycle bin. | STEP 6: Put the knife in the recycle bin. | STEP 7: Walk back to the loaf of bread.", "output": ["STEP 8: Pick up a slice of bread."]} +{"id": "trial_T20190909_130959_018918-2%8", "input": "Place a cooked slice of bread in the recycle bin. | STEP 1: Walk to the sink. | STEP 2: Pick up the knife from the sink. | STEP 3: Walk over to the counter to the left of the stove. | STEP 4: Slice the loaf of bread. | STEP 5: Walk over to the recycle bin. | STEP 6: Put the knife in the recycle bin. | STEP 7: Walk back to the loaf of bread. | STEP 8: Pick up a slice of bread.", "output": ["STEP 9: Walk over to the microwave above the stove."]} +{"id": "trial_T20190909_130959_018918-2%9", "input": "Place a cooked slice of bread in the recycle bin. | STEP 1: Walk to the sink. | STEP 2: Pick up the knife from the sink. | STEP 3: Walk over to the counter to the left of the stove. | STEP 4: Slice the loaf of bread. | STEP 5: Walk over to the recycle bin. | STEP 6: Put the knife in the recycle bin. | STEP 7: Walk back to the loaf of bread. | STEP 8: Pick up a slice of bread. | STEP 9: Walk over to the microwave above the stove.", "output": ["STEP 10: Cook the slice of bread in the microwave."]} +{"id": "trial_T20190909_130959_018918-2%10", "input": "Place a cooked slice of bread in the recycle bin. | STEP 1: Walk to the sink. | STEP 2: Pick up the knife from the sink. | STEP 3: Walk over to the counter to the left of the stove. | STEP 4: Slice the loaf of bread. | STEP 5: Walk over to the recycle bin. | STEP 6: Put the knife in the recycle bin. | STEP 7: Walk back to the loaf of bread. | STEP 8: Pick up a slice of bread. | STEP 9: Walk over to the microwave above the stove. | STEP 10: Cook the slice of bread in the microwave.", "output": ["STEP 11: Take the slice of bread over to the recycle bin."]} +{"id": "trial_T20190909_130959_018918-2%11", "input": "Place a cooked slice of bread in the recycle bin. | STEP 1: Walk to the sink. | STEP 2: Pick up the knife from the sink. | STEP 3: Walk over to the counter to the left of the stove. | STEP 4: Slice the loaf of bread. | STEP 5: Walk over to the recycle bin. | STEP 6: Put the knife in the recycle bin. | STEP 7: Walk back to the loaf of bread. | STEP 8: Pick up a slice of bread. | STEP 9: Walk over to the microwave above the stove. | STEP 10: Cook the slice of bread in the microwave. | STEP 11: Take the slice of bread over to the recycle bin.", "output": ["STEP 12: Place the slice of bread in the recycle bin."]} +{"id": "trial_T20190909_130959_018918-2%12", "input": "Place a cooked slice of bread in the recycle bin. | STEP 1: Walk to the sink. | STEP 2: Pick up the knife from the sink. | STEP 3: Walk over to the counter to the left of the stove. | STEP 4: Slice the loaf of bread. | STEP 5: Walk over to the recycle bin. | STEP 6: Put the knife in the recycle bin. | STEP 7: Walk back to the loaf of bread. | STEP 8: Pick up a slice of bread. | STEP 9: Walk over to the microwave above the stove. | STEP 10: Cook the slice of bread in the microwave. | STEP 11: Take the slice of bread over to the recycle bin. | STEP 12: Place the slice of bread in the recycle bin.", "output": ["END"]} +{"id": "trial_T20190909_005324_566431-1%0", "input": "Move two pencils from the top of the dresser to the drawer. ", "output": ["STEP 1: Turn right and go to the wooden dresser in the corner across the room. "]} +{"id": "trial_T20190909_005324_566431-1%1", "input": "Move two pencils from the top of the dresser to the drawer. | STEP 1: Turn right and go to the wooden dresser in the corner across the room. ", "output": ["STEP 2: Pick up the yellow pencil directly behind the keys on the top."]} +{"id": "trial_T20190909_005324_566431-1%2", "input": "Move two pencils from the top of the dresser to the drawer. | STEP 1: Turn right and go to the wooden dresser in the corner across the room. | STEP 2: Pick up the yellow pencil directly behind the keys on the top.", "output": ["STEP 3: Move back from the wooden dresser."]} +{"id": "trial_T20190909_005324_566431-1%3", "input": "Move two pencils from the top of the dresser to the drawer. | STEP 1: Turn right and go to the wooden dresser in the corner across the room. | STEP 2: Pick up the yellow pencil directly behind the keys on the top. | STEP 3: Move back from the wooden dresser.", "output": ["STEP 4: Place the pencil in the second drawer on the bottom left. "]} +{"id": "trial_T20190909_005324_566431-1%4", "input": "Move two pencils from the top of the dresser to the drawer. | STEP 1: Turn right and go to the wooden dresser in the corner across the room. | STEP 2: Pick up the yellow pencil directly behind the keys on the top. | STEP 3: Move back from the wooden dresser. | STEP 4: Place the pencil in the second drawer on the bottom left. ", "output": ["STEP 5: Move forward slightly towards the dresser."]} +{"id": "trial_T20190909_005324_566431-1%5", "input": "Move two pencils from the top of the dresser to the drawer. | STEP 1: Turn right and go to the wooden dresser in the corner across the room. | STEP 2: Pick up the yellow pencil directly behind the keys on the top. | STEP 3: Move back from the wooden dresser. | STEP 4: Place the pencil in the second drawer on the bottom left. | STEP 5: Move forward slightly towards the dresser.", "output": ["STEP 6: Pick up the yellow pencil on the top of the dresser on the left of the white note book. "]} +{"id": "trial_T20190909_005324_566431-1%6", "input": "Move two pencils from the top of the dresser to the drawer. | STEP 1: Turn right and go to the wooden dresser in the corner across the room. | STEP 2: Pick up the yellow pencil directly behind the keys on the top. | STEP 3: Move back from the wooden dresser. | STEP 4: Place the pencil in the second drawer on the bottom left. | STEP 5: Move forward slightly towards the dresser. | STEP 6: Pick up the yellow pencil on the top of the dresser on the left of the white note book. ", "output": ["STEP 7: Move back from the wooden dresser."]} +{"id": "trial_T20190909_005324_566431-1%7", "input": "Move two pencils from the top of the dresser to the drawer. | STEP 1: Turn right and go to the wooden dresser in the corner across the room. | STEP 2: Pick up the yellow pencil directly behind the keys on the top. | STEP 3: Move back from the wooden dresser. | STEP 4: Place the pencil in the second drawer on the bottom left. | STEP 5: Move forward slightly towards the dresser. | STEP 6: Pick up the yellow pencil on the top of the dresser on the left of the white note book. | STEP 7: Move back from the wooden dresser.", "output": ["STEP 8: Place the pencil in the second drawer on the bottom left on top of the first pencil. "]} +{"id": "trial_T20190909_005324_566431-1%8", "input": "Move two pencils from the top of the dresser to the drawer. | STEP 1: Turn right and go to the wooden dresser in the corner across the room. | STEP 2: Pick up the yellow pencil directly behind the keys on the top. | STEP 3: Move back from the wooden dresser. | STEP 4: Place the pencil in the second drawer on the bottom left. | STEP 5: Move forward slightly towards the dresser. | STEP 6: Pick up the yellow pencil on the top of the dresser on the left of the white note book. | STEP 7: Move back from the wooden dresser. | STEP 8: Place the pencil in the second drawer on the bottom left on top of the first pencil. ", "output": ["END"]} +{"id": "trial_T20190909_013957_469124-0%0", "input": "Wash a fork and put it on a table.", "output": ["STEP 1: Walk to the kitchen counter on the left of the stove."]} +{"id": "trial_T20190909_013957_469124-0%1", "input": "Wash a fork and put it on a table. | STEP 1: Walk to the kitchen counter on the left of the stove.", "output": ["STEP 2: Grab a fork from the counter."]} +{"id": "trial_T20190909_013957_469124-0%2", "input": "Wash a fork and put it on a table. | STEP 1: Walk to the kitchen counter on the left of the stove. | STEP 2: Grab a fork from the counter.", "output": ["STEP 3: Walk to the kitchen sink behind you."]} +{"id": "trial_T20190909_013957_469124-0%3", "input": "Wash a fork and put it on a table. | STEP 1: Walk to the kitchen counter on the left of the stove. | STEP 2: Grab a fork from the counter. | STEP 3: Walk to the kitchen sink behind you.", "output": ["STEP 4: Put the fork in the sink, wash it, then grab it."]} +{"id": "trial_T20190909_013957_469124-0%4", "input": "Wash a fork and put it on a table. | STEP 1: Walk to the kitchen counter on the left of the stove. | STEP 2: Grab a fork from the counter. | STEP 3: Walk to the kitchen sink behind you. | STEP 4: Put the fork in the sink, wash it, then grab it.", "output": ["STEP 5: Walk to the kitchen table on your right."]} +{"id": "trial_T20190909_013957_469124-0%5", "input": "Wash a fork and put it on a table. | STEP 1: Walk to the kitchen counter on the left of the stove. | STEP 2: Grab a fork from the counter. | STEP 3: Walk to the kitchen sink behind you. | STEP 4: Put the fork in the sink, wash it, then grab it. | STEP 5: Walk to the kitchen table on your right.", "output": ["STEP 6: Place the fork on the table."]} +{"id": "trial_T20190909_013957_469124-0%6", "input": "Wash a fork and put it on a table. | STEP 1: Walk to the kitchen counter on the left of the stove. | STEP 2: Grab a fork from the counter. | STEP 3: Walk to the kitchen sink behind you. | STEP 4: Put the fork in the sink, wash it, then grab it. | STEP 5: Walk to the kitchen table on your right. | STEP 6: Place the fork on the table.", "output": ["END"]} +{"id": "trial_T20190909_013957_469124-2%0", "input": "Put a clean fork on a table.", "output": ["STEP 1: Go left to stand in front of the counter to the left of the stove."]} +{"id": "trial_T20190909_013957_469124-2%1", "input": "Put a clean fork on a table. | STEP 1: Go left to stand in front of the counter to the left of the stove.", "output": ["STEP 2: Pick the fork up from the counter."]} +{"id": "trial_T20190909_013957_469124-2%2", "input": "Put a clean fork on a table. | STEP 1: Go left to stand in front of the counter to the left of the stove. | STEP 2: Pick the fork up from the counter.", "output": ["STEP 3: Turn around and face the sink."]} +{"id": "trial_T20190909_013957_469124-2%3", "input": "Put a clean fork on a table. | STEP 1: Go left to stand in front of the counter to the left of the stove. | STEP 2: Pick the fork up from the counter. | STEP 3: Turn around and face the sink.", "output": ["STEP 4: Put the fork in the sink and turn the water on and then off and pick the fork up from the sink."]} +{"id": "trial_T20190909_013957_469124-2%4", "input": "Put a clean fork on a table. | STEP 1: Go left to stand in front of the counter to the left of the stove. | STEP 2: Pick the fork up from the counter. | STEP 3: Turn around and face the sink. | STEP 4: Put the fork in the sink and turn the water on and then off and pick the fork up from the sink.", "output": ["STEP 5: Turn to the right and then to the left to face the round table."]} +{"id": "trial_T20190909_013957_469124-2%5", "input": "Put a clean fork on a table. | STEP 1: Go left to stand in front of the counter to the left of the stove. | STEP 2: Pick the fork up from the counter. | STEP 3: Turn around and face the sink. | STEP 4: Put the fork in the sink and turn the water on and then off and pick the fork up from the sink. | STEP 5: Turn to the right and then to the left to face the round table.", "output": ["STEP 6: Put the fork down on the table."]} +{"id": "trial_T20190909_013957_469124-2%6", "input": "Put a clean fork on a table. | STEP 1: Go left to stand in front of the counter to the left of the stove. | STEP 2: Pick the fork up from the counter. | STEP 3: Turn around and face the sink. | STEP 4: Put the fork in the sink and turn the water on and then off and pick the fork up from the sink. | STEP 5: Turn to the right and then to the left to face the round table. | STEP 6: Put the fork down on the table.", "output": ["END"]} +{"id": "trial_T20190908_123502_241362-1%0", "input": "Move a statue from a shelf to a table", "output": ["STEP 1: Go to the shelf above the sofa"]} +{"id": "trial_T20190908_123502_241362-1%1", "input": "Move a statue from a shelf to a table | STEP 1: Go to the shelf above the sofa", "output": ["STEP 2: Pick up the dog statue on the shelf"]} +{"id": "trial_T20190908_123502_241362-1%2", "input": "Move a statue from a shelf to a table | STEP 1: Go to the shelf above the sofa | STEP 2: Pick up the dog statue on the shelf", "output": ["STEP 3: Go to the table next to the sofa"]} +{"id": "trial_T20190908_123502_241362-1%3", "input": "Move a statue from a shelf to a table | STEP 1: Go to the shelf above the sofa | STEP 2: Pick up the dog statue on the shelf | STEP 3: Go to the table next to the sofa", "output": ["STEP 4: Place the dog statue on the table"]} +{"id": "trial_T20190908_123502_241362-1%4", "input": "Move a statue from a shelf to a table | STEP 1: Go to the shelf above the sofa | STEP 2: Pick up the dog statue on the shelf | STEP 3: Go to the table next to the sofa | STEP 4: Place the dog statue on the table", "output": ["END"]} +{"id": "trial_T20190908_232857_206668-1%0", "input": "Look at the box under light from the table lamp", "output": ["STEP 1: Turn around and walk forward to the sofa"]} +{"id": "trial_T20190908_232857_206668-1%1", "input": "Look at the box under light from the table lamp | STEP 1: Turn around and walk forward to the sofa", "output": ["STEP 2: Pick up the cardboard box from the sofa"]} +{"id": "trial_T20190908_232857_206668-1%2", "input": "Look at the box under light from the table lamp | STEP 1: Turn around and walk forward to the sofa | STEP 2: Pick up the cardboard box from the sofa", "output": ["STEP 3: Turn right and walk over to the lamp on the small table by the sofa"]} +{"id": "trial_T20190908_232857_206668-1%3", "input": "Look at the box under light from the table lamp | STEP 1: Turn around and walk forward to the sofa | STEP 2: Pick up the cardboard box from the sofa | STEP 3: Turn right and walk over to the lamp on the small table by the sofa", "output": ["STEP 4: Turn on the lamp"]} +{"id": "trial_T20190908_232857_206668-1%4", "input": "Look at the box under light from the table lamp | STEP 1: Turn around and walk forward to the sofa | STEP 2: Pick up the cardboard box from the sofa | STEP 3: Turn right and walk over to the lamp on the small table by the sofa | STEP 4: Turn on the lamp", "output": ["END"]} +{"id": "trial_T20190909_130627_569885-1%0", "input": "pick up knife, cut bread, cook bread in microwave, place in trash can", "output": ["STEP 1: turn right, straight, left to the sink"]} +{"id": "trial_T20190909_130627_569885-1%1", "input": "pick up knife, cut bread, cook bread in microwave, place in trash can | STEP 1: turn right, straight, left to the sink", "output": ["STEP 2: pick up knife from the sink"]} +{"id": "trial_T20190909_130627_569885-1%2", "input": "pick up knife, cut bread, cook bread in microwave, place in trash can | STEP 1: turn right, straight, left to the sink | STEP 2: pick up knife from the sink", "output": ["STEP 3: turn left, turn left, turn right, straight, left to the counter"]} +{"id": "trial_T20190909_130627_569885-1%3", "input": "pick up knife, cut bread, cook bread in microwave, place in trash can | STEP 1: turn right, straight, left to the sink | STEP 2: pick up knife from the sink | STEP 3: turn left, turn left, turn right, straight, left to the counter", "output": ["STEP 4: cut the bread with the knife"]} +{"id": "trial_T20190909_130627_569885-1%4", "input": "pick up knife, cut bread, cook bread in microwave, place in trash can | STEP 1: turn right, straight, left to the sink | STEP 2: pick up knife from the sink | STEP 3: turn left, turn left, turn right, straight, left to the counter | STEP 4: cut the bread with the knife", "output": ["STEP 5: turn around, turn right, turn right to the microwave"]} +{"id": "trial_T20190909_130627_569885-1%5", "input": "pick up knife, cut bread, cook bread in microwave, place in trash can | STEP 1: turn right, straight, left to the sink | STEP 2: pick up knife from the sink | STEP 3: turn left, turn left, turn right, straight, left to the counter | STEP 4: cut the bread with the knife | STEP 5: turn around, turn right, turn right to the microwave", "output": ["STEP 6: open door, place knife on shelf, close door"]} +{"id": "trial_T20190909_130627_569885-1%6", "input": "pick up knife, cut bread, cook bread in microwave, place in trash can | STEP 1: turn right, straight, left to the sink | STEP 2: pick up knife from the sink | STEP 3: turn left, turn left, turn right, straight, left to the counter | STEP 4: cut the bread with the knife | STEP 5: turn around, turn right, turn right to the microwave | STEP 6: open door, place knife on shelf, close door", "output": ["STEP 7: turn right, straight, left to the counter"]} +{"id": "trial_T20190909_130627_569885-1%7", "input": "pick up knife, cut bread, cook bread in microwave, place in trash can | STEP 1: turn right, straight, left to the sink | STEP 2: pick up knife from the sink | STEP 3: turn left, turn left, turn right, straight, left to the counter | STEP 4: cut the bread with the knife | STEP 5: turn around, turn right, turn right to the microwave | STEP 6: open door, place knife on shelf, close door | STEP 7: turn right, straight, left to the counter", "output": ["STEP 8: pick up bread from the counter"]} +{"id": "trial_T20190909_130627_569885-1%8", "input": "pick up knife, cut bread, cook bread in microwave, place in trash can | STEP 1: turn right, straight, left to the sink | STEP 2: pick up knife from the sink | STEP 3: turn left, turn left, turn right, straight, left to the counter | STEP 4: cut the bread with the knife | STEP 5: turn around, turn right, turn right to the microwave | STEP 6: open door, place knife on shelf, close door | STEP 7: turn right, straight, left to the counter | STEP 8: pick up bread from the counter", "output": ["STEP 9: turn around, turn right, turn right to the microwave"]} +{"id": "trial_T20190909_130627_569885-1%9", "input": "pick up knife, cut bread, cook bread in microwave, place in trash can | STEP 1: turn right, straight, left to the sink | STEP 2: pick up knife from the sink | STEP 3: turn left, turn left, turn right, straight, left to the counter | STEP 4: cut the bread with the knife | STEP 5: turn around, turn right, turn right to the microwave | STEP 6: open door, place knife on shelf, close door | STEP 7: turn right, straight, left to the counter | STEP 8: pick up bread from the counter | STEP 9: turn around, turn right, turn right to the microwave", "output": ["STEP 10: open door, place bread on shelf, close door, cook, open door, remove bread, close door"]} +{"id": "trial_T20190909_130627_569885-1%10", "input": "pick up knife, cut bread, cook bread in microwave, place in trash can | STEP 1: turn right, straight, left to the sink | STEP 2: pick up knife from the sink | STEP 3: turn left, turn left, turn right, straight, left to the counter | STEP 4: cut the bread with the knife | STEP 5: turn around, turn right, turn right to the microwave | STEP 6: open door, place knife on shelf, close door | STEP 7: turn right, straight, left to the counter | STEP 8: pick up bread from the counter | STEP 9: turn around, turn right, turn right to the microwave | STEP 10: open door, place bread on shelf, close door, cook, open door, remove bread, close door", "output": ["STEP 11: turn left, turn right, walk straight, turn left to the trash can"]} +{"id": "trial_T20190909_130627_569885-1%11", "input": "pick up knife, cut bread, cook bread in microwave, place in trash can | STEP 1: turn right, straight, left to the sink | STEP 2: pick up knife from the sink | STEP 3: turn left, turn left, turn right, straight, left to the counter | STEP 4: cut the bread with the knife | STEP 5: turn around, turn right, turn right to the microwave | STEP 6: open door, place knife on shelf, close door | STEP 7: turn right, straight, left to the counter | STEP 8: pick up bread from the counter | STEP 9: turn around, turn right, turn right to the microwave | STEP 10: open door, place bread on shelf, close door, cook, open door, remove bread, close door | STEP 11: turn left, turn right, walk straight, turn left to the trash can", "output": ["STEP 12: place bread in to the trash can"]} +{"id": "trial_T20190909_130627_569885-1%12", "input": "pick up knife, cut bread, cook bread in microwave, place in trash can | STEP 1: turn right, straight, left to the sink | STEP 2: pick up knife from the sink | STEP 3: turn left, turn left, turn right, straight, left to the counter | STEP 4: cut the bread with the knife | STEP 5: turn around, turn right, turn right to the microwave | STEP 6: open door, place knife on shelf, close door | STEP 7: turn right, straight, left to the counter | STEP 8: pick up bread from the counter | STEP 9: turn around, turn right, turn right to the microwave | STEP 10: open door, place bread on shelf, close door, cook, open door, remove bread, close door | STEP 11: turn left, turn right, walk straight, turn left to the trash can | STEP 12: place bread in to the trash can", "output": ["END"]} +{"id": "trial_T20190918_165629_953153-2%0", "input": "move pencil from trash can to dresser", "output": ["STEP 1: turn around, walk forward, turn left, take a step, turn left to face lamp on the table"]} +{"id": "trial_T20190918_165629_953153-2%1", "input": "move pencil from trash can to dresser | STEP 1: turn around, walk forward, turn left, take a step, turn left to face lamp on the table", "output": ["STEP 2: pick up the pencil that is in the trash can"]} +{"id": "trial_T20190918_165629_953153-2%2", "input": "move pencil from trash can to dresser | STEP 1: turn around, walk forward, turn left, take a step, turn left to face lamp on the table | STEP 2: pick up the pencil that is in the trash can", "output": ["STEP 3: turn around, walk forward to the dresser"]} +{"id": "trial_T20190918_165629_953153-2%3", "input": "move pencil from trash can to dresser | STEP 1: turn around, walk forward, turn left, take a step, turn left to face lamp on the table | STEP 2: pick up the pencil that is in the trash can | STEP 3: turn around, walk forward to the dresser", "output": ["STEP 4: put the pencil on the dresser"]} +{"id": "trial_T20190918_165629_953153-2%4", "input": "move pencil from trash can to dresser | STEP 1: turn around, walk forward, turn left, take a step, turn left to face lamp on the table | STEP 2: pick up the pencil that is in the trash can | STEP 3: turn around, walk forward to the dresser | STEP 4: put the pencil on the dresser", "output": ["END"]} +{"id": "trial_T20190909_085048_793292-0%0", "input": "Examine a newspaper by the light of a small lamp.", "output": ["STEP 1: Turn around, head towards the wall and turn right to face the round television table."]} +{"id": "trial_T20190909_085048_793292-0%1", "input": "Examine a newspaper by the light of a small lamp. | STEP 1: Turn around, head towards the wall and turn right to face the round television table.", "output": ["STEP 2: Pick up the newspaper on the left side of the table."]} +{"id": "trial_T20190909_085048_793292-0%2", "input": "Examine a newspaper by the light of a small lamp. | STEP 1: Turn around, head towards the wall and turn right to face the round television table. | STEP 2: Pick up the newspaper on the left side of the table.", "output": ["STEP 3: Turn right and walk to the round side table with the lamp."]} +{"id": "trial_T20190909_085048_793292-0%3", "input": "Examine a newspaper by the light of a small lamp. | STEP 1: Turn around, head towards the wall and turn right to face the round television table. | STEP 2: Pick up the newspaper on the left side of the table. | STEP 3: Turn right and walk to the round side table with the lamp.", "output": ["STEP 4: Turn on the small lamp on the table."]} +{"id": "trial_T20190909_085048_793292-0%4", "input": "Examine a newspaper by the light of a small lamp. | STEP 1: Turn around, head towards the wall and turn right to face the round television table. | STEP 2: Pick up the newspaper on the left side of the table. | STEP 3: Turn right and walk to the round side table with the lamp. | STEP 4: Turn on the small lamp on the table.", "output": ["END"]} +{"id": "trial_T20190907_042824_345799-1%0", "input": "Carry a grey square object, turn on the lamp", "output": ["STEP 1: Head towards the dark brown dresser"]} +{"id": "trial_T20190907_042824_345799-1%1", "input": "Carry a grey square object, turn on the lamp | STEP 1: Head towards the dark brown dresser", "output": ["STEP 2: pick up the square grey object sitting on top of the dresser"]} +{"id": "trial_T20190907_042824_345799-1%2", "input": "Carry a grey square object, turn on the lamp | STEP 1: Head towards the dark brown dresser | STEP 2: pick up the square grey object sitting on top of the dresser", "output": ["STEP 3: Carry the grey square object to the white table"]} +{"id": "trial_T20190907_042824_345799-1%3", "input": "Carry a grey square object, turn on the lamp | STEP 1: Head towards the dark brown dresser | STEP 2: pick up the square grey object sitting on top of the dresser | STEP 3: Carry the grey square object to the white table", "output": ["STEP 4: Turn on the lamp"]} +{"id": "trial_T20190907_042824_345799-1%4", "input": "Carry a grey square object, turn on the lamp | STEP 1: Head towards the dark brown dresser | STEP 2: pick up the square grey object sitting on top of the dresser | STEP 3: Carry the grey square object to the white table | STEP 4: Turn on the lamp", "output": ["END"]} +{"id": "trial_T20190907_042824_345799-2%0", "input": "Examine an alarm clock by the light of a desk lamp.", "output": ["STEP 1: Walk forward to the dresser in front of you."]} +{"id": "trial_T20190907_042824_345799-2%1", "input": "Examine an alarm clock by the light of a desk lamp. | STEP 1: Walk forward to the dresser in front of you.", "output": ["STEP 2: Pick up the alarm clock from the dresser."]} +{"id": "trial_T20190907_042824_345799-2%2", "input": "Examine an alarm clock by the light of a desk lamp. | STEP 1: Walk forward to the dresser in front of you. | STEP 2: Pick up the alarm clock from the dresser.", "output": ["STEP 3: Turn around and walk in front of the lamp on the desk."]} +{"id": "trial_T20190907_042824_345799-2%3", "input": "Examine an alarm clock by the light of a desk lamp. | STEP 1: Walk forward to the dresser in front of you. | STEP 2: Pick up the alarm clock from the dresser. | STEP 3: Turn around and walk in front of the lamp on the desk.", "output": ["STEP 4: Turn on the lamp."]} +{"id": "trial_T20190907_042824_345799-2%4", "input": "Examine an alarm clock by the light of a desk lamp. | STEP 1: Walk forward to the dresser in front of you. | STEP 2: Pick up the alarm clock from the dresser. | STEP 3: Turn around and walk in front of the lamp on the desk. | STEP 4: Turn on the lamp.", "output": ["END"]} +{"id": "trial_T20190909_074353_686606-1%0", "input": "Examine the pen under the light of the lamp", "output": ["STEP 1: Turn right and walk up to the dresser"]} +{"id": "trial_T20190909_074353_686606-1%1", "input": "Examine the pen under the light of the lamp | STEP 1: Turn right and walk up to the dresser", "output": ["STEP 2: Pick up the pen from the dresser"]} +{"id": "trial_T20190909_074353_686606-1%2", "input": "Examine the pen under the light of the lamp | STEP 1: Turn right and walk up to the dresser | STEP 2: Pick up the pen from the dresser", "output": ["STEP 3: Turn around and walk up to the lamp on the white desk"]} +{"id": "trial_T20190909_074353_686606-1%3", "input": "Examine the pen under the light of the lamp | STEP 1: Turn right and walk up to the dresser | STEP 2: Pick up the pen from the dresser | STEP 3: Turn around and walk up to the lamp on the white desk", "output": ["STEP 4: Turn on the lamp"]} +{"id": "trial_T20190909_074353_686606-1%4", "input": "Examine the pen under the light of the lamp | STEP 1: Turn right and walk up to the dresser | STEP 2: Pick up the pen from the dresser | STEP 3: Turn around and walk up to the lamp on the white desk | STEP 4: Turn on the lamp", "output": ["END"]} +{"id": "trial_T20190908_232941_295232-0%0", "input": "Pick up an empty cardboard box to look at under a lamp.", "output": ["STEP 1: Make a right to cross the room and walk to the cardboard box next to the bookshelf."]} +{"id": "trial_T20190908_232941_295232-0%1", "input": "Pick up an empty cardboard box to look at under a lamp. | STEP 1: Make a right to cross the room and walk to the cardboard box next to the bookshelf.", "output": ["STEP 2: Pick up the cardboard box on the floor next to the bookshelf."]} +{"id": "trial_T20190908_232941_295232-0%2", "input": "Pick up an empty cardboard box to look at under a lamp. | STEP 1: Make a right to cross the room and walk to the cardboard box next to the bookshelf. | STEP 2: Pick up the cardboard box on the floor next to the bookshelf.", "output": ["STEP 3: Turn around to cross the room and walk towards the oval side table."]} +{"id": "trial_T20190908_232941_295232-0%3", "input": "Pick up an empty cardboard box to look at under a lamp. | STEP 1: Make a right to cross the room and walk to the cardboard box next to the bookshelf. | STEP 2: Pick up the cardboard box on the floor next to the bookshelf. | STEP 3: Turn around to cross the room and walk towards the oval side table.", "output": ["STEP 4: Turn on the lamp on the oval side table."]} +{"id": "trial_T20190908_232941_295232-0%4", "input": "Pick up an empty cardboard box to look at under a lamp. | STEP 1: Make a right to cross the room and walk to the cardboard box next to the bookshelf. | STEP 2: Pick up the cardboard box on the floor next to the bookshelf. | STEP 3: Turn around to cross the room and walk towards the oval side table. | STEP 4: Turn on the lamp on the oval side table.", "output": ["END"]} +{"id": "trial_T20190908_232941_295232-1%0", "input": "Pick up a box and turn on a lamp.", "output": ["STEP 1: Go right and cross the room to face the box on the floor."]} +{"id": "trial_T20190908_232941_295232-1%1", "input": "Pick up a box and turn on a lamp. | STEP 1: Go right and cross the room to face the box on the floor.", "output": ["STEP 2: Pick the box up from the floor."]} +{"id": "trial_T20190908_232941_295232-1%2", "input": "Pick up a box and turn on a lamp. | STEP 1: Go right and cross the room to face the box on the floor. | STEP 2: Pick the box up from the floor.", "output": ["STEP 3: Turn around and cross the room to face the small table with the lamp."]} +{"id": "trial_T20190908_232941_295232-1%3", "input": "Pick up a box and turn on a lamp. | STEP 1: Go right and cross the room to face the box on the floor. | STEP 2: Pick the box up from the floor. | STEP 3: Turn around and cross the room to face the small table with the lamp.", "output": ["STEP 4: Turn on the lamp."]} +{"id": "trial_T20190908_232941_295232-1%4", "input": "Pick up a box and turn on a lamp. | STEP 1: Go right and cross the room to face the box on the floor. | STEP 2: Pick the box up from the floor. | STEP 3: Turn around and cross the room to face the small table with the lamp. | STEP 4: Turn on the lamp.", "output": ["END"]} +{"id": "trial_T20190907_181949_154046-2%0", "input": "Put two sets of keys on the couch.", "output": ["STEP 1: Move to the shelf to the right of you"]} +{"id": "trial_T20190907_181949_154046-2%1", "input": "Put two sets of keys on the couch. | STEP 1: Move to the shelf to the right of you", "output": ["STEP 2: Pick up keys from the shelf"]} +{"id": "trial_T20190907_181949_154046-2%2", "input": "Put two sets of keys on the couch. | STEP 1: Move to the shelf to the right of you | STEP 2: Pick up keys from the shelf", "output": ["STEP 3: Move to the couch in between the two lamps"]} +{"id": "trial_T20190907_181949_154046-2%3", "input": "Put two sets of keys on the couch. | STEP 1: Move to the shelf to the right of you | STEP 2: Pick up keys from the shelf | STEP 3: Move to the couch in between the two lamps", "output": ["STEP 4: Place the keys on the couch"]} +{"id": "trial_T20190907_181949_154046-2%4", "input": "Put two sets of keys on the couch. | STEP 1: Move to the shelf to the right of you | STEP 2: Pick up keys from the shelf | STEP 3: Move to the couch in between the two lamps | STEP 4: Place the keys on the couch", "output": ["STEP 5: Move to the end table to the right of the couch"]} +{"id": "trial_T20190907_181949_154046-2%5", "input": "Put two sets of keys on the couch. | STEP 1: Move to the shelf to the right of you | STEP 2: Pick up keys from the shelf | STEP 3: Move to the couch in between the two lamps | STEP 4: Place the keys on the couch | STEP 5: Move to the end table to the right of the couch", "output": ["STEP 6: Pick up keys from the end table"]} +{"id": "trial_T20190907_181949_154046-2%6", "input": "Put two sets of keys on the couch. | STEP 1: Move to the shelf to the right of you | STEP 2: Pick up keys from the shelf | STEP 3: Move to the couch in between the two lamps | STEP 4: Place the keys on the couch | STEP 5: Move to the end table to the right of the couch | STEP 6: Pick up keys from the end table", "output": ["STEP 7: Move to the couch in between the two lamps"]} +{"id": "trial_T20190907_181949_154046-2%7", "input": "Put two sets of keys on the couch. | STEP 1: Move to the shelf to the right of you | STEP 2: Pick up keys from the shelf | STEP 3: Move to the couch in between the two lamps | STEP 4: Place the keys on the couch | STEP 5: Move to the end table to the right of the couch | STEP 6: Pick up keys from the end table | STEP 7: Move to the couch in between the two lamps", "output": ["STEP 8: Place the keys on the couch"]} +{"id": "trial_T20190907_181949_154046-2%8", "input": "Put two sets of keys on the couch. | STEP 1: Move to the shelf to the right of you | STEP 2: Pick up keys from the shelf | STEP 3: Move to the couch in between the two lamps | STEP 4: Place the keys on the couch | STEP 5: Move to the end table to the right of the couch | STEP 6: Pick up keys from the end table | STEP 7: Move to the couch in between the two lamps | STEP 8: Place the keys on the couch", "output": ["END"]} +{"id": "trial_T20190908_042748_192089-2%0", "input": "Heat a potato and place it in the sink.", "output": ["STEP 1: Turn to the right and then the left to find the sink."]} +{"id": "trial_T20190908_042748_192089-2%1", "input": "Heat a potato and place it in the sink. | STEP 1: Turn to the right and then the left to find the sink.", "output": ["STEP 2: Pick up the potato from the right side of the sink area."]} +{"id": "trial_T20190908_042748_192089-2%2", "input": "Heat a potato and place it in the sink. | STEP 1: Turn to the right and then the left to find the sink. | STEP 2: Pick up the potato from the right side of the sink area.", "output": ["STEP 3: Carry the potato to the left and then the left again to the microwave."]} +{"id": "trial_T20190908_042748_192089-2%3", "input": "Heat a potato and place it in the sink. | STEP 1: Turn to the right and then the left to find the sink. | STEP 2: Pick up the potato from the right side of the sink area. | STEP 3: Carry the potato to the left and then the left again to the microwave.", "output": ["STEP 4: Open the microwave and place the potato inside. Turn it on then open the door and take the potato out."]} +{"id": "trial_T20190908_042748_192089-2%4", "input": "Heat a potato and place it in the sink. | STEP 1: Turn to the right and then the left to find the sink. | STEP 2: Pick up the potato from the right side of the sink area. | STEP 3: Carry the potato to the left and then the left again to the microwave. | STEP 4: Open the microwave and place the potato inside. Turn it on then open the door and take the potato out.", "output": ["STEP 5: Carry the potato and turn to the left and face the sink on the left."]} +{"id": "trial_T20190908_042748_192089-2%5", "input": "Heat a potato and place it in the sink. | STEP 1: Turn to the right and then the left to find the sink. | STEP 2: Pick up the potato from the right side of the sink area. | STEP 3: Carry the potato to the left and then the left again to the microwave. | STEP 4: Open the microwave and place the potato inside. Turn it on then open the door and take the potato out. | STEP 5: Carry the potato and turn to the left and face the sink on the left.", "output": ["STEP 6: Place the potato in the sink."]} +{"id": "trial_T20190908_042748_192089-2%6", "input": "Heat a potato and place it in the sink. | STEP 1: Turn to the right and then the left to find the sink. | STEP 2: Pick up the potato from the right side of the sink area. | STEP 3: Carry the potato to the left and then the left again to the microwave. | STEP 4: Open the microwave and place the potato inside. Turn it on then open the door and take the potato out. | STEP 5: Carry the potato and turn to the left and face the sink on the left. | STEP 6: Place the potato in the sink.", "output": ["END"]} +{"id": "trial_T20190907_071338_798456-0%0", "input": "Place a warmed tomato in a recycling bin.", "output": ["STEP 1: Turn left, walk towards the stove, then turn left again and walk until you reach a table."]} +{"id": "trial_T20190907_071338_798456-0%1", "input": "Place a warmed tomato in a recycling bin. | STEP 1: Turn left, walk towards the stove, then turn left again and walk until you reach a table.", "output": ["STEP 2: Grab the tomato from the table."]} +{"id": "trial_T20190907_071338_798456-0%2", "input": "Place a warmed tomato in a recycling bin. | STEP 1: Turn left, walk towards the stove, then turn left again and walk until you reach a table. | STEP 2: Grab the tomato from the table.", "output": ["STEP 3: Turn around, turn right at the counter, and walk to the microwave over the stove."]} +{"id": "trial_T20190907_071338_798456-0%3", "input": "Place a warmed tomato in a recycling bin. | STEP 1: Turn left, walk towards the stove, then turn left again and walk until you reach a table. | STEP 2: Grab the tomato from the table. | STEP 3: Turn around, turn right at the counter, and walk to the microwave over the stove.", "output": ["STEP 4: Warm the tomato in the microwave, then pick it up again."]} +{"id": "trial_T20190907_071338_798456-0%4", "input": "Place a warmed tomato in a recycling bin. | STEP 1: Turn left, walk towards the stove, then turn left again and walk until you reach a table. | STEP 2: Grab the tomato from the table. | STEP 3: Turn around, turn right at the counter, and walk to the microwave over the stove. | STEP 4: Warm the tomato in the microwave, then pick it up again.", "output": ["STEP 5: Turn to your left and walk until you get to the recycling bin on your right."]} +{"id": "trial_T20190907_071338_798456-0%5", "input": "Place a warmed tomato in a recycling bin. | STEP 1: Turn left, walk towards the stove, then turn left again and walk until you reach a table. | STEP 2: Grab the tomato from the table. | STEP 3: Turn around, turn right at the counter, and walk to the microwave over the stove. | STEP 4: Warm the tomato in the microwave, then pick it up again. | STEP 5: Turn to your left and walk until you get to the recycling bin on your right.", "output": ["STEP 6: Place the tomato in the recycling bin."]} +{"id": "trial_T20190907_071338_798456-0%6", "input": "Place a warmed tomato in a recycling bin. | STEP 1: Turn left, walk towards the stove, then turn left again and walk until you reach a table. | STEP 2: Grab the tomato from the table. | STEP 3: Turn around, turn right at the counter, and walk to the microwave over the stove. | STEP 4: Warm the tomato in the microwave, then pick it up again. | STEP 5: Turn to your left and walk until you get to the recycling bin on your right. | STEP 6: Place the tomato in the recycling bin.", "output": ["END"]} +{"id": "trial_T20190907_074509_505382-0%0", "input": "Place a black animal figurine off the shelf above the couch onto the wooden chest in front of the couch.", "output": ["STEP 1: Go to the couch in front of you."]} +{"id": "trial_T20190907_074509_505382-0%1", "input": "Place a black animal figurine off the shelf above the couch onto the wooden chest in front of the couch. | STEP 1: Go to the couch in front of you.", "output": ["STEP 2: Take the black shiny animal figure from the shelf above the couch."]} +{"id": "trial_T20190907_074509_505382-0%2", "input": "Place a black animal figurine off the shelf above the couch onto the wooden chest in front of the couch. | STEP 1: Go to the couch in front of you. | STEP 2: Take the black shiny animal figure from the shelf above the couch.", "output": ["STEP 3: Face the wooden chest in front of the couch."]} +{"id": "trial_T20190907_074509_505382-0%3", "input": "Place a black animal figurine off the shelf above the couch onto the wooden chest in front of the couch. | STEP 1: Go to the couch in front of you. | STEP 2: Take the black shiny animal figure from the shelf above the couch. | STEP 3: Face the wooden chest in front of the couch.", "output": ["STEP 4: Set the black shiny animal figure atop the wooden chest."]} +{"id": "trial_T20190907_074509_505382-0%4", "input": "Place a black animal figurine off the shelf above the couch onto the wooden chest in front of the couch. | STEP 1: Go to the couch in front of you. | STEP 2: Take the black shiny animal figure from the shelf above the couch. | STEP 3: Face the wooden chest in front of the couch. | STEP 4: Set the black shiny animal figure atop the wooden chest.", "output": ["END"]} +{"id": "trial_T20190907_074509_505382-1%0", "input": "Move a statue from the shelf to the dresser", "output": ["STEP 1: Move to the large brown sofa that is under the black shelf"]} +{"id": "trial_T20190907_074509_505382-1%1", "input": "Move a statue from the shelf to the dresser | STEP 1: Move to the large brown sofa that is under the black shelf", "output": ["STEP 2: Grab the statue from the black shelf"]} +{"id": "trial_T20190907_074509_505382-1%2", "input": "Move a statue from the shelf to the dresser | STEP 1: Move to the large brown sofa that is under the black shelf | STEP 2: Grab the statue from the black shelf", "output": ["STEP 3: carry the statue to the wood dresser"]} +{"id": "trial_T20190907_074509_505382-1%3", "input": "Move a statue from the shelf to the dresser | STEP 1: Move to the large brown sofa that is under the black shelf | STEP 2: Grab the statue from the black shelf | STEP 3: carry the statue to the wood dresser", "output": ["STEP 4: Place the statue on top of the dresser in front of the plant"]} +{"id": "trial_T20190907_074509_505382-1%4", "input": "Move a statue from the shelf to the dresser | STEP 1: Move to the large brown sofa that is under the black shelf | STEP 2: Grab the statue from the black shelf | STEP 3: carry the statue to the wood dresser | STEP 4: Place the statue on top of the dresser in front of the plant", "output": ["END"]} +{"id": "trial_T20190909_025209_631205-2%0", "input": "Put a cleaned kettle on a counter top.", "output": ["STEP 1: Turn left, walk to the dishwasher, then turn right and walk to the kettle on the counter."]} +{"id": "trial_T20190909_025209_631205-2%1", "input": "Put a cleaned kettle on a counter top. | STEP 1: Turn left, walk to the dishwasher, then turn right and walk to the kettle on the counter.", "output": ["STEP 2: Pick up the kettle from the counter."]} +{"id": "trial_T20190909_025209_631205-2%2", "input": "Put a cleaned kettle on a counter top. | STEP 1: Turn left, walk to the dishwasher, then turn right and walk to the kettle on the counter. | STEP 2: Pick up the kettle from the counter.", "output": ["STEP 3: Turn around and walk to the sink on the right."]} +{"id": "trial_T20190909_025209_631205-2%3", "input": "Put a cleaned kettle on a counter top. | STEP 1: Turn left, walk to the dishwasher, then turn right and walk to the kettle on the counter. | STEP 2: Pick up the kettle from the counter. | STEP 3: Turn around and walk to the sink on the right.", "output": ["STEP 4: Put the kettle in the sink, rinse it off, and take it back out."]} +{"id": "trial_T20190909_025209_631205-2%4", "input": "Put a cleaned kettle on a counter top. | STEP 1: Turn left, walk to the dishwasher, then turn right and walk to the kettle on the counter. | STEP 2: Pick up the kettle from the counter. | STEP 3: Turn around and walk to the sink on the right. | STEP 4: Put the kettle in the sink, rinse it off, and take it back out.", "output": ["STEP 5: Turn left, walk past the dishwasher, then turn right towards the counter."]} +{"id": "trial_T20190909_025209_631205-2%5", "input": "Put a cleaned kettle on a counter top. | STEP 1: Turn left, walk to the dishwasher, then turn right and walk to the kettle on the counter. | STEP 2: Pick up the kettle from the counter. | STEP 3: Turn around and walk to the sink on the right. | STEP 4: Put the kettle in the sink, rinse it off, and take it back out. | STEP 5: Turn left, walk past the dishwasher, then turn right towards the counter.", "output": ["STEP 6: Put the kettle on the counter, in front of the toaster."]} +{"id": "trial_T20190909_025209_631205-2%6", "input": "Put a cleaned kettle on a counter top. | STEP 1: Turn left, walk to the dishwasher, then turn right and walk to the kettle on the counter. | STEP 2: Pick up the kettle from the counter. | STEP 3: Turn around and walk to the sink on the right. | STEP 4: Put the kettle in the sink, rinse it off, and take it back out. | STEP 5: Turn left, walk past the dishwasher, then turn right towards the counter. | STEP 6: Put the kettle on the counter, in front of the toaster.", "output": ["END"]} +{"id": "trial_T20190907_002139_205274-1%0", "input": "Place tissue boxes on the back of a toilet. ", "output": ["STEP 1: Turn right and walk to the white shelf on your left."]} +{"id": "trial_T20190907_002139_205274-1%1", "input": "Place tissue boxes on the back of a toilet. | STEP 1: Turn right and walk to the white shelf on your left.", "output": ["STEP 2: Pick up the left tissue box on the top shelf."]} +{"id": "trial_T20190907_002139_205274-1%2", "input": "Place tissue boxes on the back of a toilet. | STEP 1: Turn right and walk to the white shelf on your left. | STEP 2: Pick up the left tissue box on the top shelf.", "output": ["STEP 3: Turn around and walk over the the toilet that is in front of you."]} +{"id": "trial_T20190907_002139_205274-1%3", "input": "Place tissue boxes on the back of a toilet. | STEP 1: Turn right and walk to the white shelf on your left. | STEP 2: Pick up the left tissue box on the top shelf. | STEP 3: Turn around and walk over the the toilet that is in front of you.", "output": ["STEP 4: Place tissue box on top of the back of the toilet"]} +{"id": "trial_T20190907_002139_205274-1%4", "input": "Place tissue boxes on the back of a toilet. | STEP 1: Turn right and walk to the white shelf on your left. | STEP 2: Pick up the left tissue box on the top shelf. | STEP 3: Turn around and walk over the the toilet that is in front of you. | STEP 4: Place tissue box on top of the back of the toilet", "output": ["STEP 5: Turn around and walk over to the white shelf in front of you."]} +{"id": "trial_T20190907_002139_205274-1%5", "input": "Place tissue boxes on the back of a toilet. | STEP 1: Turn right and walk to the white shelf on your left. | STEP 2: Pick up the left tissue box on the top shelf. | STEP 3: Turn around and walk over the the toilet that is in front of you. | STEP 4: Place tissue box on top of the back of the toilet | STEP 5: Turn around and walk over to the white shelf in front of you.", "output": ["STEP 6: Pick up the left tissue box that is on the top shelf."]} +{"id": "trial_T20190907_002139_205274-1%6", "input": "Place tissue boxes on the back of a toilet. | STEP 1: Turn right and walk to the white shelf on your left. | STEP 2: Pick up the left tissue box on the top shelf. | STEP 3: Turn around and walk over the the toilet that is in front of you. | STEP 4: Place tissue box on top of the back of the toilet | STEP 5: Turn around and walk over to the white shelf in front of you. | STEP 6: Pick up the left tissue box that is on the top shelf.", "output": ["STEP 7: Turn back around and walk to the toilet that is in front of you."]} +{"id": "trial_T20190907_002139_205274-1%7", "input": "Place tissue boxes on the back of a toilet. | STEP 1: Turn right and walk to the white shelf on your left. | STEP 2: Pick up the left tissue box on the top shelf. | STEP 3: Turn around and walk over the the toilet that is in front of you. | STEP 4: Place tissue box on top of the back of the toilet | STEP 5: Turn around and walk over to the white shelf in front of you. | STEP 6: Pick up the left tissue box that is on the top shelf. | STEP 7: Turn back around and walk to the toilet that is in front of you.", "output": ["STEP 8: Place tissue box on top of the back of the toilet, on its side"]} +{"id": "trial_T20190907_002139_205274-1%8", "input": "Place tissue boxes on the back of a toilet. | STEP 1: Turn right and walk to the white shelf on your left. | STEP 2: Pick up the left tissue box on the top shelf. | STEP 3: Turn around and walk over the the toilet that is in front of you. | STEP 4: Place tissue box on top of the back of the toilet | STEP 5: Turn around and walk over to the white shelf in front of you. | STEP 6: Pick up the left tissue box that is on the top shelf. | STEP 7: Turn back around and walk to the toilet that is in front of you. | STEP 8: Place tissue box on top of the back of the toilet, on its side", "output": ["END"]} +{"id": "trial_T20190908_041144_959112-1%0", "input": "Put the cooked apple in the recycling bin", "output": ["STEP 1: Turn left and walk to the blue recycling bin in the corner"]} +{"id": "trial_T20190908_041144_959112-1%1", "input": "Put the cooked apple in the recycling bin | STEP 1: Turn left and walk to the blue recycling bin in the corner", "output": ["STEP 2: Pick up the red apple from the recycling bin"]} +{"id": "trial_T20190908_041144_959112-1%2", "input": "Put the cooked apple in the recycling bin | STEP 1: Turn left and walk to the blue recycling bin in the corner | STEP 2: Pick up the red apple from the recycling bin", "output": ["STEP 3: Turn right and walk over to the microwave above the oven"]} +{"id": "trial_T20190908_041144_959112-1%3", "input": "Put the cooked apple in the recycling bin | STEP 1: Turn left and walk to the blue recycling bin in the corner | STEP 2: Pick up the red apple from the recycling bin | STEP 3: Turn right and walk over to the microwave above the oven", "output": ["STEP 4: Heat the apple in the microwave then remove it"]} +{"id": "trial_T20190908_041144_959112-1%4", "input": "Put the cooked apple in the recycling bin | STEP 1: Turn left and walk to the blue recycling bin in the corner | STEP 2: Pick up the red apple from the recycling bin | STEP 3: Turn right and walk over to the microwave above the oven | STEP 4: Heat the apple in the microwave then remove it", "output": ["STEP 5: Turn left and walk back over to the recycling bin"]} +{"id": "trial_T20190908_041144_959112-1%5", "input": "Put the cooked apple in the recycling bin | STEP 1: Turn left and walk to the blue recycling bin in the corner | STEP 2: Pick up the red apple from the recycling bin | STEP 3: Turn right and walk over to the microwave above the oven | STEP 4: Heat the apple in the microwave then remove it | STEP 5: Turn left and walk back over to the recycling bin", "output": ["STEP 6: Put the apple in the recycling bin"]} +{"id": "trial_T20190908_041144_959112-1%6", "input": "Put the cooked apple in the recycling bin | STEP 1: Turn left and walk to the blue recycling bin in the corner | STEP 2: Pick up the red apple from the recycling bin | STEP 3: Turn right and walk over to the microwave above the oven | STEP 4: Heat the apple in the microwave then remove it | STEP 5: Turn left and walk back over to the recycling bin | STEP 6: Put the apple in the recycling bin", "output": ["END"]} +{"id": "trial_T20190909_092228_777867-2%0", "input": "place a plate with a card on it in the tv stand", "output": ["STEP 1: move around to the shelf"]} +{"id": "trial_T20190909_092228_777867-2%1", "input": "place a plate with a card on it in the tv stand | STEP 1: move around to the shelf", "output": ["STEP 2: pick up the card"]} +{"id": "trial_T20190909_092228_777867-2%2", "input": "place a plate with a card on it in the tv stand | STEP 1: move around to the shelf | STEP 2: pick up the card", "output": ["STEP 3: move right of the shelf"]} +{"id": "trial_T20190909_092228_777867-2%3", "input": "place a plate with a card on it in the tv stand | STEP 1: move around to the shelf | STEP 2: pick up the card | STEP 3: move right of the shelf", "output": ["STEP 4: \nplace the card on a plate"]} +{"id": "trial_T20190909_092228_777867-2%4", "input": "place a plate with a card on it in the tv stand | STEP 1: move around to the shelf | STEP 2: pick up the card | STEP 3: move right of the shelf | STEP 4: \nplace the card on a plate", "output": ["STEP 5: pick up the plate"]} +{"id": "trial_T20190909_092228_777867-2%5", "input": "place a plate with a card on it in the tv stand | STEP 1: move around to the shelf | STEP 2: pick up the card | STEP 3: move right of the shelf | STEP 4: \nplace the card on a plate | STEP 5: pick up the plate", "output": ["STEP 6: move right to the tv stand"]} +{"id": "trial_T20190909_092228_777867-2%6", "input": "place a plate with a card on it in the tv stand | STEP 1: move around to the shelf | STEP 2: pick up the card | STEP 3: move right of the shelf | STEP 4: \nplace the card on a plate | STEP 5: pick up the plate | STEP 6: move right to the tv stand", "output": ["STEP 7: place the plate on the tv stand"]} +{"id": "trial_T20190909_092228_777867-2%7", "input": "place a plate with a card on it in the tv stand | STEP 1: move around to the shelf | STEP 2: pick up the card | STEP 3: move right of the shelf | STEP 4: \nplace the card on a plate | STEP 5: pick up the plate | STEP 6: move right to the tv stand | STEP 7: place the plate on the tv stand", "output": ["END"]} +{"id": "trial_T20190908_143712_120384-2%0", "input": "take a disk from the dresser and put it on the shelf.", "output": ["STEP 1: go to the end of the black dresser at the foot of the bed"]} +{"id": "trial_T20190908_143712_120384-2%1", "input": "take a disk from the dresser and put it on the shelf. | STEP 1: go to the end of the black dresser at the foot of the bed", "output": ["STEP 2: pick up the disk from the dresser"]} +{"id": "trial_T20190908_143712_120384-2%2", "input": "take a disk from the dresser and put it on the shelf. | STEP 1: go to the end of the black dresser at the foot of the bed | STEP 2: pick up the disk from the dresser", "output": ["STEP 3: take the disk to the book shelf"]} +{"id": "trial_T20190908_143712_120384-2%3", "input": "take a disk from the dresser and put it on the shelf. | STEP 1: go to the end of the black dresser at the foot of the bed | STEP 2: pick up the disk from the dresser | STEP 3: take the disk to the book shelf", "output": ["STEP 4: put the disk on the shelf"]} +{"id": "trial_T20190908_143712_120384-2%4", "input": "take a disk from the dresser and put it on the shelf. | STEP 1: go to the end of the black dresser at the foot of the bed | STEP 2: pick up the disk from the dresser | STEP 3: take the disk to the book shelf | STEP 4: put the disk on the shelf", "output": ["END"]} +{"id": "trial_T20190906_230704_156277-1%0", "input": "place a cooled potato slice in the garbage bin", "output": ["STEP 1: turn left and walk to the end of the kitchen counter on the right"]} +{"id": "trial_T20190906_230704_156277-1%1", "input": "place a cooled potato slice in the garbage bin | STEP 1: turn left and walk to the end of the kitchen counter on the right", "output": ["STEP 2: grab the butter knife off of the counter there"]} +{"id": "trial_T20190906_230704_156277-1%2", "input": "place a cooled potato slice in the garbage bin | STEP 1: turn left and walk to the end of the kitchen counter on the right | STEP 2: grab the butter knife off of the counter there", "output": ["STEP 3: turn right and walk over to the kitchen counter to the right of the fridge"]} +{"id": "trial_T20190906_230704_156277-1%3", "input": "place a cooled potato slice in the garbage bin | STEP 1: turn left and walk to the end of the kitchen counter on the right | STEP 2: grab the butter knife off of the counter there | STEP 3: turn right and walk over to the kitchen counter to the right of the fridge", "output": ["STEP 4: slice up the potato on the counter there"]} +{"id": "trial_T20190906_230704_156277-1%4", "input": "place a cooled potato slice in the garbage bin | STEP 1: turn left and walk to the end of the kitchen counter on the right | STEP 2: grab the butter knife off of the counter there | STEP 3: turn right and walk over to the kitchen counter to the right of the fridge | STEP 4: slice up the potato on the counter there", "output": ["STEP 5: back a bit to face the kitchen cabinet below"]} +{"id": "trial_T20190906_230704_156277-1%5", "input": "place a cooled potato slice in the garbage bin | STEP 1: turn left and walk to the end of the kitchen counter on the right | STEP 2: grab the butter knife off of the counter there | STEP 3: turn right and walk over to the kitchen counter to the right of the fridge | STEP 4: slice up the potato on the counter there | STEP 5: back a bit to face the kitchen cabinet below", "output": ["STEP 6: place the knife in the kitchen cabinet below to the right"]} +{"id": "trial_T20190906_230704_156277-1%6", "input": "place a cooled potato slice in the garbage bin | STEP 1: turn left and walk to the end of the kitchen counter on the right | STEP 2: grab the butter knife off of the counter there | STEP 3: turn right and walk over to the kitchen counter to the right of the fridge | STEP 4: slice up the potato on the counter there | STEP 5: back a bit to face the kitchen cabinet below | STEP 6: place the knife in the kitchen cabinet below to the right", "output": ["STEP 7: walk forwards a bit to the kitchen counter"]} +{"id": "trial_T20190906_230704_156277-1%7", "input": "place a cooled potato slice in the garbage bin | STEP 1: turn left and walk to the end of the kitchen counter on the right | STEP 2: grab the butter knife off of the counter there | STEP 3: turn right and walk over to the kitchen counter to the right of the fridge | STEP 4: slice up the potato on the counter there | STEP 5: back a bit to face the kitchen cabinet below | STEP 6: place the knife in the kitchen cabinet below to the right | STEP 7: walk forwards a bit to the kitchen counter", "output": ["STEP 8: grab a potato slice off of the kitchen counter"]} +{"id": "trial_T20190906_230704_156277-1%8", "input": "place a cooled potato slice in the garbage bin | STEP 1: turn left and walk to the end of the kitchen counter on the right | STEP 2: grab the butter knife off of the counter there | STEP 3: turn right and walk over to the kitchen counter to the right of the fridge | STEP 4: slice up the potato on the counter there | STEP 5: back a bit to face the kitchen cabinet below | STEP 6: place the knife in the kitchen cabinet below to the right | STEP 7: walk forwards a bit to the kitchen counter | STEP 8: grab a potato slice off of the kitchen counter", "output": ["STEP 9: move to the left a bit to face the front of the fridge"]} +{"id": "trial_T20190906_230704_156277-1%9", "input": "place a cooled potato slice in the garbage bin | STEP 1: turn left and walk to the end of the kitchen counter on the right | STEP 2: grab the butter knife off of the counter there | STEP 3: turn right and walk over to the kitchen counter to the right of the fridge | STEP 4: slice up the potato on the counter there | STEP 5: back a bit to face the kitchen cabinet below | STEP 6: place the knife in the kitchen cabinet below to the right | STEP 7: walk forwards a bit to the kitchen counter | STEP 8: grab a potato slice off of the kitchen counter | STEP 9: move to the left a bit to face the front of the fridge", "output": ["STEP 10: place the potato slice in the fridge to cool, then take it back out"]} +{"id": "trial_T20190906_230704_156277-1%10", "input": "place a cooled potato slice in the garbage bin | STEP 1: turn left and walk to the end of the kitchen counter on the right | STEP 2: grab the butter knife off of the counter there | STEP 3: turn right and walk over to the kitchen counter to the right of the fridge | STEP 4: slice up the potato on the counter there | STEP 5: back a bit to face the kitchen cabinet below | STEP 6: place the knife in the kitchen cabinet below to the right | STEP 7: walk forwards a bit to the kitchen counter | STEP 8: grab a potato slice off of the kitchen counter | STEP 9: move to the left a bit to face the front of the fridge | STEP 10: place the potato slice in the fridge to cool, then take it back out", "output": ["STEP 11: turn right and walk to the end of the room"]} +{"id": "trial_T20190906_230704_156277-1%11", "input": "place a cooled potato slice in the garbage bin | STEP 1: turn left and walk to the end of the kitchen counter on the right | STEP 2: grab the butter knife off of the counter there | STEP 3: turn right and walk over to the kitchen counter to the right of the fridge | STEP 4: slice up the potato on the counter there | STEP 5: back a bit to face the kitchen cabinet below | STEP 6: place the knife in the kitchen cabinet below to the right | STEP 7: walk forwards a bit to the kitchen counter | STEP 8: grab a potato slice off of the kitchen counter | STEP 9: move to the left a bit to face the front of the fridge | STEP 10: place the potato slice in the fridge to cool, then take it back out | STEP 11: turn right and walk to the end of the room", "output": ["STEP 12: place the potato slice in the recycling bin on the right"]} +{"id": "trial_T20190906_230704_156277-1%12", "input": "place a cooled potato slice in the garbage bin | STEP 1: turn left and walk to the end of the kitchen counter on the right | STEP 2: grab the butter knife off of the counter there | STEP 3: turn right and walk over to the kitchen counter to the right of the fridge | STEP 4: slice up the potato on the counter there | STEP 5: back a bit to face the kitchen cabinet below | STEP 6: place the knife in the kitchen cabinet below to the right | STEP 7: walk forwards a bit to the kitchen counter | STEP 8: grab a potato slice off of the kitchen counter | STEP 9: move to the left a bit to face the front of the fridge | STEP 10: place the potato slice in the fridge to cool, then take it back out | STEP 11: turn right and walk to the end of the room | STEP 12: place the potato slice in the recycling bin on the right", "output": ["END"]} +{"id": "trial_T20190907_214113_007695-1%0", "input": "Put a mug with a knife in it on the table.", "output": ["STEP 1: Take a step right and walk forward to the counter."]} +{"id": "trial_T20190907_214113_007695-1%1", "input": "Put a mug with a knife in it on the table. | STEP 1: Take a step right and walk forward to the counter.", "output": ["STEP 2: Pick up the yellow handled knife."]} +{"id": "trial_T20190907_214113_007695-1%2", "input": "Put a mug with a knife in it on the table. | STEP 1: Take a step right and walk forward to the counter. | STEP 2: Pick up the yellow handled knife.", "output": ["STEP 3: Turn around and take a step then turn left and walk to the area just right of the coffee maker and turn right to face it."]} +{"id": "trial_T20190907_214113_007695-1%3", "input": "Put a mug with a knife in it on the table. | STEP 1: Take a step right and walk forward to the counter. | STEP 2: Pick up the yellow handled knife. | STEP 3: Turn around and take a step then turn left and walk to the area just right of the coffee maker and turn right to face it.", "output": ["STEP 4: Put the knife in the mug that's in front of you."]} +{"id": "trial_T20190907_214113_007695-1%4", "input": "Put a mug with a knife in it on the table. | STEP 1: Take a step right and walk forward to the counter. | STEP 2: Pick up the yellow handled knife. | STEP 3: Turn around and take a step then turn left and walk to the area just right of the coffee maker and turn right to face it. | STEP 4: Put the knife in the mug that's in front of you.", "output": ["STEP 5: Pick up the mug with the knife in it."]} +{"id": "trial_T20190907_214113_007695-1%5", "input": "Put a mug with a knife in it on the table. | STEP 1: Take a step right and walk forward to the counter. | STEP 2: Pick up the yellow handled knife. | STEP 3: Turn around and take a step then turn left and walk to the area just right of the coffee maker and turn right to face it. | STEP 4: Put the knife in the mug that's in front of you. | STEP 5: Pick up the mug with the knife in it.", "output": ["STEP 6: Turn around and take a step then turn left and walk until you're almost to the window about two feet away then turn left and walk to the small table."]} +{"id": "trial_T20190907_214113_007695-1%6", "input": "Put a mug with a knife in it on the table. | STEP 1: Take a step right and walk forward to the counter. | STEP 2: Pick up the yellow handled knife. | STEP 3: Turn around and take a step then turn left and walk to the area just right of the coffee maker and turn right to face it. | STEP 4: Put the knife in the mug that's in front of you. | STEP 5: Pick up the mug with the knife in it. | STEP 6: Turn around and take a step then turn left and walk until you're almost to the window about two feet away then turn left and walk to the small table.", "output": ["STEP 7: Put the mug to the left of the pepper shaker,"]} +{"id": "trial_T20190907_214113_007695-1%7", "input": "Put a mug with a knife in it on the table. | STEP 1: Take a step right and walk forward to the counter. | STEP 2: Pick up the yellow handled knife. | STEP 3: Turn around and take a step then turn left and walk to the area just right of the coffee maker and turn right to face it. | STEP 4: Put the knife in the mug that's in front of you. | STEP 5: Pick up the mug with the knife in it. | STEP 6: Turn around and take a step then turn left and walk until you're almost to the window about two feet away then turn left and walk to the small table. | STEP 7: Put the mug to the left of the pepper shaker,", "output": ["END"]} +{"id": "trial_T20190908_071405_847309-2%0", "input": "place a bunch of key in the carton and close it with the carton on the sofa", "output": ["STEP 1: turn left and head to the table"]} +{"id": "trial_T20190908_071405_847309-2%1", "input": "place a bunch of key in the carton and close it with the carton on the sofa | STEP 1: turn left and head to the table", "output": ["STEP 2: pick up the carton under the table"]} +{"id": "trial_T20190908_071405_847309-2%2", "input": "place a bunch of key in the carton and close it with the carton on the sofa | STEP 1: turn left and head to the table | STEP 2: pick up the carton under the table", "output": ["STEP 3: turn around to the sofa"]} +{"id": "trial_T20190908_071405_847309-2%3", "input": "place a bunch of key in the carton and close it with the carton on the sofa | STEP 1: turn left and head to the table | STEP 2: pick up the carton under the table | STEP 3: turn around to the sofa", "output": ["STEP 4: drop the carton on the sofa"]} +{"id": "trial_T20190908_071405_847309-2%4", "input": "place a bunch of key in the carton and close it with the carton on the sofa | STEP 1: turn left and head to the table | STEP 2: pick up the carton under the table | STEP 3: turn around to the sofa | STEP 4: drop the carton on the sofa", "output": ["STEP 5: move left to the sofa "]} +{"id": "trial_T20190908_071405_847309-2%5", "input": "place a bunch of key in the carton and close it with the carton on the sofa | STEP 1: turn left and head to the table | STEP 2: pick up the carton under the table | STEP 3: turn around to the sofa | STEP 4: drop the carton on the sofa | STEP 5: move left to the sofa ", "output": ["STEP 6: pick up the keys on the sofa"]} +{"id": "trial_T20190908_071405_847309-2%6", "input": "place a bunch of key in the carton and close it with the carton on the sofa | STEP 1: turn left and head to the table | STEP 2: pick up the carton under the table | STEP 3: turn around to the sofa | STEP 4: drop the carton on the sofa | STEP 5: move left to the sofa | STEP 6: pick up the keys on the sofa", "output": ["STEP 7: move right on the sofa"]} +{"id": "trial_T20190908_071405_847309-2%7", "input": "place a bunch of key in the carton and close it with the carton on the sofa | STEP 1: turn left and head to the table | STEP 2: pick up the carton under the table | STEP 3: turn around to the sofa | STEP 4: drop the carton on the sofa | STEP 5: move left to the sofa | STEP 6: pick up the keys on the sofa | STEP 7: move right on the sofa", "output": ["STEP 8: place the keys in the carton and close it"]} +{"id": "trial_T20190908_071405_847309-2%8", "input": "place a bunch of key in the carton and close it with the carton on the sofa | STEP 1: turn left and head to the table | STEP 2: pick up the carton under the table | STEP 3: turn around to the sofa | STEP 4: drop the carton on the sofa | STEP 5: move left to the sofa | STEP 6: pick up the keys on the sofa | STEP 7: move right on the sofa | STEP 8: place the keys in the carton and close it", "output": ["END"]} +{"id": "trial_T20190911_215052_838062-1%0", "input": "throw away a soap bottle into the garbage can", "output": ["STEP 1: walk straight and turn left towards the sink"]} +{"id": "trial_T20190911_215052_838062-1%1", "input": "throw away a soap bottle into the garbage can | STEP 1: walk straight and turn left towards the sink", "output": ["STEP 2: pick up the soap bottle on the counter"]} +{"id": "trial_T20190911_215052_838062-1%2", "input": "throw away a soap bottle into the garbage can | STEP 1: walk straight and turn left towards the sink | STEP 2: pick up the soap bottle on the counter", "output": ["STEP 3: turn around and walk straight then turn left towards the garbage can"]} +{"id": "trial_T20190911_215052_838062-1%3", "input": "throw away a soap bottle into the garbage can | STEP 1: walk straight and turn left towards the sink | STEP 2: pick up the soap bottle on the counter | STEP 3: turn around and walk straight then turn left towards the garbage can", "output": ["STEP 4: put the soap bottle inside the garbage can"]} +{"id": "trial_T20190911_215052_838062-1%4", "input": "throw away a soap bottle into the garbage can | STEP 1: walk straight and turn left towards the sink | STEP 2: pick up the soap bottle on the counter | STEP 3: turn around and walk straight then turn left towards the garbage can | STEP 4: put the soap bottle inside the garbage can", "output": ["END"]} +{"id": "trial_T20190908_071159_249788-1%0", "input": "Put a box on the couch and put the keys in it", "output": ["STEP 1: Turn right, go forward a bit, turn right and go to the desk"]} +{"id": "trial_T20190908_071159_249788-1%1", "input": "Put a box on the couch and put the keys in it | STEP 1: Turn right, go forward a bit, turn right and go to the desk", "output": ["STEP 2: Pick up the box under the desk"]} +{"id": "trial_T20190908_071159_249788-1%2", "input": "Put a box on the couch and put the keys in it | STEP 1: Turn right, go forward a bit, turn right and go to the desk | STEP 2: Pick up the box under the desk", "output": ["STEP 3: Turn around, go forward a bit, turn around, go forward, turn right, go forward, turn left in front of the couch"]} +{"id": "trial_T20190908_071159_249788-1%3", "input": "Put a box on the couch and put the keys in it | STEP 1: Turn right, go forward a bit, turn right and go to the desk | STEP 2: Pick up the box under the desk | STEP 3: Turn around, go forward a bit, turn around, go forward, turn right, go forward, turn left in front of the couch", "output": ["STEP 4: Put the box on the couch"]} +{"id": "trial_T20190908_071159_249788-1%4", "input": "Put a box on the couch and put the keys in it | STEP 1: Turn right, go forward a bit, turn right and go to the desk | STEP 2: Pick up the box under the desk | STEP 3: Turn around, go forward a bit, turn around, go forward, turn right, go forward, turn left in front of the couch | STEP 4: Put the box on the couch", "output": ["STEP 5: Turn left, go to the wall, turn right"]} +{"id": "trial_T20190908_071159_249788-1%5", "input": "Put a box on the couch and put the keys in it | STEP 1: Turn right, go forward a bit, turn right and go to the desk | STEP 2: Pick up the box under the desk | STEP 3: Turn around, go forward a bit, turn around, go forward, turn right, go forward, turn left in front of the couch | STEP 4: Put the box on the couch | STEP 5: Turn left, go to the wall, turn right", "output": ["STEP 6: Pick up the keys on the chair"]} +{"id": "trial_T20190908_071159_249788-1%6", "input": "Put a box on the couch and put the keys in it | STEP 1: Turn right, go forward a bit, turn right and go to the desk | STEP 2: Pick up the box under the desk | STEP 3: Turn around, go forward a bit, turn around, go forward, turn right, go forward, turn left in front of the couch | STEP 4: Put the box on the couch | STEP 5: Turn left, go to the wall, turn right | STEP 6: Pick up the keys on the chair", "output": ["STEP 7: Turn left, go forward, turn left in front of the couch"]} +{"id": "trial_T20190908_071159_249788-1%7", "input": "Put a box on the couch and put the keys in it | STEP 1: Turn right, go forward a bit, turn right and go to the desk | STEP 2: Pick up the box under the desk | STEP 3: Turn around, go forward a bit, turn around, go forward, turn right, go forward, turn left in front of the couch | STEP 4: Put the box on the couch | STEP 5: Turn left, go to the wall, turn right | STEP 6: Pick up the keys on the chair | STEP 7: Turn left, go forward, turn left in front of the couch", "output": ["STEP 8: Put the keys into the box on the couch"]} +{"id": "trial_T20190908_071159_249788-1%8", "input": "Put a box on the couch and put the keys in it | STEP 1: Turn right, go forward a bit, turn right and go to the desk | STEP 2: Pick up the box under the desk | STEP 3: Turn around, go forward a bit, turn around, go forward, turn right, go forward, turn left in front of the couch | STEP 4: Put the box on the couch | STEP 5: Turn left, go to the wall, turn right | STEP 6: Pick up the keys on the chair | STEP 7: Turn left, go forward, turn left in front of the couch | STEP 8: Put the keys into the box on the couch", "output": ["END"]} +{"id": "trial_T20190907_101549_797471-0%0", "input": "heat the cup with microwave, put it back in the coffee machine", "output": ["STEP 1: turn right, walk to the coffee machine on the right"]} +{"id": "trial_T20190907_101549_797471-0%1", "input": "heat the cup with microwave, put it back in the coffee machine | STEP 1: turn right, walk to the coffee machine on the right", "output": ["STEP 2: grab the cup in the coffee machine"]} +{"id": "trial_T20190907_101549_797471-0%2", "input": "heat the cup with microwave, put it back in the coffee machine | STEP 1: turn right, walk to the coffee machine on the right | STEP 2: grab the cup in the coffee machine", "output": ["STEP 3: turn around, walk to the microwave"]} +{"id": "trial_T20190907_101549_797471-0%3", "input": "heat the cup with microwave, put it back in the coffee machine | STEP 1: turn right, walk to the coffee machine on the right | STEP 2: grab the cup in the coffee machine | STEP 3: turn around, walk to the microwave", "output": ["STEP 4: open the microwave,put the cup in, heat the cup, take the cup out"]} +{"id": "trial_T20190907_101549_797471-0%4", "input": "heat the cup with microwave, put it back in the coffee machine | STEP 1: turn right, walk to the coffee machine on the right | STEP 2: grab the cup in the coffee machine | STEP 3: turn around, walk to the microwave | STEP 4: open the microwave,put the cup in, heat the cup, take the cup out", "output": ["STEP 5: turn around, walk to the coffee machine"]} +{"id": "trial_T20190907_101549_797471-0%5", "input": "heat the cup with microwave, put it back in the coffee machine | STEP 1: turn right, walk to the coffee machine on the right | STEP 2: grab the cup in the coffee machine | STEP 3: turn around, walk to the microwave | STEP 4: open the microwave,put the cup in, heat the cup, take the cup out | STEP 5: turn around, walk to the coffee machine", "output": ["STEP 6: put the cup in the coffee machine"]} +{"id": "trial_T20190907_101549_797471-0%6", "input": "heat the cup with microwave, put it back in the coffee machine | STEP 1: turn right, walk to the coffee machine on the right | STEP 2: grab the cup in the coffee machine | STEP 3: turn around, walk to the microwave | STEP 4: open the microwave,put the cup in, heat the cup, take the cup out | STEP 5: turn around, walk to the coffee machine | STEP 6: put the cup in the coffee machine", "output": ["END"]} +{"id": "trial_T20190907_101549_797471-1%0", "input": "Place a warm coffee cup on the coffee maker. ", "output": ["STEP 1: Turn around and walk towards the end of the room until you reach the coffee pot on your right. "]} +{"id": "trial_T20190907_101549_797471-1%1", "input": "Place a warm coffee cup on the coffee maker. | STEP 1: Turn around and walk towards the end of the room until you reach the coffee pot on your right. ", "output": ["STEP 2: Pick up the coffee mug that is on the coffee maker. "]} +{"id": "trial_T20190907_101549_797471-1%2", "input": "Place a warm coffee cup on the coffee maker. | STEP 1: Turn around and walk towards the end of the room until you reach the coffee pot on your right. | STEP 2: Pick up the coffee mug that is on the coffee maker. ", "output": ["STEP 3: Turn around and go to the microwave above the stove. "]} +{"id": "trial_T20190907_101549_797471-1%3", "input": "Place a warm coffee cup on the coffee maker. | STEP 1: Turn around and walk towards the end of the room until you reach the coffee pot on your right. | STEP 2: Pick up the coffee mug that is on the coffee maker. | STEP 3: Turn around and go to the microwave above the stove. ", "output": ["STEP 4: Place the coffee mug inside the microwave, heat it up, then remove the coffee mug from the microwave. "]} +{"id": "trial_T20190907_101549_797471-1%4", "input": "Place a warm coffee cup on the coffee maker. | STEP 1: Turn around and walk towards the end of the room until you reach the coffee pot on your right. | STEP 2: Pick up the coffee mug that is on the coffee maker. | STEP 3: Turn around and go to the microwave above the stove. | STEP 4: Place the coffee mug inside the microwave, heat it up, then remove the coffee mug from the microwave. ", "output": ["STEP 5: Turn around and go back to the coffee maker on the counter. "]} +{"id": "trial_T20190907_101549_797471-1%5", "input": "Place a warm coffee cup on the coffee maker. | STEP 1: Turn around and walk towards the end of the room until you reach the coffee pot on your right. | STEP 2: Pick up the coffee mug that is on the coffee maker. | STEP 3: Turn around and go to the microwave above the stove. | STEP 4: Place the coffee mug inside the microwave, heat it up, then remove the coffee mug from the microwave. | STEP 5: Turn around and go back to the coffee maker on the counter. ", "output": ["STEP 6: Place the coffee mug back on the coffee maker. "]} +{"id": "trial_T20190907_101549_797471-1%6", "input": "Place a warm coffee cup on the coffee maker. | STEP 1: Turn around and walk towards the end of the room until you reach the coffee pot on your right. | STEP 2: Pick up the coffee mug that is on the coffee maker. | STEP 3: Turn around and go to the microwave above the stove. | STEP 4: Place the coffee mug inside the microwave, heat it up, then remove the coffee mug from the microwave. | STEP 5: Turn around and go back to the coffee maker on the counter. | STEP 6: Place the coffee mug back on the coffee maker. ", "output": ["END"]} +{"id": "trial_T20190907_101549_797471-2%0", "input": "Heat the mug on the microwave going back to the coffee maker", "output": ["STEP 1: Turn to your right, walk towards the counter then face the coffee maker on your right"]} +{"id": "trial_T20190907_101549_797471-2%1", "input": "Heat the mug on the microwave going back to the coffee maker | STEP 1: Turn to your right, walk towards the counter then face the coffee maker on your right", "output": ["STEP 2: Pick up the mug on the coffee maker"]} +{"id": "trial_T20190907_101549_797471-2%2", "input": "Heat the mug on the microwave going back to the coffee maker | STEP 1: Turn to your right, walk towards the counter then face the coffee maker on your right | STEP 2: Pick up the mug on the coffee maker", "output": ["STEP 3: Turn to your right head to the microwave above the stove"]} +{"id": "trial_T20190907_101549_797471-2%3", "input": "Heat the mug on the microwave going back to the coffee maker | STEP 1: Turn to your right, walk towards the counter then face the coffee maker on your right | STEP 2: Pick up the mug on the coffee maker | STEP 3: Turn to your right head to the microwave above the stove", "output": ["STEP 4: Open the microwave heat the mug then take out the mug close the microwave"]} +{"id": "trial_T20190907_101549_797471-2%4", "input": "Heat the mug on the microwave going back to the coffee maker | STEP 1: Turn to your right, walk towards the counter then face the coffee maker on your right | STEP 2: Pick up the mug on the coffee maker | STEP 3: Turn to your right head to the microwave above the stove | STEP 4: Open the microwave heat the mug then take out the mug close the microwave", "output": ["STEP 5: Turn to your right and head to the coffee maker"]} +{"id": "trial_T20190907_101549_797471-2%5", "input": "Heat the mug on the microwave going back to the coffee maker | STEP 1: Turn to your right, walk towards the counter then face the coffee maker on your right | STEP 2: Pick up the mug on the coffee maker | STEP 3: Turn to your right head to the microwave above the stove | STEP 4: Open the microwave heat the mug then take out the mug close the microwave | STEP 5: Turn to your right and head to the coffee maker", "output": ["STEP 6: Put back the mug on the coffee maker"]} +{"id": "trial_T20190907_101549_797471-2%6", "input": "Heat the mug on the microwave going back to the coffee maker | STEP 1: Turn to your right, walk towards the counter then face the coffee maker on your right | STEP 2: Pick up the mug on the coffee maker | STEP 3: Turn to your right head to the microwave above the stove | STEP 4: Open the microwave heat the mug then take out the mug close the microwave | STEP 5: Turn to your right and head to the coffee maker | STEP 6: Put back the mug on the coffee maker", "output": ["END"]} +{"id": "trial_T20190907_101549_797471-3%0", "input": "Put a heated mug on the coffee machine. ", "output": ["STEP 1: Turn right, head to the coffee machine on the right. "]} +{"id": "trial_T20190907_101549_797471-3%1", "input": "Put a heated mug on the coffee machine. | STEP 1: Turn right, head to the coffee machine on the right. ", "output": ["STEP 2: Pick up the mug on the coffee machine."]} +{"id": "trial_T20190907_101549_797471-3%2", "input": "Put a heated mug on the coffee machine. | STEP 1: Turn right, head to the coffee machine on the right. | STEP 2: Pick up the mug on the coffee machine.", "output": ["STEP 3: Turn around, bring the mug to the microwave over the stove."]} +{"id": "trial_T20190907_101549_797471-3%3", "input": "Put a heated mug on the coffee machine. | STEP 1: Turn right, head to the coffee machine on the right. | STEP 2: Pick up the mug on the coffee machine. | STEP 3: Turn around, bring the mug to the microwave over the stove.", "output": ["STEP 4: Heat the mug in the microwave. "]} +{"id": "trial_T20190907_101549_797471-3%4", "input": "Put a heated mug on the coffee machine. | STEP 1: Turn right, head to the coffee machine on the right. | STEP 2: Pick up the mug on the coffee machine. | STEP 3: Turn around, bring the mug to the microwave over the stove. | STEP 4: Heat the mug in the microwave. ", "output": ["STEP 5: Take the heated mug out of the microwave, turn around, bring the mug to the coffee machine. "]} +{"id": "trial_T20190907_101549_797471-3%5", "input": "Put a heated mug on the coffee machine. | STEP 1: Turn right, head to the coffee machine on the right. | STEP 2: Pick up the mug on the coffee machine. | STEP 3: Turn around, bring the mug to the microwave over the stove. | STEP 4: Heat the mug in the microwave. | STEP 5: Take the heated mug out of the microwave, turn around, bring the mug to the coffee machine. ", "output": ["STEP 6: Put the heated mug on the coffee machine. "]} +{"id": "trial_T20190907_101549_797471-3%6", "input": "Put a heated mug on the coffee machine. | STEP 1: Turn right, head to the coffee machine on the right. | STEP 2: Pick up the mug on the coffee machine. | STEP 3: Turn around, bring the mug to the microwave over the stove. | STEP 4: Heat the mug in the microwave. | STEP 5: Take the heated mug out of the microwave, turn around, bring the mug to the coffee machine. | STEP 6: Put the heated mug on the coffee machine. ", "output": ["END"]} +{"id": "trial_T20190908_080519_882874-0%0", "input": "Put a cleaned cup filled with water in a cabinet. ", "output": ["STEP 1: Turn around, move to the counter left of the stove."]} +{"id": "trial_T20190908_080519_882874-0%1", "input": "Put a cleaned cup filled with water in a cabinet. | STEP 1: Turn around, move to the counter left of the stove.", "output": ["STEP 2: Open the cabinet above the counter on the left and pick up the green cup in there. "]} +{"id": "trial_T20190908_080519_882874-0%2", "input": "Put a cleaned cup filled with water in a cabinet. | STEP 1: Turn around, move to the counter left of the stove. | STEP 2: Open the cabinet above the counter on the left and pick up the green cup in there. ", "output": ["STEP 3: Turn around and bring the cup to the sink. "]} +{"id": "trial_T20190908_080519_882874-0%3", "input": "Put a cleaned cup filled with water in a cabinet. | STEP 1: Turn around, move to the counter left of the stove. | STEP 2: Open the cabinet above the counter on the left and pick up the green cup in there. | STEP 3: Turn around and bring the cup to the sink. ", "output": ["STEP 4: Wash the cup in the sink, fill the cup with water. "]} +{"id": "trial_T20190908_080519_882874-0%4", "input": "Put a cleaned cup filled with water in a cabinet. | STEP 1: Turn around, move to the counter left of the stove. | STEP 2: Open the cabinet above the counter on the left and pick up the green cup in there. | STEP 3: Turn around and bring the cup to the sink. | STEP 4: Wash the cup in the sink, fill the cup with water. ", "output": ["STEP 5: Pick up the filled cup from in the sink, turn around, bring the cup to the cabinet."]} +{"id": "trial_T20190908_080519_882874-0%5", "input": "Put a cleaned cup filled with water in a cabinet. | STEP 1: Turn around, move to the counter left of the stove. | STEP 2: Open the cabinet above the counter on the left and pick up the green cup in there. | STEP 3: Turn around and bring the cup to the sink. | STEP 4: Wash the cup in the sink, fill the cup with water. | STEP 5: Pick up the filled cup from in the sink, turn around, bring the cup to the cabinet.", "output": ["STEP 6: Open the lower cabinet on the left and put the filled cup in there. "]} +{"id": "trial_T20190908_080519_882874-0%6", "input": "Put a cleaned cup filled with water in a cabinet. | STEP 1: Turn around, move to the counter left of the stove. | STEP 2: Open the cabinet above the counter on the left and pick up the green cup in there. | STEP 3: Turn around and bring the cup to the sink. | STEP 4: Wash the cup in the sink, fill the cup with water. | STEP 5: Pick up the filled cup from in the sink, turn around, bring the cup to the cabinet. | STEP 6: Open the lower cabinet on the left and put the filled cup in there. ", "output": ["END"]} +{"id": "trial_T20190909_114707_587115-2%0", "input": "Look at a CD by the light of a lit lamp.", "output": ["STEP 1: Turn around to face the white desk with three CDs on it."]} +{"id": "trial_T20190909_114707_587115-2%1", "input": "Look at a CD by the light of a lit lamp. | STEP 1: Turn around to face the white desk with three CDs on it.", "output": ["STEP 2: Turn on the lamp on the desk."]} +{"id": "trial_T20190909_114707_587115-2%2", "input": "Look at a CD by the light of a lit lamp. | STEP 1: Turn around to face the white desk with three CDs on it. | STEP 2: Turn on the lamp on the desk.", "output": ["STEP 3: Pick up the CD closest to the lamp."]} +{"id": "trial_T20190909_114707_587115-2%3", "input": "Look at a CD by the light of a lit lamp. | STEP 1: Turn around to face the white desk with three CDs on it. | STEP 2: Turn on the lamp on the desk. | STEP 3: Pick up the CD closest to the lamp.", "output": ["END"]} +{"id": "trial_T20190909_003745_480434-1%0", "input": "Put a cleaned spoon on a counter top.", "output": ["STEP 1: Walk forward and turn left towards the sink."]} +{"id": "trial_T20190909_003745_480434-1%1", "input": "Put a cleaned spoon on a counter top. | STEP 1: Walk forward and turn left towards the sink.", "output": ["STEP 2: Pick up the spoon on the counter which is closest to you."]} +{"id": "trial_T20190909_003745_480434-1%2", "input": "Put a cleaned spoon on a counter top. | STEP 1: Walk forward and turn left towards the sink. | STEP 2: Pick up the spoon on the counter which is closest to you.", "output": ["STEP 3: Bend down towards the sink."]} +{"id": "trial_T20190909_003745_480434-1%3", "input": "Put a cleaned spoon on a counter top. | STEP 1: Walk forward and turn left towards the sink. | STEP 2: Pick up the spoon on the counter which is closest to you. | STEP 3: Bend down towards the sink.", "output": ["STEP 4: Put the spoon in the sink, rinse it off, and take it back out."]} +{"id": "trial_T20190909_003745_480434-1%4", "input": "Put a cleaned spoon on a counter top. | STEP 1: Walk forward and turn left towards the sink. | STEP 2: Pick up the spoon on the counter which is closest to you. | STEP 3: Bend down towards the sink. | STEP 4: Put the spoon in the sink, rinse it off, and take it back out.", "output": ["STEP 5: Turn left and walk to the end of the counter, then turn left towards the other counter."]} +{"id": "trial_T20190909_003745_480434-1%5", "input": "Put a cleaned spoon on a counter top. | STEP 1: Walk forward and turn left towards the sink. | STEP 2: Pick up the spoon on the counter which is closest to you. | STEP 3: Bend down towards the sink. | STEP 4: Put the spoon in the sink, rinse it off, and take it back out. | STEP 5: Turn left and walk to the end of the counter, then turn left towards the other counter.", "output": ["STEP 6: Put the spoon on the counter, to the left of the large knife."]} +{"id": "trial_T20190909_003745_480434-1%6", "input": "Put a cleaned spoon on a counter top. | STEP 1: Walk forward and turn left towards the sink. | STEP 2: Pick up the spoon on the counter which is closest to you. | STEP 3: Bend down towards the sink. | STEP 4: Put the spoon in the sink, rinse it off, and take it back out. | STEP 5: Turn left and walk to the end of the counter, then turn left towards the other counter. | STEP 6: Put the spoon on the counter, to the left of the large knife.", "output": ["END"]} +{"id": "trial_T20190909_153749_278030-2%0", "input": "Put a soap bottle on the toilet tank lid. ", "output": ["STEP 1: Turn around, move to the right sink on the left."]} +{"id": "trial_T20190909_153749_278030-2%1", "input": "Put a soap bottle on the toilet tank lid. | STEP 1: Turn around, move to the right sink on the left.", "output": ["STEP 2: Pick up the soap bottle on the counter, right of the sink. "]} +{"id": "trial_T20190909_153749_278030-2%2", "input": "Put a soap bottle on the toilet tank lid. | STEP 1: Turn around, move to the right sink on the left. | STEP 2: Pick up the soap bottle on the counter, right of the sink. ", "output": ["STEP 3: Turn around, bring the soap bottle to the toilet."]} +{"id": "trial_T20190909_153749_278030-2%3", "input": "Put a soap bottle on the toilet tank lid. | STEP 1: Turn around, move to the right sink on the left. | STEP 2: Pick up the soap bottle on the counter, right of the sink. | STEP 3: Turn around, bring the soap bottle to the toilet.", "output": ["STEP 4: Put the soap bottle on the toilet tank lid. "]} +{"id": "trial_T20190909_153749_278030-2%4", "input": "Put a soap bottle on the toilet tank lid. | STEP 1: Turn around, move to the right sink on the left. | STEP 2: Pick up the soap bottle on the counter, right of the sink. | STEP 3: Turn around, bring the soap bottle to the toilet. | STEP 4: Put the soap bottle on the toilet tank lid. ", "output": ["END"]} +{"id": "trial_T20190907_174838_570658-1%0", "input": "Put an egg in the sink with a tomato. ", "output": ["STEP 1: Turn around and walk to the counter by the stove. "]} +{"id": "trial_T20190907_174838_570658-1%1", "input": "Put an egg in the sink with a tomato. | STEP 1: Turn around and walk to the counter by the stove. ", "output": ["STEP 2: Pick up the egg on the counter to the left of the stove. "]} +{"id": "trial_T20190907_174838_570658-1%2", "input": "Put an egg in the sink with a tomato. | STEP 1: Turn around and walk to the counter by the stove. | STEP 2: Pick up the egg on the counter to the left of the stove. ", "output": ["STEP 3: Turn around and walk to the microwave. "]} +{"id": "trial_T20190907_174838_570658-1%3", "input": "Put an egg in the sink with a tomato. | STEP 1: Turn around and walk to the counter by the stove. | STEP 2: Pick up the egg on the counter to the left of the stove. | STEP 3: Turn around and walk to the microwave. ", "output": ["STEP 4: Put the egg in the microwave, turn it on and cook the egg, then remove it from the microwave. "]} +{"id": "trial_T20190907_174838_570658-1%4", "input": "Put an egg in the sink with a tomato. | STEP 1: Turn around and walk to the counter by the stove. | STEP 2: Pick up the egg on the counter to the left of the stove. | STEP 3: Turn around and walk to the microwave. | STEP 4: Put the egg in the microwave, turn it on and cook the egg, then remove it from the microwave. ", "output": ["STEP 5: Turn to your left and walk to the sink. "]} +{"id": "trial_T20190907_174838_570658-1%5", "input": "Put an egg in the sink with a tomato. | STEP 1: Turn around and walk to the counter by the stove. | STEP 2: Pick up the egg on the counter to the left of the stove. | STEP 3: Turn around and walk to the microwave. | STEP 4: Put the egg in the microwave, turn it on and cook the egg, then remove it from the microwave. | STEP 5: Turn to your left and walk to the sink. ", "output": ["STEP 6: Put the egg in the sink next to the tomato."]} +{"id": "trial_T20190907_174838_570658-1%6", "input": "Put an egg in the sink with a tomato. | STEP 1: Turn around and walk to the counter by the stove. | STEP 2: Pick up the egg on the counter to the left of the stove. | STEP 3: Turn around and walk to the microwave. | STEP 4: Put the egg in the microwave, turn it on and cook the egg, then remove it from the microwave. | STEP 5: Turn to your left and walk to the sink. | STEP 6: Put the egg in the sink next to the tomato.", "output": ["END"]} +{"id": "trial_T20190908_154504_288885-0%0", "input": "Take the book from the bed, put it in the cabinet", "output": ["STEP 1: Turn left, head to the foot of the bed"]} +{"id": "trial_T20190908_154504_288885-0%1", "input": "Take the book from the bed, put it in the cabinet | STEP 1: Turn left, head to the foot of the bed", "output": ["STEP 2: Take the book from the bed"]} +{"id": "trial_T20190908_154504_288885-0%2", "input": "Take the book from the bed, put it in the cabinet | STEP 1: Turn left, head to the foot of the bed | STEP 2: Take the book from the bed", "output": ["STEP 3: Turn around, open the door to the cabinet"]} +{"id": "trial_T20190908_154504_288885-0%3", "input": "Take the book from the bed, put it in the cabinet | STEP 1: Turn left, head to the foot of the bed | STEP 2: Take the book from the bed | STEP 3: Turn around, open the door to the cabinet", "output": ["STEP 4: Put the book in the cabinet, close the door"]} +{"id": "trial_T20190908_154504_288885-0%4", "input": "Take the book from the bed, put it in the cabinet | STEP 1: Turn left, head to the foot of the bed | STEP 2: Take the book from the bed | STEP 3: Turn around, open the door to the cabinet | STEP 4: Put the book in the cabinet, close the door", "output": ["END"]} +{"id": "trial_T20190908_122303_851930-0%0", "input": "Move a set of keys to a chair. ", "output": ["STEP 1: Turn right, walk to the window, make a right, walk to the end of the coffee table and turn right to face the coffee table. "]} +{"id": "trial_T20190908_122303_851930-0%1", "input": "Move a set of keys to a chair. | STEP 1: Turn right, walk to the window, make a right, walk to the end of the coffee table and turn right to face the coffee table. ", "output": ["STEP 2: Pick up the keys that are sitting on the coffee table. "]} +{"id": "trial_T20190908_122303_851930-0%2", "input": "Move a set of keys to a chair. | STEP 1: Turn right, walk to the window, make a right, walk to the end of the coffee table and turn right to face the coffee table. | STEP 2: Pick up the keys that are sitting on the coffee table. ", "output": ["STEP 3: Turn left and walk over to the brown chair. "]} +{"id": "trial_T20190908_122303_851930-0%3", "input": "Move a set of keys to a chair. | STEP 1: Turn right, walk to the window, make a right, walk to the end of the coffee table and turn right to face the coffee table. | STEP 2: Pick up the keys that are sitting on the coffee table. | STEP 3: Turn left and walk over to the brown chair. ", "output": ["STEP 4: Sit the keys down on the seat of the brown chair."]} +{"id": "trial_T20190908_122303_851930-0%4", "input": "Move a set of keys to a chair. | STEP 1: Turn right, walk to the window, make a right, walk to the end of the coffee table and turn right to face the coffee table. | STEP 2: Pick up the keys that are sitting on the coffee table. | STEP 3: Turn left and walk over to the brown chair. | STEP 4: Sit the keys down on the seat of the brown chair.", "output": ["END"]} +{"id": "trial_T20190918_203700_167692-2%0", "input": "Put a clean kettle on the stove.", "output": ["STEP 1: Turn right and walk towards the door, then hang a right and walk over to the oven."]} +{"id": "trial_T20190918_203700_167692-2%1", "input": "Put a clean kettle on the stove. | STEP 1: Turn right and walk towards the door, then hang a right and walk over to the oven.", "output": ["STEP 2: Pick up the kettle off of the back left burner of the stove."]} +{"id": "trial_T20190918_203700_167692-2%2", "input": "Put a clean kettle on the stove. | STEP 1: Turn right and walk towards the door, then hang a right and walk over to the oven. | STEP 2: Pick up the kettle off of the back left burner of the stove.", "output": ["STEP 3: Turn left and walk towards the window, the turn left and walk up to the sink."]} +{"id": "trial_T20190918_203700_167692-2%3", "input": "Put a clean kettle on the stove. | STEP 1: Turn right and walk towards the door, then hang a right and walk over to the oven. | STEP 2: Pick up the kettle off of the back left burner of the stove. | STEP 3: Turn left and walk towards the window, the turn left and walk up to the sink.", "output": ["STEP 4: Put the kettle in the sink basin and turn on the water, after a couple seconds turn the water off and remove the now clean kettle."]} +{"id": "trial_T20190918_203700_167692-2%4", "input": "Put a clean kettle on the stove. | STEP 1: Turn right and walk towards the door, then hang a right and walk over to the oven. | STEP 2: Pick up the kettle off of the back left burner of the stove. | STEP 3: Turn left and walk towards the window, the turn left and walk up to the sink. | STEP 4: Put the kettle in the sink basin and turn on the water, after a couple seconds turn the water off and remove the now clean kettle.", "output": ["STEP 5: Walk back over to the stove."]} +{"id": "trial_T20190918_203700_167692-2%5", "input": "Put a clean kettle on the stove. | STEP 1: Turn right and walk towards the door, then hang a right and walk over to the oven. | STEP 2: Pick up the kettle off of the back left burner of the stove. | STEP 3: Turn left and walk towards the window, the turn left and walk up to the sink. | STEP 4: Put the kettle in the sink basin and turn on the water, after a couple seconds turn the water off and remove the now clean kettle. | STEP 5: Walk back over to the stove.", "output": ["STEP 6: Put the clean kettle on the back left burner of the stove."]} +{"id": "trial_T20190918_203700_167692-2%6", "input": "Put a clean kettle on the stove. | STEP 1: Turn right and walk towards the door, then hang a right and walk over to the oven. | STEP 2: Pick up the kettle off of the back left burner of the stove. | STEP 3: Turn left and walk towards the window, the turn left and walk up to the sink. | STEP 4: Put the kettle in the sink basin and turn on the water, after a couple seconds turn the water off and remove the now clean kettle. | STEP 5: Walk back over to the stove. | STEP 6: Put the clean kettle on the back left burner of the stove.", "output": ["END"]} +{"id": "trial_T20190909_154013_536038-0%0", "input": "Pick up the bottle of lotion from the sinks to move to the lid of the toilet tank.", "output": ["STEP 1: Turn right to face the sinks."]} +{"id": "trial_T20190909_154013_536038-0%1", "input": "Pick up the bottle of lotion from the sinks to move to the lid of the toilet tank. | STEP 1: Turn right to face the sinks.", "output": ["STEP 2: Pick up the bottle of lotion on the right of the sinks."]} +{"id": "trial_T20190909_154013_536038-0%2", "input": "Pick up the bottle of lotion from the sinks to move to the lid of the toilet tank. | STEP 1: Turn right to face the sinks. | STEP 2: Pick up the bottle of lotion on the right of the sinks.", "output": ["STEP 3: Turn left to walk to the toilet."]} +{"id": "trial_T20190909_154013_536038-0%3", "input": "Pick up the bottle of lotion from the sinks to move to the lid of the toilet tank. | STEP 1: Turn right to face the sinks. | STEP 2: Pick up the bottle of lotion on the right of the sinks. | STEP 3: Turn left to walk to the toilet.", "output": ["STEP 4: Set the bottle of lotion down on the lid of the toilet tank."]} +{"id": "trial_T20190909_154013_536038-0%4", "input": "Pick up the bottle of lotion from the sinks to move to the lid of the toilet tank. | STEP 1: Turn right to face the sinks. | STEP 2: Pick up the bottle of lotion on the right of the sinks. | STEP 3: Turn left to walk to the toilet. | STEP 4: Set the bottle of lotion down on the lid of the toilet tank.", "output": ["END"]} +{"id": "trial_T20190907_074528_362136-2%0", "input": "place dog statue on table in front of couch", "output": ["STEP 1: turn right, walk towards table"]} +{"id": "trial_T20190907_074528_362136-2%1", "input": "place dog statue on table in front of couch | STEP 1: turn right, walk towards table", "output": ["STEP 2: pick up dog statue on table behind newspaper"]} +{"id": "trial_T20190907_074528_362136-2%2", "input": "place dog statue on table in front of couch | STEP 1: turn right, walk towards table | STEP 2: pick up dog statue on table behind newspaper", "output": ["STEP 3: turn around, turn left and walk towards couch across from, turn right walk to the end of the couch and turn right"]} +{"id": "trial_T20190907_074528_362136-2%3", "input": "place dog statue on table in front of couch | STEP 1: turn right, walk towards table | STEP 2: pick up dog statue on table behind newspaper | STEP 3: turn around, turn left and walk towards couch across from, turn right walk to the end of the couch and turn right", "output": ["STEP 4: place dog statue on table in front of plant"]} +{"id": "trial_T20190907_074528_362136-2%4", "input": "place dog statue on table in front of couch | STEP 1: turn right, walk towards table | STEP 2: pick up dog statue on table behind newspaper | STEP 3: turn around, turn left and walk towards couch across from, turn right walk to the end of the couch and turn right | STEP 4: place dog statue on table in front of plant", "output": ["END"]} +{"id": "trial_T20190908_233336_273570-1%0", "input": "Move a pencil from the desk to the dresser.", "output": ["STEP 1: Walk to the front of the computer desk."]} +{"id": "trial_T20190908_233336_273570-1%1", "input": "Move a pencil from the desk to the dresser. | STEP 1: Walk to the front of the computer desk.", "output": ["STEP 2: Grab a pencil from the desk."]} +{"id": "trial_T20190908_233336_273570-1%2", "input": "Move a pencil from the desk to the dresser. | STEP 1: Walk to the front of the computer desk. | STEP 2: Grab a pencil from the desk.", "output": ["STEP 3: Walk to the dresser on your right."]} +{"id": "trial_T20190908_233336_273570-1%3", "input": "Move a pencil from the desk to the dresser. | STEP 1: Walk to the front of the computer desk. | STEP 2: Grab a pencil from the desk. | STEP 3: Walk to the dresser on your right.", "output": ["STEP 4: Place the pencil on the dresser."]} +{"id": "trial_T20190908_233336_273570-1%4", "input": "Move a pencil from the desk to the dresser. | STEP 1: Walk to the front of the computer desk. | STEP 2: Grab a pencil from the desk. | STEP 3: Walk to the dresser on your right. | STEP 4: Place the pencil on the dresser.", "output": ["END"]} +{"id": "trial_T20190908_233336_273570-2%0", "input": "Move a pencil from the desk to the dresser. ", "output": ["STEP 1: Turn and go to the desk."]} +{"id": "trial_T20190908_233336_273570-2%1", "input": "Move a pencil from the desk to the dresser. | STEP 1: Turn and go to the desk.", "output": ["STEP 2: Pick a pencil on the desk."]} +{"id": "trial_T20190908_233336_273570-2%2", "input": "Move a pencil from the desk to the dresser. | STEP 1: Turn and go to the desk. | STEP 2: Pick a pencil on the desk.", "output": ["STEP 3: Turn and go to the dresser."]} +{"id": "trial_T20190908_233336_273570-2%3", "input": "Move a pencil from the desk to the dresser. | STEP 1: Turn and go to the desk. | STEP 2: Pick a pencil on the desk. | STEP 3: Turn and go to the dresser.", "output": ["STEP 4: Put the pencil on the dresser."]} +{"id": "trial_T20190908_233336_273570-2%4", "input": "Move a pencil from the desk to the dresser. | STEP 1: Turn and go to the desk. | STEP 2: Pick a pencil on the desk. | STEP 3: Turn and go to the dresser. | STEP 4: Put the pencil on the dresser.", "output": ["END"]} +{"id": "trial_T20190906_201724_551765-0%0", "input": "Bring a box to the couch with a credit card that is closed.", "output": ["STEP 1: Move to the end table to the right of the window to the left of the arm chair"]} +{"id": "trial_T20190906_201724_551765-0%1", "input": "Bring a box to the couch with a credit card that is closed. | STEP 1: Move to the end table to the right of the window to the left of the arm chair", "output": ["STEP 2: Pick up box from under the end table"]} +{"id": "trial_T20190906_201724_551765-0%2", "input": "Bring a box to the couch with a credit card that is closed. | STEP 1: Move to the end table to the right of the window to the left of the arm chair | STEP 2: Pick up box from under the end table", "output": ["STEP 3: Move to couch, to the right of arm chair, left of fire place"]} +{"id": "trial_T20190906_201724_551765-0%3", "input": "Bring a box to the couch with a credit card that is closed. | STEP 1: Move to the end table to the right of the window to the left of the arm chair | STEP 2: Pick up box from under the end table | STEP 3: Move to couch, to the right of arm chair, left of fire place", "output": ["STEP 4: Place box on top of couch"]} +{"id": "trial_T20190906_201724_551765-0%4", "input": "Bring a box to the couch with a credit card that is closed. | STEP 1: Move to the end table to the right of the window to the left of the arm chair | STEP 2: Pick up box from under the end table | STEP 3: Move to couch, to the right of arm chair, left of fire place | STEP 4: Place box on top of couch", "output": ["STEP 5: Move to other side of coffee table behind you"]} +{"id": "trial_T20190906_201724_551765-0%5", "input": "Bring a box to the couch with a credit card that is closed. | STEP 1: Move to the end table to the right of the window to the left of the arm chair | STEP 2: Pick up box from under the end table | STEP 3: Move to couch, to the right of arm chair, left of fire place | STEP 4: Place box on top of couch | STEP 5: Move to other side of coffee table behind you", "output": ["STEP 6: Pick up credit card from coffee table"]} +{"id": "trial_T20190906_201724_551765-0%6", "input": "Bring a box to the couch with a credit card that is closed. | STEP 1: Move to the end table to the right of the window to the left of the arm chair | STEP 2: Pick up box from under the end table | STEP 3: Move to couch, to the right of arm chair, left of fire place | STEP 4: Place box on top of couch | STEP 5: Move to other side of coffee table behind you | STEP 6: Pick up credit card from coffee table", "output": ["STEP 7: Move to other side of coffee table where box was placed"]} +{"id": "trial_T20190906_201724_551765-0%7", "input": "Bring a box to the couch with a credit card that is closed. | STEP 1: Move to the end table to the right of the window to the left of the arm chair | STEP 2: Pick up box from under the end table | STEP 3: Move to couch, to the right of arm chair, left of fire place | STEP 4: Place box on top of couch | STEP 5: Move to other side of coffee table behind you | STEP 6: Pick up credit card from coffee table | STEP 7: Move to other side of coffee table where box was placed", "output": ["STEP 8: Place box in card, close box"]} +{"id": "trial_T20190906_201724_551765-0%8", "input": "Bring a box to the couch with a credit card that is closed. | STEP 1: Move to the end table to the right of the window to the left of the arm chair | STEP 2: Pick up box from under the end table | STEP 3: Move to couch, to the right of arm chair, left of fire place | STEP 4: Place box on top of couch | STEP 5: Move to other side of coffee table behind you | STEP 6: Pick up credit card from coffee table | STEP 7: Move to other side of coffee table where box was placed | STEP 8: Place box in card, close box", "output": ["END"]} +{"id": "trial_T20190906_201724_551765-2%0", "input": "place a box down on the couch with a credit card inside", "output": ["STEP 1: turn around and walk to the light brown table in the left corner of the room"]} +{"id": "trial_T20190906_201724_551765-2%1", "input": "place a box down on the couch with a credit card inside | STEP 1: turn around and walk to the light brown table in the left corner of the room", "output": ["STEP 2: grab the box out from underneath the table"]} +{"id": "trial_T20190906_201724_551765-2%2", "input": "place a box down on the couch with a credit card inside | STEP 1: turn around and walk to the light brown table in the left corner of the room | STEP 2: grab the box out from underneath the table", "output": ["STEP 3: turn around to walk back to where you where originally, and then face the couch on your left"]} +{"id": "trial_T20190906_201724_551765-2%3", "input": "place a box down on the couch with a credit card inside | STEP 1: turn around and walk to the light brown table in the left corner of the room | STEP 2: grab the box out from underneath the table | STEP 3: turn around to walk back to where you where originally, and then face the couch on your left", "output": ["STEP 4: place the box down on the couch there"]} +{"id": "trial_T20190906_201724_551765-2%4", "input": "place a box down on the couch with a credit card inside | STEP 1: turn around and walk to the light brown table in the left corner of the room | STEP 2: grab the box out from underneath the table | STEP 3: turn around to walk back to where you where originally, and then face the couch on your left | STEP 4: place the box down on the couch there", "output": ["STEP 5: turn left and walk around to the other side of the coffee table"]} +{"id": "trial_T20190906_201724_551765-2%5", "input": "place a box down on the couch with a credit card inside | STEP 1: turn around and walk to the light brown table in the left corner of the room | STEP 2: grab the box out from underneath the table | STEP 3: turn around to walk back to where you where originally, and then face the couch on your left | STEP 4: place the box down on the couch there | STEP 5: turn left and walk around to the other side of the coffee table", "output": ["STEP 6: grab the credit card off of the coffee table"]} +{"id": "trial_T20190906_201724_551765-2%6", "input": "place a box down on the couch with a credit card inside | STEP 1: turn around and walk to the light brown table in the left corner of the room | STEP 2: grab the box out from underneath the table | STEP 3: turn around to walk back to where you where originally, and then face the couch on your left | STEP 4: place the box down on the couch there | STEP 5: turn left and walk around to the other side of the coffee table | STEP 6: grab the credit card off of the coffee table", "output": ["STEP 7: turn left and walk around to the other side of the coffee table, then face the couch"]} +{"id": "trial_T20190906_201724_551765-2%7", "input": "place a box down on the couch with a credit card inside | STEP 1: turn around and walk to the light brown table in the left corner of the room | STEP 2: grab the box out from underneath the table | STEP 3: turn around to walk back to where you where originally, and then face the couch on your left | STEP 4: place the box down on the couch there | STEP 5: turn left and walk around to the other side of the coffee table | STEP 6: grab the credit card off of the coffee table | STEP 7: turn left and walk around to the other side of the coffee table, then face the couch", "output": ["STEP 8: place the card inside the box and close the box"]} +{"id": "trial_T20190906_201724_551765-2%8", "input": "place a box down on the couch with a credit card inside | STEP 1: turn around and walk to the light brown table in the left corner of the room | STEP 2: grab the box out from underneath the table | STEP 3: turn around to walk back to where you where originally, and then face the couch on your left | STEP 4: place the box down on the couch there | STEP 5: turn left and walk around to the other side of the coffee table | STEP 6: grab the credit card off of the coffee table | STEP 7: turn left and walk around to the other side of the coffee table, then face the couch | STEP 8: place the card inside the box and close the box", "output": ["END"]} +{"id": "trial_T20190907_152225_425868-0%0", "input": "Place a section of apple into a container, place the container into the microwave.", "output": ["STEP 1: Turn right, move to the counter that is right of the stove."]} +{"id": "trial_T20190907_152225_425868-0%1", "input": "Place a section of apple into a container, place the container into the microwave. | STEP 1: Turn right, move to the counter that is right of the stove.", "output": ["STEP 2: Pick up the knife that is right of the stove."]} +{"id": "trial_T20190907_152225_425868-0%2", "input": "Place a section of apple into a container, place the container into the microwave. | STEP 1: Turn right, move to the counter that is right of the stove. | STEP 2: Pick up the knife that is right of the stove.", "output": ["STEP 3: Turn right, move to the table."]} +{"id": "trial_T20190907_152225_425868-0%3", "input": "Place a section of apple into a container, place the container into the microwave. | STEP 1: Turn right, move to the counter that is right of the stove. | STEP 2: Pick up the knife that is right of the stove. | STEP 3: Turn right, move to the table.", "output": ["STEP 4: Cut the apple into sections."]} +{"id": "trial_T20190907_152225_425868-0%4", "input": "Place a section of apple into a container, place the container into the microwave. | STEP 1: Turn right, move to the counter that is right of the stove. | STEP 2: Pick up the knife that is right of the stove. | STEP 3: Turn right, move to the table. | STEP 4: Cut the apple into sections.", "output": ["STEP 5: Turn left, move to in front of the sink."]} +{"id": "trial_T20190907_152225_425868-0%5", "input": "Place a section of apple into a container, place the container into the microwave. | STEP 1: Turn right, move to the counter that is right of the stove. | STEP 2: Pick up the knife that is right of the stove. | STEP 3: Turn right, move to the table. | STEP 4: Cut the apple into sections. | STEP 5: Turn left, move to in front of the sink.", "output": ["STEP 6: Place the knife into the blue container."]} +{"id": "trial_T20190907_152225_425868-0%6", "input": "Place a section of apple into a container, place the container into the microwave. | STEP 1: Turn right, move to the counter that is right of the stove. | STEP 2: Pick up the knife that is right of the stove. | STEP 3: Turn right, move to the table. | STEP 4: Cut the apple into sections. | STEP 5: Turn left, move to in front of the sink. | STEP 6: Place the knife into the blue container.", "output": ["STEP 7: Turn right, move to the table."]} +{"id": "trial_T20190907_152225_425868-0%7", "input": "Place a section of apple into a container, place the container into the microwave. | STEP 1: Turn right, move to the counter that is right of the stove. | STEP 2: Pick up the knife that is right of the stove. | STEP 3: Turn right, move to the table. | STEP 4: Cut the apple into sections. | STEP 5: Turn left, move to in front of the sink. | STEP 6: Place the knife into the blue container. | STEP 7: Turn right, move to the table.", "output": ["STEP 8: Pick up a section of apple."]} +{"id": "trial_T20190907_152225_425868-0%8", "input": "Place a section of apple into a container, place the container into the microwave. | STEP 1: Turn right, move to the counter that is right of the stove. | STEP 2: Pick up the knife that is right of the stove. | STEP 3: Turn right, move to the table. | STEP 4: Cut the apple into sections. | STEP 5: Turn left, move to in front of the sink. | STEP 6: Place the knife into the blue container. | STEP 7: Turn right, move to the table. | STEP 8: Pick up a section of apple.", "output": ["STEP 9: Turn left, move to in front of the sink."]} +{"id": "trial_T20190907_152225_425868-0%9", "input": "Place a section of apple into a container, place the container into the microwave. | STEP 1: Turn right, move to the counter that is right of the stove. | STEP 2: Pick up the knife that is right of the stove. | STEP 3: Turn right, move to the table. | STEP 4: Cut the apple into sections. | STEP 5: Turn left, move to in front of the sink. | STEP 6: Place the knife into the blue container. | STEP 7: Turn right, move to the table. | STEP 8: Pick up a section of apple. | STEP 9: Turn left, move to in front of the sink.", "output": ["STEP 10: Place the apple section into the blue container."]} +{"id": "trial_T20190907_152225_425868-0%10", "input": "Place a section of apple into a container, place the container into the microwave. | STEP 1: Turn right, move to the counter that is right of the stove. | STEP 2: Pick up the knife that is right of the stove. | STEP 3: Turn right, move to the table. | STEP 4: Cut the apple into sections. | STEP 5: Turn left, move to in front of the sink. | STEP 6: Place the knife into the blue container. | STEP 7: Turn right, move to the table. | STEP 8: Pick up a section of apple. | STEP 9: Turn left, move to in front of the sink. | STEP 10: Place the apple section into the blue container.", "output": ["STEP 11: Pick up the blue container with the apple and knife on it."]} +{"id": "trial_T20190907_152225_425868-0%11", "input": "Place a section of apple into a container, place the container into the microwave. | STEP 1: Turn right, move to the counter that is right of the stove. | STEP 2: Pick up the knife that is right of the stove. | STEP 3: Turn right, move to the table. | STEP 4: Cut the apple into sections. | STEP 5: Turn left, move to in front of the sink. | STEP 6: Place the knife into the blue container. | STEP 7: Turn right, move to the table. | STEP 8: Pick up a section of apple. | STEP 9: Turn left, move to in front of the sink. | STEP 10: Place the apple section into the blue container. | STEP 11: Pick up the blue container with the apple and knife on it.", "output": ["STEP 12: Turn left, move to in front of the stove."]} +{"id": "trial_T20190907_152225_425868-0%12", "input": "Place a section of apple into a container, place the container into the microwave. | STEP 1: Turn right, move to the counter that is right of the stove. | STEP 2: Pick up the knife that is right of the stove. | STEP 3: Turn right, move to the table. | STEP 4: Cut the apple into sections. | STEP 5: Turn left, move to in front of the sink. | STEP 6: Place the knife into the blue container. | STEP 7: Turn right, move to the table. | STEP 8: Pick up a section of apple. | STEP 9: Turn left, move to in front of the sink. | STEP 10: Place the apple section into the blue container. | STEP 11: Pick up the blue container with the apple and knife on it. | STEP 12: Turn left, move to in front of the stove.", "output": ["STEP 13: Place the blue container in to the microwave."]} +{"id": "trial_T20190907_152225_425868-0%13", "input": "Place a section of apple into a container, place the container into the microwave. | STEP 1: Turn right, move to the counter that is right of the stove. | STEP 2: Pick up the knife that is right of the stove. | STEP 3: Turn right, move to the table. | STEP 4: Cut the apple into sections. | STEP 5: Turn left, move to in front of the sink. | STEP 6: Place the knife into the blue container. | STEP 7: Turn right, move to the table. | STEP 8: Pick up a section of apple. | STEP 9: Turn left, move to in front of the sink. | STEP 10: Place the apple section into the blue container. | STEP 11: Pick up the blue container with the apple and knife on it. | STEP 12: Turn left, move to in front of the stove. | STEP 13: Place the blue container in to the microwave.", "output": ["END"]} +{"id": "trial_T20190907_152225_425868-2%0", "input": "Put a bowl with an apple slice and butter knife in it into the microwave.", "output": ["STEP 1: Go to the counter past the stove on the left."]} +{"id": "trial_T20190907_152225_425868-2%1", "input": "Put a bowl with an apple slice and butter knife in it into the microwave. | STEP 1: Go to the counter past the stove on the left.", "output": ["STEP 2: Pick up the butter knife in front of the lettuce."]} +{"id": "trial_T20190907_152225_425868-2%2", "input": "Put a bowl with an apple slice and butter knife in it into the microwave. | STEP 1: Go to the counter past the stove on the left. | STEP 2: Pick up the butter knife in front of the lettuce.", "output": ["STEP 3: Go to the table in the corner with the apple on it."]} +{"id": "trial_T20190907_152225_425868-2%3", "input": "Put a bowl with an apple slice and butter knife in it into the microwave. | STEP 1: Go to the counter past the stove on the left. | STEP 2: Pick up the butter knife in front of the lettuce. | STEP 3: Go to the table in the corner with the apple on it.", "output": ["STEP 4: Slice the apple on the table."]} +{"id": "trial_T20190907_152225_425868-2%4", "input": "Put a bowl with an apple slice and butter knife in it into the microwave. | STEP 1: Go to the counter past the stove on the left. | STEP 2: Pick up the butter knife in front of the lettuce. | STEP 3: Go to the table in the corner with the apple on it. | STEP 4: Slice the apple on the table.", "output": ["STEP 5: Take the butter knife to the sink."]} +{"id": "trial_T20190907_152225_425868-2%5", "input": "Put a bowl with an apple slice and butter knife in it into the microwave. | STEP 1: Go to the counter past the stove on the left. | STEP 2: Pick up the butter knife in front of the lettuce. | STEP 3: Go to the table in the corner with the apple on it. | STEP 4: Slice the apple on the table. | STEP 5: Take the butter knife to the sink.", "output": ["STEP 6: Put the butter knife in the blue bowl in the sink."]} +{"id": "trial_T20190907_152225_425868-2%6", "input": "Put a bowl with an apple slice and butter knife in it into the microwave. | STEP 1: Go to the counter past the stove on the left. | STEP 2: Pick up the butter knife in front of the lettuce. | STEP 3: Go to the table in the corner with the apple on it. | STEP 4: Slice the apple on the table. | STEP 5: Take the butter knife to the sink. | STEP 6: Put the butter knife in the blue bowl in the sink.", "output": ["STEP 7: Go to the small table in the corner with the apple slices on it."]} +{"id": "trial_T20190907_152225_425868-2%7", "input": "Put a bowl with an apple slice and butter knife in it into the microwave. | STEP 1: Go to the counter past the stove on the left. | STEP 2: Pick up the butter knife in front of the lettuce. | STEP 3: Go to the table in the corner with the apple on it. | STEP 4: Slice the apple on the table. | STEP 5: Take the butter knife to the sink. | STEP 6: Put the butter knife in the blue bowl in the sink. | STEP 7: Go to the small table in the corner with the apple slices on it.", "output": ["STEP 8: Pick up an apple slice on the table."]} +{"id": "trial_T20190907_152225_425868-2%8", "input": "Put a bowl with an apple slice and butter knife in it into the microwave. | STEP 1: Go to the counter past the stove on the left. | STEP 2: Pick up the butter knife in front of the lettuce. | STEP 3: Go to the table in the corner with the apple on it. | STEP 4: Slice the apple on the table. | STEP 5: Take the butter knife to the sink. | STEP 6: Put the butter knife in the blue bowl in the sink. | STEP 7: Go to the small table in the corner with the apple slices on it. | STEP 8: Pick up an apple slice on the table.", "output": ["STEP 9: Turn and go to the sink."]} +{"id": "trial_T20190907_152225_425868-2%9", "input": "Put a bowl with an apple slice and butter knife in it into the microwave. | STEP 1: Go to the counter past the stove on the left. | STEP 2: Pick up the butter knife in front of the lettuce. | STEP 3: Go to the table in the corner with the apple on it. | STEP 4: Slice the apple on the table. | STEP 5: Take the butter knife to the sink. | STEP 6: Put the butter knife in the blue bowl in the sink. | STEP 7: Go to the small table in the corner with the apple slices on it. | STEP 8: Pick up an apple slice on the table. | STEP 9: Turn and go to the sink.", "output": ["STEP 10: Put the apple slice in the bowl with the butter knife."]} +{"id": "trial_T20190907_152225_425868-2%10", "input": "Put a bowl with an apple slice and butter knife in it into the microwave. | STEP 1: Go to the counter past the stove on the left. | STEP 2: Pick up the butter knife in front of the lettuce. | STEP 3: Go to the table in the corner with the apple on it. | STEP 4: Slice the apple on the table. | STEP 5: Take the butter knife to the sink. | STEP 6: Put the butter knife in the blue bowl in the sink. | STEP 7: Go to the small table in the corner with the apple slices on it. | STEP 8: Pick up an apple slice on the table. | STEP 9: Turn and go to the sink. | STEP 10: Put the apple slice in the bowl with the butter knife.", "output": ["STEP 11: Pick up the bowl with the apple and butter knife in it."]} +{"id": "trial_T20190907_152225_425868-2%11", "input": "Put a bowl with an apple slice and butter knife in it into the microwave. | STEP 1: Go to the counter past the stove on the left. | STEP 2: Pick up the butter knife in front of the lettuce. | STEP 3: Go to the table in the corner with the apple on it. | STEP 4: Slice the apple on the table. | STEP 5: Take the butter knife to the sink. | STEP 6: Put the butter knife in the blue bowl in the sink. | STEP 7: Go to the small table in the corner with the apple slices on it. | STEP 8: Pick up an apple slice on the table. | STEP 9: Turn and go to the sink. | STEP 10: Put the apple slice in the bowl with the butter knife. | STEP 11: Pick up the bowl with the apple and butter knife in it.", "output": ["STEP 12: Go to the microwave."]} +{"id": "trial_T20190907_152225_425868-2%12", "input": "Put a bowl with an apple slice and butter knife in it into the microwave. | STEP 1: Go to the counter past the stove on the left. | STEP 2: Pick up the butter knife in front of the lettuce. | STEP 3: Go to the table in the corner with the apple on it. | STEP 4: Slice the apple on the table. | STEP 5: Take the butter knife to the sink. | STEP 6: Put the butter knife in the blue bowl in the sink. | STEP 7: Go to the small table in the corner with the apple slices on it. | STEP 8: Pick up an apple slice on the table. | STEP 9: Turn and go to the sink. | STEP 10: Put the apple slice in the bowl with the butter knife. | STEP 11: Pick up the bowl with the apple and butter knife in it. | STEP 12: Go to the microwave.", "output": ["STEP 13: Put the bowl with the apple and butter knife in the microwave."]} +{"id": "trial_T20190907_152225_425868-2%13", "input": "Put a bowl with an apple slice and butter knife in it into the microwave. | STEP 1: Go to the counter past the stove on the left. | STEP 2: Pick up the butter knife in front of the lettuce. | STEP 3: Go to the table in the corner with the apple on it. | STEP 4: Slice the apple on the table. | STEP 5: Take the butter knife to the sink. | STEP 6: Put the butter knife in the blue bowl in the sink. | STEP 7: Go to the small table in the corner with the apple slices on it. | STEP 8: Pick up an apple slice on the table. | STEP 9: Turn and go to the sink. | STEP 10: Put the apple slice in the bowl with the butter knife. | STEP 11: Pick up the bowl with the apple and butter knife in it. | STEP 12: Go to the microwave. | STEP 13: Put the bowl with the apple and butter knife in the microwave.", "output": ["END"]} +{"id": "trial_T20190907_152225_425868-3%0", "input": "To cut a piece of apple plus put it in a bowl as well as put the bowl in the microwave.", "output": ["STEP 1: Turn to the right, walk halfway across the room, then turn left to face the counter to the right of the stove."]} +{"id": "trial_T20190907_152225_425868-3%1", "input": "To cut a piece of apple plus put it in a bowl as well as put the bowl in the microwave. | STEP 1: Turn to the right, walk halfway across the room, then turn left to face the counter to the right of the stove.", "output": ["STEP 2: Pick up the knife on the counter."]} +{"id": "trial_T20190907_152225_425868-3%2", "input": "To cut a piece of apple plus put it in a bowl as well as put the bowl in the microwave. | STEP 1: Turn to the right, walk halfway across the room, then turn left to face the counter to the right of the stove. | STEP 2: Pick up the knife on the counter.", "output": ["STEP 3: Turn left, walk forward and turn left past the counter and walk forward to face the kitchen table."]} +{"id": "trial_T20190907_152225_425868-3%3", "input": "To cut a piece of apple plus put it in a bowl as well as put the bowl in the microwave. | STEP 1: Turn to the right, walk halfway across the room, then turn left to face the counter to the right of the stove. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left, walk forward and turn left past the counter and walk forward to face the kitchen table.", "output": ["STEP 4: Cut the apple on the table into 3 pieces."]} +{"id": "trial_T20190907_152225_425868-3%4", "input": "To cut a piece of apple plus put it in a bowl as well as put the bowl in the microwave. | STEP 1: Turn to the right, walk halfway across the room, then turn left to face the counter to the right of the stove. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left, walk forward and turn left past the counter and walk forward to face the kitchen table. | STEP 4: Cut the apple on the table into 3 pieces.", "output": ["STEP 5: Turn around and walk around the counter to the right to face the sink."]} +{"id": "trial_T20190907_152225_425868-3%5", "input": "To cut a piece of apple plus put it in a bowl as well as put the bowl in the microwave. | STEP 1: Turn to the right, walk halfway across the room, then turn left to face the counter to the right of the stove. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left, walk forward and turn left past the counter and walk forward to face the kitchen table. | STEP 4: Cut the apple on the table into 3 pieces. | STEP 5: Turn around and walk around the counter to the right to face the sink.", "output": ["STEP 6: Place the knife in the sink."]} +{"id": "trial_T20190907_152225_425868-3%6", "input": "To cut a piece of apple plus put it in a bowl as well as put the bowl in the microwave. | STEP 1: Turn to the right, walk halfway across the room, then turn left to face the counter to the right of the stove. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left, walk forward and turn left past the counter and walk forward to face the kitchen table. | STEP 4: Cut the apple on the table into 3 pieces. | STEP 5: Turn around and walk around the counter to the right to face the sink. | STEP 6: Place the knife in the sink.", "output": ["STEP 7: Turn right and walk around the counter to the left to face the table."]} +{"id": "trial_T20190907_152225_425868-3%7", "input": "To cut a piece of apple plus put it in a bowl as well as put the bowl in the microwave. | STEP 1: Turn to the right, walk halfway across the room, then turn left to face the counter to the right of the stove. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left, walk forward and turn left past the counter and walk forward to face the kitchen table. | STEP 4: Cut the apple on the table into 3 pieces. | STEP 5: Turn around and walk around the counter to the right to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn right and walk around the counter to the left to face the table.", "output": ["STEP 8: Pick up a slice of apple on the table."]} +{"id": "trial_T20190907_152225_425868-3%8", "input": "To cut a piece of apple plus put it in a bowl as well as put the bowl in the microwave. | STEP 1: Turn to the right, walk halfway across the room, then turn left to face the counter to the right of the stove. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left, walk forward and turn left past the counter and walk forward to face the kitchen table. | STEP 4: Cut the apple on the table into 3 pieces. | STEP 5: Turn around and walk around the counter to the right to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn right and walk around the counter to the left to face the table. | STEP 8: Pick up a slice of apple on the table.", "output": ["STEP 9: Turn around and walk around the counter to the right to face the sink."]} +{"id": "trial_T20190907_152225_425868-3%9", "input": "To cut a piece of apple plus put it in a bowl as well as put the bowl in the microwave. | STEP 1: Turn to the right, walk halfway across the room, then turn left to face the counter to the right of the stove. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left, walk forward and turn left past the counter and walk forward to face the kitchen table. | STEP 4: Cut the apple on the table into 3 pieces. | STEP 5: Turn around and walk around the counter to the right to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn right and walk around the counter to the left to face the table. | STEP 8: Pick up a slice of apple on the table. | STEP 9: Turn around and walk around the counter to the right to face the sink.", "output": ["STEP 10: Place the apple in the bowl in the sink."]} +{"id": "trial_T20190907_152225_425868-3%10", "input": "To cut a piece of apple plus put it in a bowl as well as put the bowl in the microwave. | STEP 1: Turn to the right, walk halfway across the room, then turn left to face the counter to the right of the stove. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left, walk forward and turn left past the counter and walk forward to face the kitchen table. | STEP 4: Cut the apple on the table into 3 pieces. | STEP 5: Turn around and walk around the counter to the right to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn right and walk around the counter to the left to face the table. | STEP 8: Pick up a slice of apple on the table. | STEP 9: Turn around and walk around the counter to the right to face the sink. | STEP 10: Place the apple in the bowl in the sink.", "output": ["STEP 11: Pick up the bowl in the sink with the apple piece in it."]} +{"id": "trial_T20190907_152225_425868-3%11", "input": "To cut a piece of apple plus put it in a bowl as well as put the bowl in the microwave. | STEP 1: Turn to the right, walk halfway across the room, then turn left to face the counter to the right of the stove. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left, walk forward and turn left past the counter and walk forward to face the kitchen table. | STEP 4: Cut the apple on the table into 3 pieces. | STEP 5: Turn around and walk around the counter to the right to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn right and walk around the counter to the left to face the table. | STEP 8: Pick up a slice of apple on the table. | STEP 9: Turn around and walk around the counter to the right to face the sink. | STEP 10: Place the apple in the bowl in the sink. | STEP 11: Pick up the bowl in the sink with the apple piece in it.", "output": ["STEP 12: Turn around and walk forward to face the microwave."]} +{"id": "trial_T20190907_152225_425868-3%12", "input": "To cut a piece of apple plus put it in a bowl as well as put the bowl in the microwave. | STEP 1: Turn to the right, walk halfway across the room, then turn left to face the counter to the right of the stove. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left, walk forward and turn left past the counter and walk forward to face the kitchen table. | STEP 4: Cut the apple on the table into 3 pieces. | STEP 5: Turn around and walk around the counter to the right to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn right and walk around the counter to the left to face the table. | STEP 8: Pick up a slice of apple on the table. | STEP 9: Turn around and walk around the counter to the right to face the sink. | STEP 10: Place the apple in the bowl in the sink. | STEP 11: Pick up the bowl in the sink with the apple piece in it. | STEP 12: Turn around and walk forward to face the microwave.", "output": ["STEP 13: Place the bowl with apple piece in it into the microwave."]} +{"id": "trial_T20190907_152225_425868-3%13", "input": "To cut a piece of apple plus put it in a bowl as well as put the bowl in the microwave. | STEP 1: Turn to the right, walk halfway across the room, then turn left to face the counter to the right of the stove. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left, walk forward and turn left past the counter and walk forward to face the kitchen table. | STEP 4: Cut the apple on the table into 3 pieces. | STEP 5: Turn around and walk around the counter to the right to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn right and walk around the counter to the left to face the table. | STEP 8: Pick up a slice of apple on the table. | STEP 9: Turn around and walk around the counter to the right to face the sink. | STEP 10: Place the apple in the bowl in the sink. | STEP 11: Pick up the bowl in the sink with the apple piece in it. | STEP 12: Turn around and walk forward to face the microwave. | STEP 13: Place the bowl with apple piece in it into the microwave.", "output": ["END"]} +{"id": "trial_T20190907_152225_425868-4%0", "input": "To cut an apple, as well as place it into a bowl, as well as storing it in the microwave.", "output": ["STEP 1: Turn to the right ant walk halfway across the room and turn to face the counter on the left."]} +{"id": "trial_T20190907_152225_425868-4%1", "input": "To cut an apple, as well as place it into a bowl, as well as storing it in the microwave. | STEP 1: Turn to the right ant walk halfway across the room and turn to face the counter on the left.", "output": ["STEP 2: Pick up the knife on the counter."]} +{"id": "trial_T20190907_152225_425868-4%2", "input": "To cut an apple, as well as place it into a bowl, as well as storing it in the microwave. | STEP 1: Turn to the right ant walk halfway across the room and turn to face the counter on the left. | STEP 2: Pick up the knife on the counter.", "output": ["STEP 3: Turn left walk across the room then turn right and approach the table."]} +{"id": "trial_T20190907_152225_425868-4%3", "input": "To cut an apple, as well as place it into a bowl, as well as storing it in the microwave. | STEP 1: Turn to the right ant walk halfway across the room and turn to face the counter on the left. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left walk across the room then turn right and approach the table.", "output": ["STEP 4: Cut the apple on the table in several pieces."]} +{"id": "trial_T20190907_152225_425868-4%4", "input": "To cut an apple, as well as place it into a bowl, as well as storing it in the microwave. | STEP 1: Turn to the right ant walk halfway across the room and turn to face the counter on the left. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left walk across the room then turn right and approach the table. | STEP 4: Cut the apple on the table in several pieces.", "output": ["STEP 5: Turn around, take a step, turn to the right, take a step and turn to face the sink."]} +{"id": "trial_T20190907_152225_425868-4%5", "input": "To cut an apple, as well as place it into a bowl, as well as storing it in the microwave. | STEP 1: Turn to the right ant walk halfway across the room and turn to face the counter on the left. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left walk across the room then turn right and approach the table. | STEP 4: Cut the apple on the table in several pieces. | STEP 5: Turn around, take a step, turn to the right, take a step and turn to face the sink.", "output": ["STEP 6: Put the knife in the bowl in the sink."]} +{"id": "trial_T20190907_152225_425868-4%6", "input": "To cut an apple, as well as place it into a bowl, as well as storing it in the microwave. | STEP 1: Turn to the right ant walk halfway across the room and turn to face the counter on the left. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left walk across the room then turn right and approach the table. | STEP 4: Cut the apple on the table in several pieces. | STEP 5: Turn around, take a step, turn to the right, take a step and turn to face the sink. | STEP 6: Put the knife in the bowl in the sink.", "output": ["STEP 7: Turn to the right, take a step, then turn left to face the table."]} +{"id": "trial_T20190907_152225_425868-4%7", "input": "To cut an apple, as well as place it into a bowl, as well as storing it in the microwave. | STEP 1: Turn to the right ant walk halfway across the room and turn to face the counter on the left. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left walk across the room then turn right and approach the table. | STEP 4: Cut the apple on the table in several pieces. | STEP 5: Turn around, take a step, turn to the right, take a step and turn to face the sink. | STEP 6: Put the knife in the bowl in the sink. | STEP 7: Turn to the right, take a step, then turn left to face the table.", "output": ["STEP 8: Pick up a piece of the apple."]} +{"id": "trial_T20190907_152225_425868-4%8", "input": "To cut an apple, as well as place it into a bowl, as well as storing it in the microwave. | STEP 1: Turn to the right ant walk halfway across the room and turn to face the counter on the left. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left walk across the room then turn right and approach the table. | STEP 4: Cut the apple on the table in several pieces. | STEP 5: Turn around, take a step, turn to the right, take a step and turn to face the sink. | STEP 6: Put the knife in the bowl in the sink. | STEP 7: Turn to the right, take a step, then turn left to face the table. | STEP 8: Pick up a piece of the apple.", "output": ["STEP 9: Turn around, take a step, turn to the right, take a step and turn to face the sink."]} +{"id": "trial_T20190907_152225_425868-4%9", "input": "To cut an apple, as well as place it into a bowl, as well as storing it in the microwave. | STEP 1: Turn to the right ant walk halfway across the room and turn to face the counter on the left. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left walk across the room then turn right and approach the table. | STEP 4: Cut the apple on the table in several pieces. | STEP 5: Turn around, take a step, turn to the right, take a step and turn to face the sink. | STEP 6: Put the knife in the bowl in the sink. | STEP 7: Turn to the right, take a step, then turn left to face the table. | STEP 8: Pick up a piece of the apple. | STEP 9: Turn around, take a step, turn to the right, take a step and turn to face the sink.", "output": ["STEP 10: Place the apple in the bowl in the sink."]} +{"id": "trial_T20190907_152225_425868-4%10", "input": "To cut an apple, as well as place it into a bowl, as well as storing it in the microwave. | STEP 1: Turn to the right ant walk halfway across the room and turn to face the counter on the left. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left walk across the room then turn right and approach the table. | STEP 4: Cut the apple on the table in several pieces. | STEP 5: Turn around, take a step, turn to the right, take a step and turn to face the sink. | STEP 6: Put the knife in the bowl in the sink. | STEP 7: Turn to the right, take a step, then turn left to face the table. | STEP 8: Pick up a piece of the apple. | STEP 9: Turn around, take a step, turn to the right, take a step and turn to face the sink. | STEP 10: Place the apple in the bowl in the sink.", "output": ["STEP 11: Pick up the bowl in the sink with an apple in it."]} +{"id": "trial_T20190907_152225_425868-4%11", "input": "To cut an apple, as well as place it into a bowl, as well as storing it in the microwave. | STEP 1: Turn to the right ant walk halfway across the room and turn to face the counter on the left. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left walk across the room then turn right and approach the table. | STEP 4: Cut the apple on the table in several pieces. | STEP 5: Turn around, take a step, turn to the right, take a step and turn to face the sink. | STEP 6: Put the knife in the bowl in the sink. | STEP 7: Turn to the right, take a step, then turn left to face the table. | STEP 8: Pick up a piece of the apple. | STEP 9: Turn around, take a step, turn to the right, take a step and turn to face the sink. | STEP 10: Place the apple in the bowl in the sink. | STEP 11: Pick up the bowl in the sink with an apple in it.", "output": ["STEP 12: Turn around and walk over to the stove."]} +{"id": "trial_T20190907_152225_425868-4%12", "input": "To cut an apple, as well as place it into a bowl, as well as storing it in the microwave. | STEP 1: Turn to the right ant walk halfway across the room and turn to face the counter on the left. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left walk across the room then turn right and approach the table. | STEP 4: Cut the apple on the table in several pieces. | STEP 5: Turn around, take a step, turn to the right, take a step and turn to face the sink. | STEP 6: Put the knife in the bowl in the sink. | STEP 7: Turn to the right, take a step, then turn left to face the table. | STEP 8: Pick up a piece of the apple. | STEP 9: Turn around, take a step, turn to the right, take a step and turn to face the sink. | STEP 10: Place the apple in the bowl in the sink. | STEP 11: Pick up the bowl in the sink with an apple in it. | STEP 12: Turn around and walk over to the stove.", "output": ["STEP 13: Place the bowl in the microwave and close the door."]} +{"id": "trial_T20190907_152225_425868-4%13", "input": "To cut an apple, as well as place it into a bowl, as well as storing it in the microwave. | STEP 1: Turn to the right ant walk halfway across the room and turn to face the counter on the left. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left walk across the room then turn right and approach the table. | STEP 4: Cut the apple on the table in several pieces. | STEP 5: Turn around, take a step, turn to the right, take a step and turn to face the sink. | STEP 6: Put the knife in the bowl in the sink. | STEP 7: Turn to the right, take a step, then turn left to face the table. | STEP 8: Pick up a piece of the apple. | STEP 9: Turn around, take a step, turn to the right, take a step and turn to face the sink. | STEP 10: Place the apple in the bowl in the sink. | STEP 11: Pick up the bowl in the sink with an apple in it. | STEP 12: Turn around and walk over to the stove. | STEP 13: Place the bowl in the microwave and close the door.", "output": ["END"]} +{"id": "trial_T20190906_190115_127137-2%0", "input": "Put the clean spoon in the drawer left of the stove. ", "output": ["STEP 1: Move over to the counter left of the stove. "]} +{"id": "trial_T20190906_190115_127137-2%1", "input": "Put the clean spoon in the drawer left of the stove. | STEP 1: Move over to the counter left of the stove. ", "output": ["STEP 2: Pick up the spoon from the counter. "]} +{"id": "trial_T20190906_190115_127137-2%2", "input": "Put the clean spoon in the drawer left of the stove. | STEP 1: Move over to the counter left of the stove. | STEP 2: Pick up the spoon from the counter. ", "output": ["STEP 3: Bring the spoon to the sink."]} +{"id": "trial_T20190906_190115_127137-2%3", "input": "Put the clean spoon in the drawer left of the stove. | STEP 1: Move over to the counter left of the stove. | STEP 2: Pick up the spoon from the counter. | STEP 3: Bring the spoon to the sink.", "output": ["STEP 4: Wash the spoon in the sink. "]} +{"id": "trial_T20190906_190115_127137-2%4", "input": "Put the clean spoon in the drawer left of the stove. | STEP 1: Move over to the counter left of the stove. | STEP 2: Pick up the spoon from the counter. | STEP 3: Bring the spoon to the sink. | STEP 4: Wash the spoon in the sink. ", "output": ["STEP 5: Bring the spoon back to the counter left of the stove."]} +{"id": "trial_T20190906_190115_127137-2%5", "input": "Put the clean spoon in the drawer left of the stove. | STEP 1: Move over to the counter left of the stove. | STEP 2: Pick up the spoon from the counter. | STEP 3: Bring the spoon to the sink. | STEP 4: Wash the spoon in the sink. | STEP 5: Bring the spoon back to the counter left of the stove.", "output": ["STEP 6: Put the spoon in the drawer to the left of the stove. "]} +{"id": "trial_T20190906_190115_127137-2%6", "input": "Put the clean spoon in the drawer left of the stove. | STEP 1: Move over to the counter left of the stove. | STEP 2: Pick up the spoon from the counter. | STEP 3: Bring the spoon to the sink. | STEP 4: Wash the spoon in the sink. | STEP 5: Bring the spoon back to the counter left of the stove. | STEP 6: Put the spoon in the drawer to the left of the stove. ", "output": ["END"]} +{"id": "trial_T20190906_202620_980691-2%0", "input": "Put the plunger in the cabinet under the sink. ", "output": ["STEP 1: Move to the toilet."]} +{"id": "trial_T20190906_202620_980691-2%1", "input": "Put the plunger in the cabinet under the sink. | STEP 1: Move to the toilet.", "output": ["STEP 2: Pick up the plunger from the floor."]} +{"id": "trial_T20190906_202620_980691-2%2", "input": "Put the plunger in the cabinet under the sink. | STEP 1: Move to the toilet. | STEP 2: Pick up the plunger from the floor.", "output": ["STEP 3: Bring the plunger to the sink."]} +{"id": "trial_T20190906_202620_980691-2%3", "input": "Put the plunger in the cabinet under the sink. | STEP 1: Move to the toilet. | STEP 2: Pick up the plunger from the floor. | STEP 3: Bring the plunger to the sink.", "output": ["STEP 4: Put the plunger in the cabinet under the sink. "]} +{"id": "trial_T20190906_202620_980691-2%4", "input": "Put the plunger in the cabinet under the sink. | STEP 1: Move to the toilet. | STEP 2: Pick up the plunger from the floor. | STEP 3: Bring the plunger to the sink. | STEP 4: Put the plunger in the cabinet under the sink. ", "output": ["END"]} +{"id": "trial_T20190907_160841_631057-2%0", "input": "Move the box to the right side of the sofa", "output": ["STEP 1: Move to the wooden end table to the left of the sofa"]} +{"id": "trial_T20190907_160841_631057-2%1", "input": "Move the box to the right side of the sofa | STEP 1: Move to the wooden end table to the left of the sofa", "output": ["STEP 2: Pick up the empty box under the end table on the floor"]} +{"id": "trial_T20190907_160841_631057-2%2", "input": "Move the box to the right side of the sofa | STEP 1: Move to the wooden end table to the left of the sofa | STEP 2: Pick up the empty box under the end table on the floor", "output": ["STEP 3: Carry the open box over to the large brown leather sofa"]} +{"id": "trial_T20190907_160841_631057-2%3", "input": "Move the box to the right side of the sofa | STEP 1: Move to the wooden end table to the left of the sofa | STEP 2: Pick up the empty box under the end table on the floor | STEP 3: Carry the open box over to the large brown leather sofa", "output": ["STEP 4: Place the box on top of the sofa on the far right side"]} +{"id": "trial_T20190907_160841_631057-2%4", "input": "Move the box to the right side of the sofa | STEP 1: Move to the wooden end table to the left of the sofa | STEP 2: Pick up the empty box under the end table on the floor | STEP 3: Carry the open box over to the large brown leather sofa | STEP 4: Place the box on top of the sofa on the far right side", "output": ["END"]} +{"id": "trial_T20190907_174928_676145-2%0", "input": "Put a cooked egg in a sink.", "output": ["STEP 1: Go forward, turn left at the sink, go to the sink."]} +{"id": "trial_T20190907_174928_676145-2%1", "input": "Put a cooked egg in a sink. | STEP 1: Go forward, turn left at the sink, go to the sink.", "output": ["STEP 2: Take the left egg from the sink."]} +{"id": "trial_T20190907_174928_676145-2%2", "input": "Put a cooked egg in a sink. | STEP 1: Go forward, turn left at the sink, go to the sink. | STEP 2: Take the left egg from the sink.", "output": ["STEP 3: Turn left, go to the wall, turn left, go to the oven. "]} +{"id": "trial_T20190907_174928_676145-2%3", "input": "Put a cooked egg in a sink. | STEP 1: Go forward, turn left at the sink, go to the sink. | STEP 2: Take the left egg from the sink. | STEP 3: Turn left, go to the wall, turn left, go to the oven. ", "output": ["STEP 4: Cook the egg in the microwave above the egg. Take the egg from the microwave."]} +{"id": "trial_T20190907_174928_676145-2%4", "input": "Put a cooked egg in a sink. | STEP 1: Go forward, turn left at the sink, go to the sink. | STEP 2: Take the left egg from the sink. | STEP 3: Turn left, go to the wall, turn left, go to the oven. | STEP 4: Cook the egg in the microwave above the egg. Take the egg from the microwave.", "output": ["STEP 5: Turn left, go forward, turn left at the sink, go to the sink."]} +{"id": "trial_T20190907_174928_676145-2%5", "input": "Put a cooked egg in a sink. | STEP 1: Go forward, turn left at the sink, go to the sink. | STEP 2: Take the left egg from the sink. | STEP 3: Turn left, go to the wall, turn left, go to the oven. | STEP 4: Cook the egg in the microwave above the egg. Take the egg from the microwave. | STEP 5: Turn left, go forward, turn left at the sink, go to the sink.", "output": ["STEP 6: Put the egg to the left of the other egg in the sink."]} +{"id": "trial_T20190907_174928_676145-2%6", "input": "Put a cooked egg in a sink. | STEP 1: Go forward, turn left at the sink, go to the sink. | STEP 2: Take the left egg from the sink. | STEP 3: Turn left, go to the wall, turn left, go to the oven. | STEP 4: Cook the egg in the microwave above the egg. Take the egg from the microwave. | STEP 5: Turn left, go forward, turn left at the sink, go to the sink. | STEP 6: Put the egg to the left of the other egg in the sink.", "output": ["END"]} +{"id": "trial_T20190907_223256_692701-1%0", "input": "move the box from the floor to the sofa", "output": ["STEP 1: turn left, walk to the box on the left"]} +{"id": "trial_T20190907_223256_692701-1%1", "input": "move the box from the floor to the sofa | STEP 1: turn left, walk to the box on the left", "output": ["STEP 2: grab the box on the ground,"]} +{"id": "trial_T20190907_223256_692701-1%2", "input": "move the box from the floor to the sofa | STEP 1: turn left, walk to the box on the left | STEP 2: grab the box on the ground,", "output": ["STEP 3: turn left, walk to the sofa"]} +{"id": "trial_T20190907_223256_692701-1%3", "input": "move the box from the floor to the sofa | STEP 1: turn left, walk to the box on the left | STEP 2: grab the box on the ground, | STEP 3: turn left, walk to the sofa", "output": ["STEP 4: put the box on the sofa"]} +{"id": "trial_T20190907_223256_692701-1%4", "input": "move the box from the floor to the sofa | STEP 1: turn left, walk to the box on the left | STEP 2: grab the box on the ground, | STEP 3: turn left, walk to the sofa | STEP 4: put the box on the sofa", "output": ["END"]} +{"id": "trial_T20190908_124807_847088-0%0", "input": "Put a clean bar of soap in a tub.", "output": ["STEP 1: Go to the right and face the right side of the sink."]} +{"id": "trial_T20190908_124807_847088-0%1", "input": "Put a clean bar of soap in a tub. | STEP 1: Go to the right and face the right side of the sink.", "output": ["STEP 2: Pick the soap up from the counter."]} +{"id": "trial_T20190908_124807_847088-0%2", "input": "Put a clean bar of soap in a tub. | STEP 1: Go to the right and face the right side of the sink. | STEP 2: Pick the soap up from the counter.", "output": ["STEP 3: Put the soap in the sink and turn the water off and then on and pick the soap back up."]} +{"id": "trial_T20190908_124807_847088-0%3", "input": "Put a clean bar of soap in a tub. | STEP 1: Go to the right and face the right side of the sink. | STEP 2: Pick the soap up from the counter. | STEP 3: Put the soap in the sink and turn the water off and then on and pick the soap back up.", "output": ["STEP 4: Turn to the left and face the tub."]} +{"id": "trial_T20190908_124807_847088-0%4", "input": "Put a clean bar of soap in a tub. | STEP 1: Go to the right and face the right side of the sink. | STEP 2: Pick the soap up from the counter. | STEP 3: Put the soap in the sink and turn the water off and then on and pick the soap back up. | STEP 4: Turn to the left and face the tub.", "output": ["STEP 5: Put the soap in the tub."]} +{"id": "trial_T20190908_124807_847088-0%5", "input": "Put a clean bar of soap in a tub. | STEP 1: Go to the right and face the right side of the sink. | STEP 2: Pick the soap up from the counter. | STEP 3: Put the soap in the sink and turn the water off and then on and pick the soap back up. | STEP 4: Turn to the left and face the tub. | STEP 5: Put the soap in the tub.", "output": ["END"]} +{"id": "trial_T20190908_124807_847088-1%0", "input": "Put a clean wet bar of soap in the bath tub", "output": ["STEP 1: Turn right and go to the sink"]} +{"id": "trial_T20190908_124807_847088-1%1", "input": "Put a clean wet bar of soap in the bath tub | STEP 1: Turn right and go to the sink", "output": ["STEP 2: Pick up the bar of soap from the edge of the sink"]} +{"id": "trial_T20190908_124807_847088-1%2", "input": "Put a clean wet bar of soap in the bath tub | STEP 1: Turn right and go to the sink | STEP 2: Pick up the bar of soap from the edge of the sink", "output": ["STEP 3: Put the bar of soap in the sink and turn on the water, then turn off the water and pick up the bar of soap"]} +{"id": "trial_T20190908_124807_847088-1%3", "input": "Put a clean wet bar of soap in the bath tub | STEP 1: Turn right and go to the sink | STEP 2: Pick up the bar of soap from the edge of the sink | STEP 3: Put the bar of soap in the sink and turn on the water, then turn off the water and pick up the bar of soap", "output": ["STEP 4: Turn around, then turn right and go to the bath tub"]} +{"id": "trial_T20190908_124807_847088-1%4", "input": "Put a clean wet bar of soap in the bath tub | STEP 1: Turn right and go to the sink | STEP 2: Pick up the bar of soap from the edge of the sink | STEP 3: Put the bar of soap in the sink and turn on the water, then turn off the water and pick up the bar of soap | STEP 4: Turn around, then turn right and go to the bath tub", "output": ["STEP 5: Put the bar of soap in the bath tub"]} +{"id": "trial_T20190908_124807_847088-1%5", "input": "Put a clean wet bar of soap in the bath tub | STEP 1: Turn right and go to the sink | STEP 2: Pick up the bar of soap from the edge of the sink | STEP 3: Put the bar of soap in the sink and turn on the water, then turn off the water and pick up the bar of soap | STEP 4: Turn around, then turn right and go to the bath tub | STEP 5: Put the bar of soap in the bath tub", "output": ["END"]} +{"id": "trial_T20190907_074456_860041-2%0", "input": "Move the dog statue from the shelf to the coffee table.", "output": ["STEP 1: Turn around and walk toward the fireplace, then look up at the shelf."]} +{"id": "trial_T20190907_074456_860041-2%1", "input": "Move the dog statue from the shelf to the coffee table. | STEP 1: Turn around and walk toward the fireplace, then look up at the shelf.", "output": ["STEP 2: Pick up the dog statue from the shelf."]} +{"id": "trial_T20190907_074456_860041-2%2", "input": "Move the dog statue from the shelf to the coffee table. | STEP 1: Turn around and walk toward the fireplace, then look up at the shelf. | STEP 2: Pick up the dog statue from the shelf.", "output": ["STEP 3: Turn around and look down."]} +{"id": "trial_T20190907_074456_860041-2%3", "input": "Move the dog statue from the shelf to the coffee table. | STEP 1: Turn around and walk toward the fireplace, then look up at the shelf. | STEP 2: Pick up the dog statue from the shelf. | STEP 3: Turn around and look down.", "output": ["STEP 4: Place the dog statue on the coffee table."]} +{"id": "trial_T20190907_074456_860041-2%4", "input": "Move the dog statue from the shelf to the coffee table. | STEP 1: Turn around and walk toward the fireplace, then look up at the shelf. | STEP 2: Pick up the dog statue from the shelf. | STEP 3: Turn around and look down. | STEP 4: Place the dog statue on the coffee table.", "output": ["END"]} +{"id": "trial_T20190907_224551_648328-0%0", "input": "Slice both bread, take a slice of each put them on the small round table", "output": ["STEP 1: Walk towards the counter"]} +{"id": "trial_T20190907_224551_648328-0%1", "input": "Slice both bread, take a slice of each put them on the small round table | STEP 1: Walk towards the counter", "output": ["STEP 2: Grab a knife from the counter"]} +{"id": "trial_T20190907_224551_648328-0%2", "input": "Slice both bread, take a slice of each put them on the small round table | STEP 1: Walk towards the counter | STEP 2: Grab a knife from the counter", "output": ["STEP 3: Turn right and left from the counter"]} +{"id": "trial_T20190907_224551_648328-0%3", "input": "Slice both bread, take a slice of each put them on the small round table | STEP 1: Walk towards the counter | STEP 2: Grab a knife from the counter | STEP 3: Turn right and left from the counter", "output": ["STEP 4: Slice the bread on the counter"]} +{"id": "trial_T20190907_224551_648328-0%4", "input": "Slice both bread, take a slice of each put them on the small round table | STEP 1: Walk towards the counter | STEP 2: Grab a knife from the counter | STEP 3: Turn right and left from the counter | STEP 4: Slice the bread on the counter", "output": ["STEP 5: Walk with the knife towards small round table"]} +{"id": "trial_T20190907_224551_648328-0%5", "input": "Slice both bread, take a slice of each put them on the small round table | STEP 1: Walk towards the counter | STEP 2: Grab a knife from the counter | STEP 3: Turn right and left from the counter | STEP 4: Slice the bread on the counter | STEP 5: Walk with the knife towards small round table", "output": ["STEP 6: Put the knife on the table"]} +{"id": "trial_T20190907_224551_648328-0%6", "input": "Slice both bread, take a slice of each put them on the small round table | STEP 1: Walk towards the counter | STEP 2: Grab a knife from the counter | STEP 3: Turn right and left from the counter | STEP 4: Slice the bread on the counter | STEP 5: Walk with the knife towards small round table | STEP 6: Put the knife on the table", "output": ["STEP 7: Walk towards the counter in front of fridge"]} +{"id": "trial_T20190907_224551_648328-0%7", "input": "Slice both bread, take a slice of each put them on the small round table | STEP 1: Walk towards the counter | STEP 2: Grab a knife from the counter | STEP 3: Turn right and left from the counter | STEP 4: Slice the bread on the counter | STEP 5: Walk with the knife towards small round table | STEP 6: Put the knife on the table | STEP 7: Walk towards the counter in front of fridge", "output": ["STEP 8: Grab a slice of bread"]} +{"id": "trial_T20190907_224551_648328-0%8", "input": "Slice both bread, take a slice of each put them on the small round table | STEP 1: Walk towards the counter | STEP 2: Grab a knife from the counter | STEP 3: Turn right and left from the counter | STEP 4: Slice the bread on the counter | STEP 5: Walk with the knife towards small round table | STEP 6: Put the knife on the table | STEP 7: Walk towards the counter in front of fridge | STEP 8: Grab a slice of bread", "output": ["STEP 9: Walk towards the small round table "]} +{"id": "trial_T20190907_224551_648328-0%9", "input": "Slice both bread, take a slice of each put them on the small round table | STEP 1: Walk towards the counter | STEP 2: Grab a knife from the counter | STEP 3: Turn right and left from the counter | STEP 4: Slice the bread on the counter | STEP 5: Walk with the knife towards small round table | STEP 6: Put the knife on the table | STEP 7: Walk towards the counter in front of fridge | STEP 8: Grab a slice of bread | STEP 9: Walk towards the small round table ", "output": ["STEP 10: Put the slice of bread on the small round table"]} +{"id": "trial_T20190907_224551_648328-0%10", "input": "Slice both bread, take a slice of each put them on the small round table | STEP 1: Walk towards the counter | STEP 2: Grab a knife from the counter | STEP 3: Turn right and left from the counter | STEP 4: Slice the bread on the counter | STEP 5: Walk with the knife towards small round table | STEP 6: Put the knife on the table | STEP 7: Walk towards the counter in front of fridge | STEP 8: Grab a slice of bread | STEP 9: Walk towards the small round table | STEP 10: Put the slice of bread on the small round table", "output": ["STEP 11: Grab the knife from the round table"]} +{"id": "trial_T20190907_224551_648328-0%11", "input": "Slice both bread, take a slice of each put them on the small round table | STEP 1: Walk towards the counter | STEP 2: Grab a knife from the counter | STEP 3: Turn right and left from the counter | STEP 4: Slice the bread on the counter | STEP 5: Walk with the knife towards small round table | STEP 6: Put the knife on the table | STEP 7: Walk towards the counter in front of fridge | STEP 8: Grab a slice of bread | STEP 9: Walk towards the small round table | STEP 10: Put the slice of bread on the small round table | STEP 11: Grab the knife from the round table", "output": ["STEP 12: Walk with the knife towards counter on top of the dishwasher"]} +{"id": "trial_T20190907_224551_648328-0%12", "input": "Slice both bread, take a slice of each put them on the small round table | STEP 1: Walk towards the counter | STEP 2: Grab a knife from the counter | STEP 3: Turn right and left from the counter | STEP 4: Slice the bread on the counter | STEP 5: Walk with the knife towards small round table | STEP 6: Put the knife on the table | STEP 7: Walk towards the counter in front of fridge | STEP 8: Grab a slice of bread | STEP 9: Walk towards the small round table | STEP 10: Put the slice of bread on the small round table | STEP 11: Grab the knife from the round table | STEP 12: Walk with the knife towards counter on top of the dishwasher", "output": ["STEP 13: Slice the bread on the counter"]} +{"id": "trial_T20190907_224551_648328-0%13", "input": "Slice both bread, take a slice of each put them on the small round table | STEP 1: Walk towards the counter | STEP 2: Grab a knife from the counter | STEP 3: Turn right and left from the counter | STEP 4: Slice the bread on the counter | STEP 5: Walk with the knife towards small round table | STEP 6: Put the knife on the table | STEP 7: Walk towards the counter in front of fridge | STEP 8: Grab a slice of bread | STEP 9: Walk towards the small round table | STEP 10: Put the slice of bread on the small round table | STEP 11: Grab the knife from the round table | STEP 12: Walk with the knife towards counter on top of the dishwasher | STEP 13: Slice the bread on the counter", "output": ["STEP 14: Walk towards the round table"]} +{"id": "trial_T20190907_224551_648328-0%14", "input": "Slice both bread, take a slice of each put them on the small round table | STEP 1: Walk towards the counter | STEP 2: Grab a knife from the counter | STEP 3: Turn right and left from the counter | STEP 4: Slice the bread on the counter | STEP 5: Walk with the knife towards small round table | STEP 6: Put the knife on the table | STEP 7: Walk towards the counter in front of fridge | STEP 8: Grab a slice of bread | STEP 9: Walk towards the small round table | STEP 10: Put the slice of bread on the small round table | STEP 11: Grab the knife from the round table | STEP 12: Walk with the knife towards counter on top of the dishwasher | STEP 13: Slice the bread on the counter | STEP 14: Walk towards the round table", "output": ["STEP 15: Put the knife on the table"]} +{"id": "trial_T20190907_224551_648328-0%15", "input": "Slice both bread, take a slice of each put them on the small round table | STEP 1: Walk towards the counter | STEP 2: Grab a knife from the counter | STEP 3: Turn right and left from the counter | STEP 4: Slice the bread on the counter | STEP 5: Walk with the knife towards small round table | STEP 6: Put the knife on the table | STEP 7: Walk towards the counter in front of fridge | STEP 8: Grab a slice of bread | STEP 9: Walk towards the small round table | STEP 10: Put the slice of bread on the small round table | STEP 11: Grab the knife from the round table | STEP 12: Walk with the knife towards counter on top of the dishwasher | STEP 13: Slice the bread on the counter | STEP 14: Walk towards the round table | STEP 15: Put the knife on the table", "output": ["STEP 16: Walk towards the counter"]} +{"id": "trial_T20190907_224551_648328-0%16", "input": "Slice both bread, take a slice of each put them on the small round table | STEP 1: Walk towards the counter | STEP 2: Grab a knife from the counter | STEP 3: Turn right and left from the counter | STEP 4: Slice the bread on the counter | STEP 5: Walk with the knife towards small round table | STEP 6: Put the knife on the table | STEP 7: Walk towards the counter in front of fridge | STEP 8: Grab a slice of bread | STEP 9: Walk towards the small round table | STEP 10: Put the slice of bread on the small round table | STEP 11: Grab the knife from the round table | STEP 12: Walk with the knife towards counter on top of the dishwasher | STEP 13: Slice the bread on the counter | STEP 14: Walk towards the round table | STEP 15: Put the knife on the table | STEP 16: Walk towards the counter", "output": ["STEP 17: Grab a slice of bread"]} +{"id": "trial_T20190907_224551_648328-0%17", "input": "Slice both bread, take a slice of each put them on the small round table | STEP 1: Walk towards the counter | STEP 2: Grab a knife from the counter | STEP 3: Turn right and left from the counter | STEP 4: Slice the bread on the counter | STEP 5: Walk with the knife towards small round table | STEP 6: Put the knife on the table | STEP 7: Walk towards the counter in front of fridge | STEP 8: Grab a slice of bread | STEP 9: Walk towards the small round table | STEP 10: Put the slice of bread on the small round table | STEP 11: Grab the knife from the round table | STEP 12: Walk with the knife towards counter on top of the dishwasher | STEP 13: Slice the bread on the counter | STEP 14: Walk towards the round table | STEP 15: Put the knife on the table | STEP 16: Walk towards the counter | STEP 17: Grab a slice of bread", "output": ["STEP 18: Walk with the slice of bread towards the small round table"]} +{"id": "trial_T20190907_224551_648328-0%18", "input": "Slice both bread, take a slice of each put them on the small round table | STEP 1: Walk towards the counter | STEP 2: Grab a knife from the counter | STEP 3: Turn right and left from the counter | STEP 4: Slice the bread on the counter | STEP 5: Walk with the knife towards small round table | STEP 6: Put the knife on the table | STEP 7: Walk towards the counter in front of fridge | STEP 8: Grab a slice of bread | STEP 9: Walk towards the small round table | STEP 10: Put the slice of bread on the small round table | STEP 11: Grab the knife from the round table | STEP 12: Walk with the knife towards counter on top of the dishwasher | STEP 13: Slice the bread on the counter | STEP 14: Walk towards the round table | STEP 15: Put the knife on the table | STEP 16: Walk towards the counter | STEP 17: Grab a slice of bread | STEP 18: Walk with the slice of bread towards the small round table", "output": ["STEP 19: Put the slice of bread on the table"]} +{"id": "trial_T20190907_224551_648328-0%19", "input": "Slice both bread, take a slice of each put them on the small round table | STEP 1: Walk towards the counter | STEP 2: Grab a knife from the counter | STEP 3: Turn right and left from the counter | STEP 4: Slice the bread on the counter | STEP 5: Walk with the knife towards small round table | STEP 6: Put the knife on the table | STEP 7: Walk towards the counter in front of fridge | STEP 8: Grab a slice of bread | STEP 9: Walk towards the small round table | STEP 10: Put the slice of bread on the small round table | STEP 11: Grab the knife from the round table | STEP 12: Walk with the knife towards counter on top of the dishwasher | STEP 13: Slice the bread on the counter | STEP 14: Walk towards the round table | STEP 15: Put the knife on the table | STEP 16: Walk towards the counter | STEP 17: Grab a slice of bread | STEP 18: Walk with the slice of bread towards the small round table | STEP 19: Put the slice of bread on the table", "output": ["END"]} +{"id": "trial_T20190907_224551_648328-2%0", "input": "slice 2 pieces of bread put them on the grey table", "output": ["STEP 1: turn around and across the room"]} +{"id": "trial_T20190907_224551_648328-2%1", "input": "slice 2 pieces of bread put them on the grey table | STEP 1: turn around and across the room", "output": ["STEP 2: pick up the knife from the counter "]} +{"id": "trial_T20190907_224551_648328-2%2", "input": "slice 2 pieces of bread put them on the grey table | STEP 1: turn around and across the room | STEP 2: pick up the knife from the counter ", "output": ["STEP 3: turn to the right"]} +{"id": "trial_T20190907_224551_648328-2%3", "input": "slice 2 pieces of bread put them on the grey table | STEP 1: turn around and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the right", "output": ["STEP 4: slice the loaf of bread "]} +{"id": "trial_T20190907_224551_648328-2%4", "input": "slice 2 pieces of bread put them on the grey table | STEP 1: turn around and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the right | STEP 4: slice the loaf of bread ", "output": ["STEP 5: turn to the left and across the room"]} +{"id": "trial_T20190907_224551_648328-2%5", "input": "slice 2 pieces of bread put them on the grey table | STEP 1: turn around and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the right | STEP 4: slice the loaf of bread | STEP 5: turn to the left and across the room", "output": ["STEP 6: towards the grey table leave the knife on top of that table"]} +{"id": "trial_T20190907_224551_648328-2%6", "input": "slice 2 pieces of bread put them on the grey table | STEP 1: turn around and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the right | STEP 4: slice the loaf of bread | STEP 5: turn to the left and across the room | STEP 6: towards the grey table leave the knife on top of that table", "output": ["STEP 7: turn to the left and across the room"]} +{"id": "trial_T20190907_224551_648328-2%7", "input": "slice 2 pieces of bread put them on the grey table | STEP 1: turn around and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the right | STEP 4: slice the loaf of bread | STEP 5: turn to the left and across the room | STEP 6: towards the grey table leave the knife on top of that table | STEP 7: turn to the left and across the room", "output": ["STEP 8: pick up a slice of bread"]} +{"id": "trial_T20190907_224551_648328-2%8", "input": "slice 2 pieces of bread put them on the grey table | STEP 1: turn around and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the right | STEP 4: slice the loaf of bread | STEP 5: turn to the left and across the room | STEP 6: towards the grey table leave the knife on top of that table | STEP 7: turn to the left and across the room | STEP 8: pick up a slice of bread", "output": ["STEP 9: turn to the left and across the room"]} +{"id": "trial_T20190907_224551_648328-2%9", "input": "slice 2 pieces of bread put them on the grey table | STEP 1: turn around and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the right | STEP 4: slice the loaf of bread | STEP 5: turn to the left and across the room | STEP 6: towards the grey table leave the knife on top of that table | STEP 7: turn to the left and across the room | STEP 8: pick up a slice of bread | STEP 9: turn to the left and across the room", "output": ["STEP 10: face he grey table leave the slice of bread on top of the table"]} +{"id": "trial_T20190907_224551_648328-2%10", "input": "slice 2 pieces of bread put them on the grey table | STEP 1: turn around and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the right | STEP 4: slice the loaf of bread | STEP 5: turn to the left and across the room | STEP 6: towards the grey table leave the knife on top of that table | STEP 7: turn to the left and across the room | STEP 8: pick up a slice of bread | STEP 9: turn to the left and across the room | STEP 10: face he grey table leave the slice of bread on top of the table", "output": ["STEP 11: pick up the knife from the table"]} +{"id": "trial_T20190907_224551_648328-2%11", "input": "slice 2 pieces of bread put them on the grey table | STEP 1: turn around and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the right | STEP 4: slice the loaf of bread | STEP 5: turn to the left and across the room | STEP 6: towards the grey table leave the knife on top of that table | STEP 7: turn to the left and across the room | STEP 8: pick up a slice of bread | STEP 9: turn to the left and across the room | STEP 10: face he grey table leave the slice of bread on top of the table | STEP 11: pick up the knife from the table", "output": ["STEP 12: turn to the left"]} +{"id": "trial_T20190907_224551_648328-2%12", "input": "slice 2 pieces of bread put them on the grey table | STEP 1: turn around and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the right | STEP 4: slice the loaf of bread | STEP 5: turn to the left and across the room | STEP 6: towards the grey table leave the knife on top of that table | STEP 7: turn to the left and across the room | STEP 8: pick up a slice of bread | STEP 9: turn to the left and across the room | STEP 10: face he grey table leave the slice of bread on top of the table | STEP 11: pick up the knife from the table | STEP 12: turn to the left", "output": ["STEP 13: towards the counter slice another slice of bread "]} +{"id": "trial_T20190907_224551_648328-2%13", "input": "slice 2 pieces of bread put them on the grey table | STEP 1: turn around and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the right | STEP 4: slice the loaf of bread | STEP 5: turn to the left and across the room | STEP 6: towards the grey table leave the knife on top of that table | STEP 7: turn to the left and across the room | STEP 8: pick up a slice of bread | STEP 9: turn to the left and across the room | STEP 10: face he grey table leave the slice of bread on top of the table | STEP 11: pick up the knife from the table | STEP 12: turn to the left | STEP 13: towards the counter slice another slice of bread ", "output": ["STEP 14: turn to the right and across the room"]} +{"id": "trial_T20190907_224551_648328-2%14", "input": "slice 2 pieces of bread put them on the grey table | STEP 1: turn around and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the right | STEP 4: slice the loaf of bread | STEP 5: turn to the left and across the room | STEP 6: towards the grey table leave the knife on top of that table | STEP 7: turn to the left and across the room | STEP 8: pick up a slice of bread | STEP 9: turn to the left and across the room | STEP 10: face he grey table leave the slice of bread on top of the table | STEP 11: pick up the knife from the table | STEP 12: turn to the left | STEP 13: towards the counter slice another slice of bread | STEP 14: turn to the right and across the room", "output": ["STEP 15: face the grey table leave the knife on top the table"]} +{"id": "trial_T20190907_224551_648328-2%15", "input": "slice 2 pieces of bread put them on the grey table | STEP 1: turn around and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the right | STEP 4: slice the loaf of bread | STEP 5: turn to the left and across the room | STEP 6: towards the grey table leave the knife on top of that table | STEP 7: turn to the left and across the room | STEP 8: pick up a slice of bread | STEP 9: turn to the left and across the room | STEP 10: face he grey table leave the slice of bread on top of the table | STEP 11: pick up the knife from the table | STEP 12: turn to the left | STEP 13: towards the counter slice another slice of bread | STEP 14: turn to the right and across the room | STEP 15: face the grey table leave the knife on top the table", "output": ["STEP 16: turn to the left and across the room"]} +{"id": "trial_T20190907_224551_648328-2%16", "input": "slice 2 pieces of bread put them on the grey table | STEP 1: turn around and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the right | STEP 4: slice the loaf of bread | STEP 5: turn to the left and across the room | STEP 6: towards the grey table leave the knife on top of that table | STEP 7: turn to the left and across the room | STEP 8: pick up a slice of bread | STEP 9: turn to the left and across the room | STEP 10: face he grey table leave the slice of bread on top of the table | STEP 11: pick up the knife from the table | STEP 12: turn to the left | STEP 13: towards the counter slice another slice of bread | STEP 14: turn to the right and across the room | STEP 15: face the grey table leave the knife on top the table | STEP 16: turn to the left and across the room", "output": ["STEP 17: pick up a slice of bread"]} +{"id": "trial_T20190907_224551_648328-2%17", "input": "slice 2 pieces of bread put them on the grey table | STEP 1: turn around and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the right | STEP 4: slice the loaf of bread | STEP 5: turn to the left and across the room | STEP 6: towards the grey table leave the knife on top of that table | STEP 7: turn to the left and across the room | STEP 8: pick up a slice of bread | STEP 9: turn to the left and across the room | STEP 10: face he grey table leave the slice of bread on top of the table | STEP 11: pick up the knife from the table | STEP 12: turn to the left | STEP 13: towards the counter slice another slice of bread | STEP 14: turn to the right and across the room | STEP 15: face the grey table leave the knife on top the table | STEP 16: turn to the left and across the room | STEP 17: pick up a slice of bread", "output": ["STEP 18: turn to the right"]} +{"id": "trial_T20190907_224551_648328-2%18", "input": "slice 2 pieces of bread put them on the grey table | STEP 1: turn around and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the right | STEP 4: slice the loaf of bread | STEP 5: turn to the left and across the room | STEP 6: towards the grey table leave the knife on top of that table | STEP 7: turn to the left and across the room | STEP 8: pick up a slice of bread | STEP 9: turn to the left and across the room | STEP 10: face he grey table leave the slice of bread on top of the table | STEP 11: pick up the knife from the table | STEP 12: turn to the left | STEP 13: towards the counter slice another slice of bread | STEP 14: turn to the right and across the room | STEP 15: face the grey table leave the knife on top the table | STEP 16: turn to the left and across the room | STEP 17: pick up a slice of bread | STEP 18: turn to the right", "output": ["STEP 19: face the grey table leave the slice of bread on top of the table"]} +{"id": "trial_T20190907_224551_648328-2%19", "input": "slice 2 pieces of bread put them on the grey table | STEP 1: turn around and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the right | STEP 4: slice the loaf of bread | STEP 5: turn to the left and across the room | STEP 6: towards the grey table leave the knife on top of that table | STEP 7: turn to the left and across the room | STEP 8: pick up a slice of bread | STEP 9: turn to the left and across the room | STEP 10: face he grey table leave the slice of bread on top of the table | STEP 11: pick up the knife from the table | STEP 12: turn to the left | STEP 13: towards the counter slice another slice of bread | STEP 14: turn to the right and across the room | STEP 15: face the grey table leave the knife on top the table | STEP 16: turn to the left and across the room | STEP 17: pick up a slice of bread | STEP 18: turn to the right | STEP 19: face the grey table leave the slice of bread on top of the table", "output": ["END"]} +{"id": "trial_T20190906_230813_680347-2%0", "input": "Put a cold slice of potato in a bin.", "output": ["STEP 1: Turn around, go straight then turn right at the end of the counter next to the fridge."]} +{"id": "trial_T20190906_230813_680347-2%1", "input": "Put a cold slice of potato in a bin. | STEP 1: Turn around, go straight then turn right at the end of the counter next to the fridge.", "output": ["STEP 2: Take the yellow handle knife from the counter."]} +{"id": "trial_T20190906_230813_680347-2%2", "input": "Put a cold slice of potato in a bin. | STEP 1: Turn around, go straight then turn right at the end of the counter next to the fridge. | STEP 2: Take the yellow handle knife from the counter.", "output": ["STEP 3: Turn right, go straight to the end of the counter, turn left to face the sink."]} +{"id": "trial_T20190906_230813_680347-2%3", "input": "Put a cold slice of potato in a bin. | STEP 1: Turn around, go straight then turn right at the end of the counter next to the fridge. | STEP 2: Take the yellow handle knife from the counter. | STEP 3: Turn right, go straight to the end of the counter, turn left to face the sink.", "output": ["STEP 4: Cut the potato in the sink into slices."]} +{"id": "trial_T20190906_230813_680347-2%4", "input": "Put a cold slice of potato in a bin. | STEP 1: Turn around, go straight then turn right at the end of the counter next to the fridge. | STEP 2: Take the yellow handle knife from the counter. | STEP 3: Turn right, go straight to the end of the counter, turn left to face the sink. | STEP 4: Cut the potato in the sink into slices.", "output": ["STEP 5: Turn left, go straight then turn right to face the fridge."]} +{"id": "trial_T20190906_230813_680347-2%5", "input": "Put a cold slice of potato in a bin. | STEP 1: Turn around, go straight then turn right at the end of the counter next to the fridge. | STEP 2: Take the yellow handle knife from the counter. | STEP 3: Turn right, go straight to the end of the counter, turn left to face the sink. | STEP 4: Cut the potato in the sink into slices. | STEP 5: Turn left, go straight then turn right to face the fridge.", "output": ["STEP 6: Put the knife on the middle shelf in front of the apple in the fridge."]} +{"id": "trial_T20190906_230813_680347-2%6", "input": "Put a cold slice of potato in a bin. | STEP 1: Turn around, go straight then turn right at the end of the counter next to the fridge. | STEP 2: Take the yellow handle knife from the counter. | STEP 3: Turn right, go straight to the end of the counter, turn left to face the sink. | STEP 4: Cut the potato in the sink into slices. | STEP 5: Turn left, go straight then turn right to face the fridge. | STEP 6: Put the knife on the middle shelf in front of the apple in the fridge.", "output": ["STEP 7: Turn right, go straight to the end of the counter, turn left to face the sink."]} +{"id": "trial_T20190906_230813_680347-2%7", "input": "Put a cold slice of potato in a bin. | STEP 1: Turn around, go straight then turn right at the end of the counter next to the fridge. | STEP 2: Take the yellow handle knife from the counter. | STEP 3: Turn right, go straight to the end of the counter, turn left to face the sink. | STEP 4: Cut the potato in the sink into slices. | STEP 5: Turn left, go straight then turn right to face the fridge. | STEP 6: Put the knife on the middle shelf in front of the apple in the fridge. | STEP 7: Turn right, go straight to the end of the counter, turn left to face the sink.", "output": ["STEP 8: Take a slice of potato from the sink."]} +{"id": "trial_T20190906_230813_680347-2%8", "input": "Put a cold slice of potato in a bin. | STEP 1: Turn around, go straight then turn right at the end of the counter next to the fridge. | STEP 2: Take the yellow handle knife from the counter. | STEP 3: Turn right, go straight to the end of the counter, turn left to face the sink. | STEP 4: Cut the potato in the sink into slices. | STEP 5: Turn left, go straight then turn right to face the fridge. | STEP 6: Put the knife on the middle shelf in front of the apple in the fridge. | STEP 7: Turn right, go straight to the end of the counter, turn left to face the sink. | STEP 8: Take a slice of potato from the sink.", "output": ["STEP 9: Turn left, go straight then turn right to face the fridge."]} +{"id": "trial_T20190906_230813_680347-2%9", "input": "Put a cold slice of potato in a bin. | STEP 1: Turn around, go straight then turn right at the end of the counter next to the fridge. | STEP 2: Take the yellow handle knife from the counter. | STEP 3: Turn right, go straight to the end of the counter, turn left to face the sink. | STEP 4: Cut the potato in the sink into slices. | STEP 5: Turn left, go straight then turn right to face the fridge. | STEP 6: Put the knife on the middle shelf in front of the apple in the fridge. | STEP 7: Turn right, go straight to the end of the counter, turn left to face the sink. | STEP 8: Take a slice of potato from the sink. | STEP 9: Turn left, go straight then turn right to face the fridge.", "output": ["STEP 10: Put the potato on the top shelf of the fridge. Close then open the fridge. Take the potato from the fridge."]} +{"id": "trial_T20190906_230813_680347-2%10", "input": "Put a cold slice of potato in a bin. | STEP 1: Turn around, go straight then turn right at the end of the counter next to the fridge. | STEP 2: Take the yellow handle knife from the counter. | STEP 3: Turn right, go straight to the end of the counter, turn left to face the sink. | STEP 4: Cut the potato in the sink into slices. | STEP 5: Turn left, go straight then turn right to face the fridge. | STEP 6: Put the knife on the middle shelf in front of the apple in the fridge. | STEP 7: Turn right, go straight to the end of the counter, turn left to face the sink. | STEP 8: Take a slice of potato from the sink. | STEP 9: Turn left, go straight then turn right to face the fridge. | STEP 10: Put the potato on the top shelf of the fridge. Close then open the fridge. Take the potato from the fridge.", "output": ["STEP 11: Turn right, go straight to the blue bin in the corner across the room."]} +{"id": "trial_T20190906_230813_680347-2%11", "input": "Put a cold slice of potato in a bin. | STEP 1: Turn around, go straight then turn right at the end of the counter next to the fridge. | STEP 2: Take the yellow handle knife from the counter. | STEP 3: Turn right, go straight to the end of the counter, turn left to face the sink. | STEP 4: Cut the potato in the sink into slices. | STEP 5: Turn left, go straight then turn right to face the fridge. | STEP 6: Put the knife on the middle shelf in front of the apple in the fridge. | STEP 7: Turn right, go straight to the end of the counter, turn left to face the sink. | STEP 8: Take a slice of potato from the sink. | STEP 9: Turn left, go straight then turn right to face the fridge. | STEP 10: Put the potato on the top shelf of the fridge. Close then open the fridge. Take the potato from the fridge. | STEP 11: Turn right, go straight to the blue bin in the corner across the room.", "output": ["STEP 12: Put the potato in the blue bin."]} +{"id": "trial_T20190906_230813_680347-2%12", "input": "Put a cold slice of potato in a bin. | STEP 1: Turn around, go straight then turn right at the end of the counter next to the fridge. | STEP 2: Take the yellow handle knife from the counter. | STEP 3: Turn right, go straight to the end of the counter, turn left to face the sink. | STEP 4: Cut the potato in the sink into slices. | STEP 5: Turn left, go straight then turn right to face the fridge. | STEP 6: Put the knife on the middle shelf in front of the apple in the fridge. | STEP 7: Turn right, go straight to the end of the counter, turn left to face the sink. | STEP 8: Take a slice of potato from the sink. | STEP 9: Turn left, go straight then turn right to face the fridge. | STEP 10: Put the potato on the top shelf of the fridge. Close then open the fridge. Take the potato from the fridge. | STEP 11: Turn right, go straight to the blue bin in the corner across the room. | STEP 12: Put the potato in the blue bin.", "output": ["END"]} +{"id": "trial_T20190909_080313_591357-0%0", "input": "Warm up a cup of water in the microwave and put the cup on the counter.", "output": ["STEP 1: Turn right and walk towards the wall. Go to the counter to the right. "]} +{"id": "trial_T20190909_080313_591357-0%1", "input": "Warm up a cup of water in the microwave and put the cup on the counter. | STEP 1: Turn right and walk towards the wall. Go to the counter to the right. ", "output": ["STEP 2: Pick up the white cup on the counter."]} +{"id": "trial_T20190909_080313_591357-0%2", "input": "Warm up a cup of water in the microwave and put the cup on the counter. | STEP 1: Turn right and walk towards the wall. Go to the counter to the right. | STEP 2: Pick up the white cup on the counter.", "output": ["STEP 3: Turn around and turn left. Walk to the microwave above the refrigerator on the left."]} +{"id": "trial_T20190909_080313_591357-0%3", "input": "Warm up a cup of water in the microwave and put the cup on the counter. | STEP 1: Turn right and walk towards the wall. Go to the counter to the right. | STEP 2: Pick up the white cup on the counter. | STEP 3: Turn around and turn left. Walk to the microwave above the refrigerator on the left.", "output": ["STEP 4: Put the cup into the microwave. Take the cup out of the microwave."]} +{"id": "trial_T20190909_080313_591357-0%4", "input": "Warm up a cup of water in the microwave and put the cup on the counter. | STEP 1: Turn right and walk towards the wall. Go to the counter to the right. | STEP 2: Pick up the white cup on the counter. | STEP 3: Turn around and turn left. Walk to the microwave above the refrigerator on the left. | STEP 4: Put the cup into the microwave. Take the cup out of the microwave.", "output": ["STEP 5: Turn left and face the counter on the right side."]} +{"id": "trial_T20190909_080313_591357-0%5", "input": "Warm up a cup of water in the microwave and put the cup on the counter. | STEP 1: Turn right and walk towards the wall. Go to the counter to the right. | STEP 2: Pick up the white cup on the counter. | STEP 3: Turn around and turn left. Walk to the microwave above the refrigerator on the left. | STEP 4: Put the cup into the microwave. Take the cup out of the microwave. | STEP 5: Turn left and face the counter on the right side.", "output": ["STEP 6: Put the cup on the counter to the right side of the loaf of bread."]} +{"id": "trial_T20190909_080313_591357-0%6", "input": "Warm up a cup of water in the microwave and put the cup on the counter. | STEP 1: Turn right and walk towards the wall. Go to the counter to the right. | STEP 2: Pick up the white cup on the counter. | STEP 3: Turn around and turn left. Walk to the microwave above the refrigerator on the left. | STEP 4: Put the cup into the microwave. Take the cup out of the microwave. | STEP 5: Turn left and face the counter on the right side. | STEP 6: Put the cup on the counter to the right side of the loaf of bread.", "output": ["END"]} +{"id": "trial_T20190909_080313_591357-2%0", "input": "Put a heated mug on the counter, left of the bread. ", "output": ["STEP 1: Turn right, move to face the counter on the right."]} +{"id": "trial_T20190909_080313_591357-2%1", "input": "Put a heated mug on the counter, left of the bread. | STEP 1: Turn right, move to face the counter on the right.", "output": ["STEP 2: Pick up the white mug on the counter. "]} +{"id": "trial_T20190909_080313_591357-2%2", "input": "Put a heated mug on the counter, left of the bread. | STEP 1: Turn right, move to face the counter on the right. | STEP 2: Pick up the white mug on the counter. ", "output": ["STEP 3: Bring the mug over to the wall on the right, turn left to face the microwave up high."]} +{"id": "trial_T20190909_080313_591357-2%3", "input": "Put a heated mug on the counter, left of the bread. | STEP 1: Turn right, move to face the counter on the right. | STEP 2: Pick up the white mug on the counter. | STEP 3: Bring the mug over to the wall on the right, turn left to face the microwave up high.", "output": ["STEP 4: Heat the mug in the microwave. "]} +{"id": "trial_T20190909_080313_591357-2%4", "input": "Put a heated mug on the counter, left of the bread. | STEP 1: Turn right, move to face the counter on the right. | STEP 2: Pick up the white mug on the counter. | STEP 3: Bring the mug over to the wall on the right, turn left to face the microwave up high. | STEP 4: Heat the mug in the microwave. ", "output": ["STEP 5: Take the heated mug to the left, to the counter right of the stove."]} +{"id": "trial_T20190909_080313_591357-2%5", "input": "Put a heated mug on the counter, left of the bread. | STEP 1: Turn right, move to face the counter on the right. | STEP 2: Pick up the white mug on the counter. | STEP 3: Bring the mug over to the wall on the right, turn left to face the microwave up high. | STEP 4: Heat the mug in the microwave. | STEP 5: Take the heated mug to the left, to the counter right of the stove.", "output": ["STEP 6: Put the mug on counter, right of the bread. "]} +{"id": "trial_T20190909_080313_591357-2%6", "input": "Put a heated mug on the counter, left of the bread. | STEP 1: Turn right, move to face the counter on the right. | STEP 2: Pick up the white mug on the counter. | STEP 3: Bring the mug over to the wall on the right, turn left to face the microwave up high. | STEP 4: Heat the mug in the microwave. | STEP 5: Take the heated mug to the left, to the counter right of the stove. | STEP 6: Put the mug on counter, right of the bread. ", "output": ["END"]} +{"id": "trial_T20190909_074304_619036-0%0", "input": "Pick up the pen from the desk and turn the lamp on the white table.", "output": ["STEP 1: Head straight to the white table, turn right and walk to the brown desk."]} +{"id": "trial_T20190909_074304_619036-0%1", "input": "Pick up the pen from the desk and turn the lamp on the white table. | STEP 1: Head straight to the white table, turn right and walk to the brown desk.", "output": ["STEP 2: Pick up the pen from the brown desk."]} +{"id": "trial_T20190909_074304_619036-0%2", "input": "Pick up the pen from the desk and turn the lamp on the white table. | STEP 1: Head straight to the white table, turn right and walk to the brown desk. | STEP 2: Pick up the pen from the brown desk.", "output": ["STEP 3: Turn around and walk to the white table with the lamp on it."]} +{"id": "trial_T20190909_074304_619036-0%3", "input": "Pick up the pen from the desk and turn the lamp on the white table. | STEP 1: Head straight to the white table, turn right and walk to the brown desk. | STEP 2: Pick up the pen from the brown desk. | STEP 3: Turn around and walk to the white table with the lamp on it.", "output": ["STEP 4: Turn the lamp on next to the coffee cup."]} +{"id": "trial_T20190909_074304_619036-0%4", "input": "Pick up the pen from the desk and turn the lamp on the white table. | STEP 1: Head straight to the white table, turn right and walk to the brown desk. | STEP 2: Pick up the pen from the brown desk. | STEP 3: Turn around and walk to the white table with the lamp on it. | STEP 4: Turn the lamp on next to the coffee cup.", "output": ["END"]} +{"id": "trial_T20190907_161023_791569-1%0", "input": "Put the cold tomato in the sink", "output": ["STEP 1: Turn to your right, walk straight towards the window then turn left going to the table"]} +{"id": "trial_T20190907_161023_791569-1%1", "input": "Put the cold tomato in the sink | STEP 1: Turn to your right, walk straight towards the window then turn left going to the table", "output": ["STEP 2: Pick up the tomato on the table"]} +{"id": "trial_T20190907_161023_791569-1%2", "input": "Put the cold tomato in the sink | STEP 1: Turn to your right, walk straight towards the window then turn left going to the table | STEP 2: Pick up the tomato on the table", "output": ["STEP 3: Turn around to your left then right head to the fridge on your right"]} +{"id": "trial_T20190907_161023_791569-1%3", "input": "Put the cold tomato in the sink | STEP 1: Turn to your right, walk straight towards the window then turn left going to the table | STEP 2: Pick up the tomato on the table | STEP 3: Turn around to your left then right head to the fridge on your right", "output": ["STEP 4: Open the fridge put in and out the tomato then close the fridge"]} +{"id": "trial_T20190907_161023_791569-1%4", "input": "Put the cold tomato in the sink | STEP 1: Turn to your right, walk straight towards the window then turn left going to the table | STEP 2: Pick up the tomato on the table | STEP 3: Turn around to your left then right head to the fridge on your right | STEP 4: Open the fridge put in and out the tomato then close the fridge", "output": ["STEP 5: Turn to your right then walk straight then face to your left at the sink"]} +{"id": "trial_T20190907_161023_791569-1%5", "input": "Put the cold tomato in the sink | STEP 1: Turn to your right, walk straight towards the window then turn left going to the table | STEP 2: Pick up the tomato on the table | STEP 3: Turn around to your left then right head to the fridge on your right | STEP 4: Open the fridge put in and out the tomato then close the fridge | STEP 5: Turn to your right then walk straight then face to your left at the sink", "output": ["STEP 6: Put the tomato in the sink"]} +{"id": "trial_T20190907_161023_791569-1%6", "input": "Put the cold tomato in the sink | STEP 1: Turn to your right, walk straight towards the window then turn left going to the table | STEP 2: Pick up the tomato on the table | STEP 3: Turn around to your left then right head to the fridge on your right | STEP 4: Open the fridge put in and out the tomato then close the fridge | STEP 5: Turn to your right then walk straight then face to your left at the sink | STEP 6: Put the tomato in the sink", "output": ["END"]} +{"id": "trial_T20190907_042833_719963-0%0", "input": "Examine an alarm clock by the light of a desk lamp.", "output": ["STEP 1: Turn around and walk forward to the desk."]} +{"id": "trial_T20190907_042833_719963-0%1", "input": "Examine an alarm clock by the light of a desk lamp. | STEP 1: Turn around and walk forward to the desk.", "output": ["STEP 2: Pick up the alarm clock from the desk."]} +{"id": "trial_T20190907_042833_719963-0%2", "input": "Examine an alarm clock by the light of a desk lamp. | STEP 1: Turn around and walk forward to the desk. | STEP 2: Pick up the alarm clock from the desk.", "output": ["STEP 3: Walk in front of the lamp at the edge of the desk."]} +{"id": "trial_T20190907_042833_719963-0%3", "input": "Examine an alarm clock by the light of a desk lamp. | STEP 1: Turn around and walk forward to the desk. | STEP 2: Pick up the alarm clock from the desk. | STEP 3: Walk in front of the lamp at the edge of the desk.", "output": ["STEP 4: Turn on the lamp."]} +{"id": "trial_T20190907_042833_719963-0%4", "input": "Examine an alarm clock by the light of a desk lamp. | STEP 1: Turn around and walk forward to the desk. | STEP 2: Pick up the alarm clock from the desk. | STEP 3: Walk in front of the lamp at the edge of the desk. | STEP 4: Turn on the lamp.", "output": ["END"]} +{"id": "trial_T20190918_203732_214914-1%0", "input": "Heat an egg and put it on a counter.", "output": ["STEP 1: Walk to the kitchen sink on your left."]} +{"id": "trial_T20190918_203732_214914-1%1", "input": "Heat an egg and put it on a counter. | STEP 1: Walk to the kitchen sink on your left.", "output": ["STEP 2: Grab an egg from the sink."]} +{"id": "trial_T20190918_203732_214914-1%2", "input": "Heat an egg and put it on a counter. | STEP 1: Walk to the kitchen sink on your left. | STEP 2: Grab an egg from the sink.", "output": ["STEP 3: Walk to the microwave on your right."]} +{"id": "trial_T20190918_203732_214914-1%3", "input": "Heat an egg and put it on a counter. | STEP 1: Walk to the kitchen sink on your left. | STEP 2: Grab an egg from the sink. | STEP 3: Walk to the microwave on your right.", "output": ["STEP 4: Put the egg in the microwave, then take it out."]} +{"id": "trial_T20190918_203732_214914-1%4", "input": "Heat an egg and put it on a counter. | STEP 1: Walk to the kitchen sink on your left. | STEP 2: Grab an egg from the sink. | STEP 3: Walk to the microwave on your right. | STEP 4: Put the egg in the microwave, then take it out.", "output": ["STEP 5: Go to the kitchen counter to the left of the microwave."]} +{"id": "trial_T20190918_203732_214914-1%5", "input": "Heat an egg and put it on a counter. | STEP 1: Walk to the kitchen sink on your left. | STEP 2: Grab an egg from the sink. | STEP 3: Walk to the microwave on your right. | STEP 4: Put the egg in the microwave, then take it out. | STEP 5: Go to the kitchen counter to the left of the microwave.", "output": ["STEP 6: Place the egg on the counter."]} +{"id": "trial_T20190918_203732_214914-1%6", "input": "Heat an egg and put it on a counter. | STEP 1: Walk to the kitchen sink on your left. | STEP 2: Grab an egg from the sink. | STEP 3: Walk to the microwave on your right. | STEP 4: Put the egg in the microwave, then take it out. | STEP 5: Go to the kitchen counter to the left of the microwave. | STEP 6: Place the egg on the counter.", "output": ["END"]} +{"id": "trial_T20190918_203732_214914-2%0", "input": "cook and egg and put it on the counter", "output": ["STEP 1: go to the sink"]} +{"id": "trial_T20190918_203732_214914-2%1", "input": "cook and egg and put it on the counter | STEP 1: go to the sink", "output": ["STEP 2: pick u the egg from the sink"]} +{"id": "trial_T20190918_203732_214914-2%2", "input": "cook and egg and put it on the counter | STEP 1: go to the sink | STEP 2: pick u the egg from the sink", "output": ["STEP 3: take the egg to the microwave"]} +{"id": "trial_T20190918_203732_214914-2%3", "input": "cook and egg and put it on the counter | STEP 1: go to the sink | STEP 2: pick u the egg from the sink | STEP 3: take the egg to the microwave", "output": ["STEP 4: warm in the microwave"]} +{"id": "trial_T20190918_203732_214914-2%4", "input": "cook and egg and put it on the counter | STEP 1: go to the sink | STEP 2: pick u the egg from the sink | STEP 3: take the egg to the microwave | STEP 4: warm in the microwave", "output": ["STEP 5: take the cooked egg to the counter where the bread is"]} +{"id": "trial_T20190918_203732_214914-2%5", "input": "cook and egg and put it on the counter | STEP 1: go to the sink | STEP 2: pick u the egg from the sink | STEP 3: take the egg to the microwave | STEP 4: warm in the microwave | STEP 5: take the cooked egg to the counter where the bread is", "output": ["STEP 6: put the egg on the counter"]} +{"id": "trial_T20190918_203732_214914-2%6", "input": "cook and egg and put it on the counter | STEP 1: go to the sink | STEP 2: pick u the egg from the sink | STEP 3: take the egg to the microwave | STEP 4: warm in the microwave | STEP 5: take the cooked egg to the counter where the bread is | STEP 6: put the egg on the counter", "output": ["END"]} +{"id": "trial_T20190912_080556_504700-0%0", "input": "Put the spray bottle from the cabinet on the left edge of the counter.", "output": ["STEP 1: Turn around and face the sink."]} +{"id": "trial_T20190912_080556_504700-0%1", "input": "Put the spray bottle from the cabinet on the left edge of the counter. | STEP 1: Turn around and face the sink.", "output": ["STEP 2: Open the cabinet under the sink on the right and pick up the spray bottle."]} +{"id": "trial_T20190912_080556_504700-0%2", "input": "Put the spray bottle from the cabinet on the left edge of the counter. | STEP 1: Turn around and face the sink. | STEP 2: Open the cabinet under the sink on the right and pick up the spray bottle.", "output": ["STEP 3: Go to the left sink of the counter."]} +{"id": "trial_T20190912_080556_504700-0%3", "input": "Put the spray bottle from the cabinet on the left edge of the counter. | STEP 1: Turn around and face the sink. | STEP 2: Open the cabinet under the sink on the right and pick up the spray bottle. | STEP 3: Go to the left sink of the counter.", "output": ["STEP 4: Put the spray bottle on the left edge of the counter."]} +{"id": "trial_T20190912_080556_504700-0%4", "input": "Put the spray bottle from the cabinet on the left edge of the counter. | STEP 1: Turn around and face the sink. | STEP 2: Open the cabinet under the sink on the right and pick up the spray bottle. | STEP 3: Go to the left sink of the counter. | STEP 4: Put the spray bottle on the left edge of the counter.", "output": ["END"]} +{"id": "trial_T20190909_101117_022448-1%0", "input": "Put a cooked slice of potato in the recycling bin.", "output": ["STEP 1: Turn left and head to the coffee maker."]} +{"id": "trial_T20190909_101117_022448-1%1", "input": "Put a cooked slice of potato in the recycling bin. | STEP 1: Turn left and head to the coffee maker.", "output": ["STEP 2: Pick up the knife to the right of the coffee maker."]} +{"id": "trial_T20190909_101117_022448-1%2", "input": "Put a cooked slice of potato in the recycling bin. | STEP 1: Turn left and head to the coffee maker. | STEP 2: Pick up the knife to the right of the coffee maker.", "output": ["STEP 3: Go the to the sink."]} +{"id": "trial_T20190909_101117_022448-1%3", "input": "Put a cooked slice of potato in the recycling bin. | STEP 1: Turn left and head to the coffee maker. | STEP 2: Pick up the knife to the right of the coffee maker. | STEP 3: Go the to the sink.", "output": ["STEP 4: Cut the potato in the sink."]} +{"id": "trial_T20190909_101117_022448-1%4", "input": "Put a cooked slice of potato in the recycling bin. | STEP 1: Turn left and head to the coffee maker. | STEP 2: Pick up the knife to the right of the coffee maker. | STEP 3: Go the to the sink. | STEP 4: Cut the potato in the sink.", "output": ["STEP 5: Turn right and head to the recycling bin in the corner."]} +{"id": "trial_T20190909_101117_022448-1%5", "input": "Put a cooked slice of potato in the recycling bin. | STEP 1: Turn left and head to the coffee maker. | STEP 2: Pick up the knife to the right of the coffee maker. | STEP 3: Go the to the sink. | STEP 4: Cut the potato in the sink. | STEP 5: Turn right and head to the recycling bin in the corner.", "output": ["STEP 6: Put the knife in the recycling bin."]} +{"id": "trial_T20190909_101117_022448-1%6", "input": "Put a cooked slice of potato in the recycling bin. | STEP 1: Turn left and head to the coffee maker. | STEP 2: Pick up the knife to the right of the coffee maker. | STEP 3: Go the to the sink. | STEP 4: Cut the potato in the sink. | STEP 5: Turn right and head to the recycling bin in the corner. | STEP 6: Put the knife in the recycling bin.", "output": ["STEP 7: Turn around and go back to the sink."]} +{"id": "trial_T20190909_101117_022448-1%7", "input": "Put a cooked slice of potato in the recycling bin. | STEP 1: Turn left and head to the coffee maker. | STEP 2: Pick up the knife to the right of the coffee maker. | STEP 3: Go the to the sink. | STEP 4: Cut the potato in the sink. | STEP 5: Turn right and head to the recycling bin in the corner. | STEP 6: Put the knife in the recycling bin. | STEP 7: Turn around and go back to the sink.", "output": ["STEP 8: Pick up a slice of potato in the sink."]} +{"id": "trial_T20190909_101117_022448-1%8", "input": "Put a cooked slice of potato in the recycling bin. | STEP 1: Turn left and head to the coffee maker. | STEP 2: Pick up the knife to the right of the coffee maker. | STEP 3: Go the to the sink. | STEP 4: Cut the potato in the sink. | STEP 5: Turn right and head to the recycling bin in the corner. | STEP 6: Put the knife in the recycling bin. | STEP 7: Turn around and go back to the sink. | STEP 8: Pick up a slice of potato in the sink.", "output": ["STEP 9: Turn around and head to the microwave above the stove."]} +{"id": "trial_T20190909_101117_022448-1%9", "input": "Put a cooked slice of potato in the recycling bin. | STEP 1: Turn left and head to the coffee maker. | STEP 2: Pick up the knife to the right of the coffee maker. | STEP 3: Go the to the sink. | STEP 4: Cut the potato in the sink. | STEP 5: Turn right and head to the recycling bin in the corner. | STEP 6: Put the knife in the recycling bin. | STEP 7: Turn around and go back to the sink. | STEP 8: Pick up a slice of potato in the sink. | STEP 9: Turn around and head to the microwave above the stove.", "output": ["STEP 10: Cook the slice of potato in the microwave and pick it back up."]} +{"id": "trial_T20190909_101117_022448-1%10", "input": "Put a cooked slice of potato in the recycling bin. | STEP 1: Turn left and head to the coffee maker. | STEP 2: Pick up the knife to the right of the coffee maker. | STEP 3: Go the to the sink. | STEP 4: Cut the potato in the sink. | STEP 5: Turn right and head to the recycling bin in the corner. | STEP 6: Put the knife in the recycling bin. | STEP 7: Turn around and go back to the sink. | STEP 8: Pick up a slice of potato in the sink. | STEP 9: Turn around and head to the microwave above the stove. | STEP 10: Cook the slice of potato in the microwave and pick it back up.", "output": ["STEP 11: Turn left and head to the recycling bin."]} +{"id": "trial_T20190909_101117_022448-1%11", "input": "Put a cooked slice of potato in the recycling bin. | STEP 1: Turn left and head to the coffee maker. | STEP 2: Pick up the knife to the right of the coffee maker. | STEP 3: Go the to the sink. | STEP 4: Cut the potato in the sink. | STEP 5: Turn right and head to the recycling bin in the corner. | STEP 6: Put the knife in the recycling bin. | STEP 7: Turn around and go back to the sink. | STEP 8: Pick up a slice of potato in the sink. | STEP 9: Turn around and head to the microwave above the stove. | STEP 10: Cook the slice of potato in the microwave and pick it back up. | STEP 11: Turn left and head to the recycling bin.", "output": ["STEP 12: Put the slice of potato in the recycling bin."]} +{"id": "trial_T20190909_101117_022448-1%12", "input": "Put a cooked slice of potato in the recycling bin. | STEP 1: Turn left and head to the coffee maker. | STEP 2: Pick up the knife to the right of the coffee maker. | STEP 3: Go the to the sink. | STEP 4: Cut the potato in the sink. | STEP 5: Turn right and head to the recycling bin in the corner. | STEP 6: Put the knife in the recycling bin. | STEP 7: Turn around and go back to the sink. | STEP 8: Pick up a slice of potato in the sink. | STEP 9: Turn around and head to the microwave above the stove. | STEP 10: Cook the slice of potato in the microwave and pick it back up. | STEP 11: Turn left and head to the recycling bin. | STEP 12: Put the slice of potato in the recycling bin.", "output": ["END"]} +{"id": "trial_T20190909_101117_022448-2%0", "input": "To heat a potato slice plus place it in the trash can.", "output": ["STEP 1: Turn left and walk forward and then turn right to face the counter by the coffee maker."]} +{"id": "trial_T20190909_101117_022448-2%1", "input": "To heat a potato slice plus place it in the trash can. | STEP 1: Turn left and walk forward and then turn right to face the counter by the coffee maker.", "output": ["STEP 2: Pick up the knife on the counter."]} +{"id": "trial_T20190909_101117_022448-2%2", "input": "To heat a potato slice plus place it in the trash can. | STEP 1: Turn left and walk forward and then turn right to face the counter by the coffee maker. | STEP 2: Pick up the knife on the counter.", "output": ["STEP 3: Step to the right to face the sink."]} +{"id": "trial_T20190909_101117_022448-2%3", "input": "To heat a potato slice plus place it in the trash can. | STEP 1: Turn left and walk forward and then turn right to face the counter by the coffee maker. | STEP 2: Pick up the knife on the counter. | STEP 3: Step to the right to face the sink.", "output": ["STEP 4: Cut the potato in the sink into slices."]} +{"id": "trial_T20190909_101117_022448-2%4", "input": "To heat a potato slice plus place it in the trash can. | STEP 1: Turn left and walk forward and then turn right to face the counter by the coffee maker. | STEP 2: Pick up the knife on the counter. | STEP 3: Step to the right to face the sink. | STEP 4: Cut the potato in the sink into slices.", "output": ["STEP 5: Turn right and walk over to face the trash can."]} +{"id": "trial_T20190909_101117_022448-2%5", "input": "To heat a potato slice plus place it in the trash can. | STEP 1: Turn left and walk forward and then turn right to face the counter by the coffee maker. | STEP 2: Pick up the knife on the counter. | STEP 3: Step to the right to face the sink. | STEP 4: Cut the potato in the sink into slices. | STEP 5: Turn right and walk over to face the trash can.", "output": ["STEP 6: Place the knife in the trash can."]} +{"id": "trial_T20190909_101117_022448-2%6", "input": "To heat a potato slice plus place it in the trash can. | STEP 1: Turn left and walk forward and then turn right to face the counter by the coffee maker. | STEP 2: Pick up the knife on the counter. | STEP 3: Step to the right to face the sink. | STEP 4: Cut the potato in the sink into slices. | STEP 5: Turn right and walk over to face the trash can. | STEP 6: Place the knife in the trash can.", "output": ["STEP 7: Turn left and step forward to face the sink."]} +{"id": "trial_T20190909_101117_022448-2%7", "input": "To heat a potato slice plus place it in the trash can. | STEP 1: Turn left and walk forward and then turn right to face the counter by the coffee maker. | STEP 2: Pick up the knife on the counter. | STEP 3: Step to the right to face the sink. | STEP 4: Cut the potato in the sink into slices. | STEP 5: Turn right and walk over to face the trash can. | STEP 6: Place the knife in the trash can. | STEP 7: Turn left and step forward to face the sink.", "output": ["STEP 8: Pick up a potato slice in the sink."]} +{"id": "trial_T20190909_101117_022448-2%8", "input": "To heat a potato slice plus place it in the trash can. | STEP 1: Turn left and walk forward and then turn right to face the counter by the coffee maker. | STEP 2: Pick up the knife on the counter. | STEP 3: Step to the right to face the sink. | STEP 4: Cut the potato in the sink into slices. | STEP 5: Turn right and walk over to face the trash can. | STEP 6: Place the knife in the trash can. | STEP 7: Turn left and step forward to face the sink. | STEP 8: Pick up a potato slice in the sink.", "output": ["STEP 9: Turn around and step forward to face the microwave."]} +{"id": "trial_T20190909_101117_022448-2%9", "input": "To heat a potato slice plus place it in the trash can. | STEP 1: Turn left and walk forward and then turn right to face the counter by the coffee maker. | STEP 2: Pick up the knife on the counter. | STEP 3: Step to the right to face the sink. | STEP 4: Cut the potato in the sink into slices. | STEP 5: Turn right and walk over to face the trash can. | STEP 6: Place the knife in the trash can. | STEP 7: Turn left and step forward to face the sink. | STEP 8: Pick up a potato slice in the sink. | STEP 9: Turn around and step forward to face the microwave.", "output": ["STEP 10: Heat the potato slice in the microwave and remove it."]} +{"id": "trial_T20190909_101117_022448-2%10", "input": "To heat a potato slice plus place it in the trash can. | STEP 1: Turn left and walk forward and then turn right to face the counter by the coffee maker. | STEP 2: Pick up the knife on the counter. | STEP 3: Step to the right to face the sink. | STEP 4: Cut the potato in the sink into slices. | STEP 5: Turn right and walk over to face the trash can. | STEP 6: Place the knife in the trash can. | STEP 7: Turn left and step forward to face the sink. | STEP 8: Pick up a potato slice in the sink. | STEP 9: Turn around and step forward to face the microwave. | STEP 10: Heat the potato slice in the microwave and remove it.", "output": ["STEP 11: Turn left and walk forward to face the trash can."]} +{"id": "trial_T20190909_101117_022448-2%11", "input": "To heat a potato slice plus place it in the trash can. | STEP 1: Turn left and walk forward and then turn right to face the counter by the coffee maker. | STEP 2: Pick up the knife on the counter. | STEP 3: Step to the right to face the sink. | STEP 4: Cut the potato in the sink into slices. | STEP 5: Turn right and walk over to face the trash can. | STEP 6: Place the knife in the trash can. | STEP 7: Turn left and step forward to face the sink. | STEP 8: Pick up a potato slice in the sink. | STEP 9: Turn around and step forward to face the microwave. | STEP 10: Heat the potato slice in the microwave and remove it. | STEP 11: Turn left and walk forward to face the trash can.", "output": ["STEP 12: Place the potato slice in the trash can."]} +{"id": "trial_T20190909_101117_022448-2%12", "input": "To heat a potato slice plus place it in the trash can. | STEP 1: Turn left and walk forward and then turn right to face the counter by the coffee maker. | STEP 2: Pick up the knife on the counter. | STEP 3: Step to the right to face the sink. | STEP 4: Cut the potato in the sink into slices. | STEP 5: Turn right and walk over to face the trash can. | STEP 6: Place the knife in the trash can. | STEP 7: Turn left and step forward to face the sink. | STEP 8: Pick up a potato slice in the sink. | STEP 9: Turn around and step forward to face the microwave. | STEP 10: Heat the potato slice in the microwave and remove it. | STEP 11: Turn left and walk forward to face the trash can. | STEP 12: Place the potato slice in the trash can.", "output": ["END"]} +{"id": "trial_T20190907_164731_907205-2%0", "input": "Take the mug and pen to the dresser.", "output": ["STEP 1: Turn right, turn right again and go to the dresser"]} +{"id": "trial_T20190907_164731_907205-2%1", "input": "Take the mug and pen to the dresser. | STEP 1: Turn right, turn right again and go to the dresser", "output": ["STEP 2: Pick up the pen from the dresser."]} +{"id": "trial_T20190907_164731_907205-2%2", "input": "Take the mug and pen to the dresser. | STEP 1: Turn right, turn right again and go to the dresser | STEP 2: Pick up the pen from the dresser.", "output": ["STEP 3: Turn around and take the pen to the desk."]} +{"id": "trial_T20190907_164731_907205-2%3", "input": "Take the mug and pen to the dresser. | STEP 1: Turn right, turn right again and go to the dresser | STEP 2: Pick up the pen from the dresser. | STEP 3: Turn around and take the pen to the desk.", "output": ["STEP 4: Put the pen in the mug on the desk."]} +{"id": "trial_T20190907_164731_907205-2%4", "input": "Take the mug and pen to the dresser. | STEP 1: Turn right, turn right again and go to the dresser | STEP 2: Pick up the pen from the dresser. | STEP 3: Turn around and take the pen to the desk. | STEP 4: Put the pen in the mug on the desk.", "output": ["STEP 5: Pick up the mug with the pen inside."]} +{"id": "trial_T20190907_164731_907205-2%5", "input": "Take the mug and pen to the dresser. | STEP 1: Turn right, turn right again and go to the dresser | STEP 2: Pick up the pen from the dresser. | STEP 3: Turn around and take the pen to the desk. | STEP 4: Put the pen in the mug on the desk. | STEP 5: Pick up the mug with the pen inside.", "output": ["STEP 6: Turn right and walk to the dresser."]} +{"id": "trial_T20190907_164731_907205-2%6", "input": "Take the mug and pen to the dresser. | STEP 1: Turn right, turn right again and go to the dresser | STEP 2: Pick up the pen from the dresser. | STEP 3: Turn around and take the pen to the desk. | STEP 4: Put the pen in the mug on the desk. | STEP 5: Pick up the mug with the pen inside. | STEP 6: Turn right and walk to the dresser.", "output": ["STEP 7: Set the mug on the dresser."]} +{"id": "trial_T20190907_164731_907205-2%7", "input": "Take the mug and pen to the dresser. | STEP 1: Turn right, turn right again and go to the dresser | STEP 2: Pick up the pen from the dresser. | STEP 3: Turn around and take the pen to the desk. | STEP 4: Put the pen in the mug on the desk. | STEP 5: Pick up the mug with the pen inside. | STEP 6: Turn right and walk to the dresser. | STEP 7: Set the mug on the dresser.", "output": ["END"]} +{"id": "trial_T20190908_123406_806951-1%0", "input": "Put a clean bar of soap in the tub.", "output": ["STEP 1: Move to the right and face the tub."]} +{"id": "trial_T20190908_123406_806951-1%1", "input": "Put a clean bar of soap in the tub. | STEP 1: Move to the right and face the tub.", "output": ["STEP 2: Pick the soap up from the tub."]} +{"id": "trial_T20190908_123406_806951-1%2", "input": "Put a clean bar of soap in the tub. | STEP 1: Move to the right and face the tub. | STEP 2: Pick the soap up from the tub.", "output": ["STEP 3: Turn around and turn to the left to face the right side of the sink."]} +{"id": "trial_T20190908_123406_806951-1%3", "input": "Put a clean bar of soap in the tub. | STEP 1: Move to the right and face the tub. | STEP 2: Pick the soap up from the tub. | STEP 3: Turn around and turn to the left to face the right side of the sink.", "output": ["STEP 4: Put the soap in the sink and turn the water on and then off and pick the soap up again."]} +{"id": "trial_T20190908_123406_806951-1%4", "input": "Put a clean bar of soap in the tub. | STEP 1: Move to the right and face the tub. | STEP 2: Pick the soap up from the tub. | STEP 3: Turn around and turn to the left to face the right side of the sink. | STEP 4: Put the soap in the sink and turn the water on and then off and pick the soap up again.", "output": ["STEP 5: Turn to the left to face the tub."]} +{"id": "trial_T20190908_123406_806951-1%5", "input": "Put a clean bar of soap in the tub. | STEP 1: Move to the right and face the tub. | STEP 2: Pick the soap up from the tub. | STEP 3: Turn around and turn to the left to face the right side of the sink. | STEP 4: Put the soap in the sink and turn the water on and then off and pick the soap up again. | STEP 5: Turn to the left to face the tub.", "output": ["STEP 6: Put the soap in the tub."]} +{"id": "trial_T20190908_123406_806951-1%6", "input": "Put a clean bar of soap in the tub. | STEP 1: Move to the right and face the tub. | STEP 2: Pick the soap up from the tub. | STEP 3: Turn around and turn to the left to face the right side of the sink. | STEP 4: Put the soap in the sink and turn the water on and then off and pick the soap up again. | STEP 5: Turn to the left to face the tub. | STEP 6: Put the soap in the tub.", "output": ["END"]} +{"id": "trial_T20190907_071842_740425-0%0", "input": "Read the book next to the light of the desk lamp.", "output": ["STEP 1: Turn right towards the desk and then turn right towards the dresser."]} +{"id": "trial_T20190907_071842_740425-0%1", "input": "Read the book next to the light of the desk lamp. | STEP 1: Turn right towards the desk and then turn right towards the dresser.", "output": ["STEP 2: Pick up the book on the dresser."]} +{"id": "trial_T20190907_071842_740425-0%2", "input": "Read the book next to the light of the desk lamp. | STEP 1: Turn right towards the desk and then turn right towards the dresser. | STEP 2: Pick up the book on the dresser.", "output": ["STEP 3: Turn around and head towards the lamp on the desk."]} +{"id": "trial_T20190907_071842_740425-0%3", "input": "Read the book next to the light of the desk lamp. | STEP 1: Turn right towards the desk and then turn right towards the dresser. | STEP 2: Pick up the book on the dresser. | STEP 3: Turn around and head towards the lamp on the desk.", "output": ["STEP 4: Turn on the lamp."]} +{"id": "trial_T20190907_071842_740425-0%4", "input": "Read the book next to the light of the desk lamp. | STEP 1: Turn right towards the desk and then turn right towards the dresser. | STEP 2: Pick up the book on the dresser. | STEP 3: Turn around and head towards the lamp on the desk. | STEP 4: Turn on the lamp.", "output": ["END"]} +{"id": "trial_T20190907_071842_740425-2%0", "input": "Examine a textbook by the light of a desk lamp.", "output": ["STEP 1: Turn around and walk to the dresser that is against the wall."]} +{"id": "trial_T20190907_071842_740425-2%1", "input": "Examine a textbook by the light of a desk lamp. | STEP 1: Turn around and walk to the dresser that is against the wall.", "output": ["STEP 2: Pick up the textbook from the dresser."]} +{"id": "trial_T20190907_071842_740425-2%2", "input": "Examine a textbook by the light of a desk lamp. | STEP 1: Turn around and walk to the dresser that is against the wall. | STEP 2: Pick up the textbook from the dresser.", "output": ["STEP 3: Turn around and walk to the front of the lamp on the desk."]} +{"id": "trial_T20190907_071842_740425-2%3", "input": "Examine a textbook by the light of a desk lamp. | STEP 1: Turn around and walk to the dresser that is against the wall. | STEP 2: Pick up the textbook from the dresser. | STEP 3: Turn around and walk to the front of the lamp on the desk.", "output": ["STEP 4: Turn on the lamp."]} +{"id": "trial_T20190907_071842_740425-2%4", "input": "Examine a textbook by the light of a desk lamp. | STEP 1: Turn around and walk to the dresser that is against the wall. | STEP 2: Pick up the textbook from the dresser. | STEP 3: Turn around and walk to the front of the lamp on the desk. | STEP 4: Turn on the lamp.", "output": ["END"]} +{"id": "trial_T20190907_172648_626804-0%0", "input": "Put a glass with a spoon in it in the sink.", "output": ["STEP 1: Turn left walk across the room, then hang a left and walk up to the round table."]} +{"id": "trial_T20190907_172648_626804-0%1", "input": "Put a glass with a spoon in it in the sink. | STEP 1: Turn left walk across the room, then hang a left and walk up to the round table.", "output": ["STEP 2: Pick up the glass with the spoon in it that is on the round table."]} +{"id": "trial_T20190907_172648_626804-0%2", "input": "Put a glass with a spoon in it in the sink. | STEP 1: Turn left walk across the room, then hang a left and walk up to the round table. | STEP 2: Pick up the glass with the spoon in it that is on the round table.", "output": ["STEP 3: Turn around and begin walking across the room, the turn right and walk over to the sink."]} +{"id": "trial_T20190907_172648_626804-0%3", "input": "Put a glass with a spoon in it in the sink. | STEP 1: Turn left walk across the room, then hang a left and walk up to the round table. | STEP 2: Pick up the glass with the spoon in it that is on the round table. | STEP 3: Turn around and begin walking across the room, the turn right and walk over to the sink.", "output": ["STEP 4: Place the glass with the spoon inside of it into the sink basin."]} +{"id": "trial_T20190907_172648_626804-0%4", "input": "Put a glass with a spoon in it in the sink. | STEP 1: Turn left walk across the room, then hang a left and walk up to the round table. | STEP 2: Pick up the glass with the spoon in it that is on the round table. | STEP 3: Turn around and begin walking across the room, the turn right and walk over to the sink. | STEP 4: Place the glass with the spoon inside of it into the sink basin.", "output": ["END"]} +{"id": "trial_T20190907_172648_626804-2%0", "input": "Putting away dirty glass and spoon in the sink", "output": ["STEP 1: Turn left and walk straight to the end of the kitchen then turn left and walk to the round table"]} +{"id": "trial_T20190907_172648_626804-2%1", "input": "Putting away dirty glass and spoon in the sink | STEP 1: Turn left and walk straight to the end of the kitchen then turn left and walk to the round table", "output": ["STEP 2: Pick up the clear cup with the spoon inside"]} +{"id": "trial_T20190907_172648_626804-2%2", "input": "Putting away dirty glass and spoon in the sink | STEP 1: Turn left and walk straight to the end of the kitchen then turn left and walk to the round table | STEP 2: Pick up the clear cup with the spoon inside", "output": ["STEP 3: Turn around walk straight then turn right and right again to face the kitchen sink"]} +{"id": "trial_T20190907_172648_626804-2%3", "input": "Putting away dirty glass and spoon in the sink | STEP 1: Turn left and walk straight to the end of the kitchen then turn left and walk to the round table | STEP 2: Pick up the clear cup with the spoon inside | STEP 3: Turn around walk straight then turn right and right again to face the kitchen sink", "output": ["STEP 4: Place the glass and spoon in the sink"]} +{"id": "trial_T20190907_172648_626804-2%4", "input": "Putting away dirty glass and spoon in the sink | STEP 1: Turn left and walk straight to the end of the kitchen then turn left and walk to the round table | STEP 2: Pick up the clear cup with the spoon inside | STEP 3: Turn around walk straight then turn right and right again to face the kitchen sink | STEP 4: Place the glass and spoon in the sink", "output": ["END"]} +{"id": "trial_T20190908_095813_688861-2%0", "input": "move the tea pot from the shelf to the coffee table", "output": ["STEP 1: turn around, walk to the brown shelves"]} +{"id": "trial_T20190908_095813_688861-2%1", "input": "move the tea pot from the shelf to the coffee table | STEP 1: turn around, walk to the brown shelves", "output": ["STEP 2: pick up the tea pot from the bottom shelf"]} +{"id": "trial_T20190908_095813_688861-2%2", "input": "move the tea pot from the shelf to the coffee table | STEP 1: turn around, walk to the brown shelves | STEP 2: pick up the tea pot from the bottom shelf", "output": ["STEP 3: turn left, take a few steps, turn left, walk forward, turn left to face the coffee table"]} +{"id": "trial_T20190908_095813_688861-2%3", "input": "move the tea pot from the shelf to the coffee table | STEP 1: turn around, walk to the brown shelves | STEP 2: pick up the tea pot from the bottom shelf | STEP 3: turn left, take a few steps, turn left, walk forward, turn left to face the coffee table", "output": ["STEP 4: put the tea pot on the coffee table"]} +{"id": "trial_T20190908_095813_688861-2%4", "input": "move the tea pot from the shelf to the coffee table | STEP 1: turn around, walk to the brown shelves | STEP 2: pick up the tea pot from the bottom shelf | STEP 3: turn left, take a few steps, turn left, walk forward, turn left to face the coffee table | STEP 4: put the tea pot on the coffee table", "output": ["END"]} +{"id": "trial_T20190906_194139_042780-2%0", "input": "Place the sponge in the blue bowl on the counter.", "output": ["STEP 1: Walk straight towards the round table."]} +{"id": "trial_T20190906_194139_042780-2%1", "input": "Place the sponge in the blue bowl on the counter. | STEP 1: Walk straight towards the round table.", "output": ["STEP 2: Pick up the green sponge from the table."]} +{"id": "trial_T20190906_194139_042780-2%2", "input": "Place the sponge in the blue bowl on the counter. | STEP 1: Walk straight towards the round table. | STEP 2: Pick up the green sponge from the table.", "output": ["STEP 3: Turn around, walk past the sink, turn right towards the wall, then turn left to face the kettle on the counter."]} +{"id": "trial_T20190906_194139_042780-2%3", "input": "Place the sponge in the blue bowl on the counter. | STEP 1: Walk straight towards the round table. | STEP 2: Pick up the green sponge from the table. | STEP 3: Turn around, walk past the sink, turn right towards the wall, then turn left to face the kettle on the counter.", "output": ["STEP 4: Open the left cabinet towards the top of the kettle and place the sponge in the blue bowl."]} +{"id": "trial_T20190906_194139_042780-2%4", "input": "Place the sponge in the blue bowl on the counter. | STEP 1: Walk straight towards the round table. | STEP 2: Pick up the green sponge from the table. | STEP 3: Turn around, walk past the sink, turn right towards the wall, then turn left to face the kettle on the counter. | STEP 4: Open the left cabinet towards the top of the kettle and place the sponge in the blue bowl.", "output": ["STEP 5: Take out the bowl from the cabinet and close the door."]} +{"id": "trial_T20190906_194139_042780-2%5", "input": "Place the sponge in the blue bowl on the counter. | STEP 1: Walk straight towards the round table. | STEP 2: Pick up the green sponge from the table. | STEP 3: Turn around, walk past the sink, turn right towards the wall, then turn left to face the kettle on the counter. | STEP 4: Open the left cabinet towards the top of the kettle and place the sponge in the blue bowl. | STEP 5: Take out the bowl from the cabinet and close the door.", "output": ["STEP 6: Look down at the counter."]} +{"id": "trial_T20190906_194139_042780-2%6", "input": "Place the sponge in the blue bowl on the counter. | STEP 1: Walk straight towards the round table. | STEP 2: Pick up the green sponge from the table. | STEP 3: Turn around, walk past the sink, turn right towards the wall, then turn left to face the kettle on the counter. | STEP 4: Open the left cabinet towards the top of the kettle and place the sponge in the blue bowl. | STEP 5: Take out the bowl from the cabinet and close the door. | STEP 6: Look down at the counter.", "output": ["STEP 7: Place the bowl to the left of the lettuce on the counter."]} +{"id": "trial_T20190906_194139_042780-2%7", "input": "Place the sponge in the blue bowl on the counter. | STEP 1: Walk straight towards the round table. | STEP 2: Pick up the green sponge from the table. | STEP 3: Turn around, walk past the sink, turn right towards the wall, then turn left to face the kettle on the counter. | STEP 4: Open the left cabinet towards the top of the kettle and place the sponge in the blue bowl. | STEP 5: Take out the bowl from the cabinet and close the door. | STEP 6: Look down at the counter. | STEP 7: Place the bowl to the left of the lettuce on the counter.", "output": ["END"]} +{"id": "trial_T20190909_080350_412023-2%0", "input": "Put the heated mug on the counter", "output": ["STEP 1: Turn right then walk forward towards the coffee maker on your left"]} +{"id": "trial_T20190909_080350_412023-2%1", "input": "Put the heated mug on the counter | STEP 1: Turn right then walk forward towards the coffee maker on your left", "output": ["STEP 2: Pick up the mug on the coffee maker"]} +{"id": "trial_T20190909_080350_412023-2%2", "input": "Put the heated mug on the counter | STEP 1: Turn right then walk forward towards the coffee maker on your left | STEP 2: Pick up the mug on the coffee maker", "output": ["STEP 3: Turn left then head to the microwave"]} +{"id": "trial_T20190909_080350_412023-2%3", "input": "Put the heated mug on the counter | STEP 1: Turn right then walk forward towards the coffee maker on your left | STEP 2: Pick up the mug on the coffee maker | STEP 3: Turn left then head to the microwave", "output": ["STEP 4: Open the microwave heat up the mug then take it out and close the microwave"]} +{"id": "trial_T20190909_080350_412023-2%4", "input": "Put the heated mug on the counter | STEP 1: Turn right then walk forward towards the coffee maker on your left | STEP 2: Pick up the mug on the coffee maker | STEP 3: Turn left then head to the microwave | STEP 4: Open the microwave heat up the mug then take it out and close the microwave", "output": ["STEP 5: Turn left then head to the right side counter of the stove"]} +{"id": "trial_T20190909_080350_412023-2%5", "input": "Put the heated mug on the counter | STEP 1: Turn right then walk forward towards the coffee maker on your left | STEP 2: Pick up the mug on the coffee maker | STEP 3: Turn left then head to the microwave | STEP 4: Open the microwave heat up the mug then take it out and close the microwave | STEP 5: Turn left then head to the right side counter of the stove", "output": ["STEP 6: Put the mug on the counter"]} +{"id": "trial_T20190909_080350_412023-2%6", "input": "Put the heated mug on the counter | STEP 1: Turn right then walk forward towards the coffee maker on your left | STEP 2: Pick up the mug on the coffee maker | STEP 3: Turn left then head to the microwave | STEP 4: Open the microwave heat up the mug then take it out and close the microwave | STEP 5: Turn left then head to the right side counter of the stove | STEP 6: Put the mug on the counter", "output": ["END"]} +{"id": "trial_T20190909_075933_607618-0%0", "input": "Put a washed piece of apple in a microwave.", "output": ["STEP 1: Go forward and to the right to the counter to the left of the dishwasher."]} +{"id": "trial_T20190909_075933_607618-0%1", "input": "Put a washed piece of apple in a microwave. | STEP 1: Go forward and to the right to the counter to the left of the dishwasher.", "output": ["STEP 2: Take the large knife from the counter."]} +{"id": "trial_T20190909_075933_607618-0%2", "input": "Put a washed piece of apple in a microwave. | STEP 1: Go forward and to the right to the counter to the left of the dishwasher. | STEP 2: Take the large knife from the counter.", "output": ["STEP 3: Turn right, go forward, turn right at the counter to the left of the oven. Go to the counter."]} +{"id": "trial_T20190909_075933_607618-0%3", "input": "Put a washed piece of apple in a microwave. | STEP 1: Go forward and to the right to the counter to the left of the dishwasher. | STEP 2: Take the large knife from the counter. | STEP 3: Turn right, go forward, turn right at the counter to the left of the oven. Go to the counter.", "output": ["STEP 4: Cut the apple on the counter into pieces."]} +{"id": "trial_T20190909_075933_607618-0%4", "input": "Put a washed piece of apple in a microwave. | STEP 1: Go forward and to the right to the counter to the left of the dishwasher. | STEP 2: Take the large knife from the counter. | STEP 3: Turn right, go forward, turn right at the counter to the left of the oven. Go to the counter. | STEP 4: Cut the apple on the counter into pieces.", "output": ["STEP 5: Turn around, go to the sink."]} +{"id": "trial_T20190909_075933_607618-0%5", "input": "Put a washed piece of apple in a microwave. | STEP 1: Go forward and to the right to the counter to the left of the dishwasher. | STEP 2: Take the large knife from the counter. | STEP 3: Turn right, go forward, turn right at the counter to the left of the oven. Go to the counter. | STEP 4: Cut the apple on the counter into pieces. | STEP 5: Turn around, go to the sink.", "output": ["STEP 6: Put the knife in the sink."]} +{"id": "trial_T20190909_075933_607618-0%6", "input": "Put a washed piece of apple in a microwave. | STEP 1: Go forward and to the right to the counter to the left of the dishwasher. | STEP 2: Take the large knife from the counter. | STEP 3: Turn right, go forward, turn right at the counter to the left of the oven. Go to the counter. | STEP 4: Cut the apple on the counter into pieces. | STEP 5: Turn around, go to the sink. | STEP 6: Put the knife in the sink.", "output": ["STEP 7: Turn around, go to the counter with the apple."]} +{"id": "trial_T20190909_075933_607618-0%7", "input": "Put a washed piece of apple in a microwave. | STEP 1: Go forward and to the right to the counter to the left of the dishwasher. | STEP 2: Take the large knife from the counter. | STEP 3: Turn right, go forward, turn right at the counter to the left of the oven. Go to the counter. | STEP 4: Cut the apple on the counter into pieces. | STEP 5: Turn around, go to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn around, go to the counter with the apple.", "output": ["STEP 8: Take a piece of apple from the counter."]} +{"id": "trial_T20190909_075933_607618-0%8", "input": "Put a washed piece of apple in a microwave. | STEP 1: Go forward and to the right to the counter to the left of the dishwasher. | STEP 2: Take the large knife from the counter. | STEP 3: Turn right, go forward, turn right at the counter to the left of the oven. Go to the counter. | STEP 4: Cut the apple on the counter into pieces. | STEP 5: Turn around, go to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn around, go to the counter with the apple. | STEP 8: Take a piece of apple from the counter.", "output": ["STEP 9: Turn around, go to the sink."]} +{"id": "trial_T20190909_075933_607618-0%9", "input": "Put a washed piece of apple in a microwave. | STEP 1: Go forward and to the right to the counter to the left of the dishwasher. | STEP 2: Take the large knife from the counter. | STEP 3: Turn right, go forward, turn right at the counter to the left of the oven. Go to the counter. | STEP 4: Cut the apple on the counter into pieces. | STEP 5: Turn around, go to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn around, go to the counter with the apple. | STEP 8: Take a piece of apple from the counter. | STEP 9: Turn around, go to the sink.", "output": ["STEP 10: Wash the piece of apple in the sink. Take the piece of apple from the sink."]} +{"id": "trial_T20190909_075933_607618-0%10", "input": "Put a washed piece of apple in a microwave. | STEP 1: Go forward and to the right to the counter to the left of the dishwasher. | STEP 2: Take the large knife from the counter. | STEP 3: Turn right, go forward, turn right at the counter to the left of the oven. Go to the counter. | STEP 4: Cut the apple on the counter into pieces. | STEP 5: Turn around, go to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn around, go to the counter with the apple. | STEP 8: Take a piece of apple from the counter. | STEP 9: Turn around, go to the sink. | STEP 10: Wash the piece of apple in the sink. Take the piece of apple from the sink.", "output": ["STEP 11: Turn around, go forward and right to the oven."]} +{"id": "trial_T20190909_075933_607618-0%11", "input": "Put a washed piece of apple in a microwave. | STEP 1: Go forward and to the right to the counter to the left of the dishwasher. | STEP 2: Take the large knife from the counter. | STEP 3: Turn right, go forward, turn right at the counter to the left of the oven. Go to the counter. | STEP 4: Cut the apple on the counter into pieces. | STEP 5: Turn around, go to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn around, go to the counter with the apple. | STEP 8: Take a piece of apple from the counter. | STEP 9: Turn around, go to the sink. | STEP 10: Wash the piece of apple in the sink. Take the piece of apple from the sink. | STEP 11: Turn around, go forward and right to the oven.", "output": ["STEP 12: Put the apple in the microwave above the oven."]} +{"id": "trial_T20190909_075933_607618-0%12", "input": "Put a washed piece of apple in a microwave. | STEP 1: Go forward and to the right to the counter to the left of the dishwasher. | STEP 2: Take the large knife from the counter. | STEP 3: Turn right, go forward, turn right at the counter to the left of the oven. Go to the counter. | STEP 4: Cut the apple on the counter into pieces. | STEP 5: Turn around, go to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn around, go to the counter with the apple. | STEP 8: Take a piece of apple from the counter. | STEP 9: Turn around, go to the sink. | STEP 10: Wash the piece of apple in the sink. Take the piece of apple from the sink. | STEP 11: Turn around, go forward and right to the oven. | STEP 12: Put the apple in the microwave above the oven.", "output": ["END"]} +{"id": "trial_T20190909_075933_607618-2%0", "input": "Cut and wash an apple, put it in the microwave", "output": ["STEP 1: Move a bit to the right and go to the counter"]} +{"id": "trial_T20190909_075933_607618-2%1", "input": "Cut and wash an apple, put it in the microwave | STEP 1: Move a bit to the right and go to the counter", "output": ["STEP 2: Pick up the knife on the counter"]} +{"id": "trial_T20190909_075933_607618-2%2", "input": "Cut and wash an apple, put it in the microwave | STEP 1: Move a bit to the right and go to the counter | STEP 2: Pick up the knife on the counter", "output": ["STEP 3: Turn left, go forward, turn right at the end of the counter"]} +{"id": "trial_T20190909_075933_607618-2%3", "input": "Cut and wash an apple, put it in the microwave | STEP 1: Move a bit to the right and go to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go forward, turn right at the end of the counter", "output": ["STEP 4: Cut the apple on the counter"]} +{"id": "trial_T20190909_075933_607618-2%4", "input": "Cut and wash an apple, put it in the microwave | STEP 1: Move a bit to the right and go to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go forward, turn right at the end of the counter | STEP 4: Cut the apple on the counter", "output": ["STEP 5: Turn around and go to the sink"]} +{"id": "trial_T20190909_075933_607618-2%5", "input": "Cut and wash an apple, put it in the microwave | STEP 1: Move a bit to the right and go to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go forward, turn right at the end of the counter | STEP 4: Cut the apple on the counter | STEP 5: Turn around and go to the sink", "output": ["STEP 6: Put the knife in the sink"]} +{"id": "trial_T20190909_075933_607618-2%6", "input": "Cut and wash an apple, put it in the microwave | STEP 1: Move a bit to the right and go to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go forward, turn right at the end of the counter | STEP 4: Cut the apple on the counter | STEP 5: Turn around and go to the sink | STEP 6: Put the knife in the sink", "output": ["STEP 7: Turn around and go to the counter"]} +{"id": "trial_T20190909_075933_607618-2%7", "input": "Cut and wash an apple, put it in the microwave | STEP 1: Move a bit to the right and go to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go forward, turn right at the end of the counter | STEP 4: Cut the apple on the counter | STEP 5: Turn around and go to the sink | STEP 6: Put the knife in the sink | STEP 7: Turn around and go to the counter", "output": ["STEP 8: Pick up an apple piece from the counter"]} +{"id": "trial_T20190909_075933_607618-2%8", "input": "Cut and wash an apple, put it in the microwave | STEP 1: Move a bit to the right and go to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go forward, turn right at the end of the counter | STEP 4: Cut the apple on the counter | STEP 5: Turn around and go to the sink | STEP 6: Put the knife in the sink | STEP 7: Turn around and go to the counter | STEP 8: Pick up an apple piece from the counter", "output": ["STEP 9: Turn around and go to the sink"]} +{"id": "trial_T20190909_075933_607618-2%9", "input": "Cut and wash an apple, put it in the microwave | STEP 1: Move a bit to the right and go to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go forward, turn right at the end of the counter | STEP 4: Cut the apple on the counter | STEP 5: Turn around and go to the sink | STEP 6: Put the knife in the sink | STEP 7: Turn around and go to the counter | STEP 8: Pick up an apple piece from the counter | STEP 9: Turn around and go to the sink", "output": ["STEP 10: Put the apple piece in the sink, wash the apple piece with water, pick up the apple piece from the sink"]} +{"id": "trial_T20190909_075933_607618-2%10", "input": "Cut and wash an apple, put it in the microwave | STEP 1: Move a bit to the right and go to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go forward, turn right at the end of the counter | STEP 4: Cut the apple on the counter | STEP 5: Turn around and go to the sink | STEP 6: Put the knife in the sink | STEP 7: Turn around and go to the counter | STEP 8: Pick up an apple piece from the counter | STEP 9: Turn around and go to the sink | STEP 10: Put the apple piece in the sink, wash the apple piece with water, pick up the apple piece from the sink", "output": ["STEP 11: Turn left, go forward, turn left at the microwave"]} +{"id": "trial_T20190909_075933_607618-2%11", "input": "Cut and wash an apple, put it in the microwave | STEP 1: Move a bit to the right and go to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go forward, turn right at the end of the counter | STEP 4: Cut the apple on the counter | STEP 5: Turn around and go to the sink | STEP 6: Put the knife in the sink | STEP 7: Turn around and go to the counter | STEP 8: Pick up an apple piece from the counter | STEP 9: Turn around and go to the sink | STEP 10: Put the apple piece in the sink, wash the apple piece with water, pick up the apple piece from the sink | STEP 11: Turn left, go forward, turn left at the microwave", "output": ["STEP 12: Put the apple piece in the microwave"]} +{"id": "trial_T20190909_075933_607618-2%12", "input": "Cut and wash an apple, put it in the microwave | STEP 1: Move a bit to the right and go to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go forward, turn right at the end of the counter | STEP 4: Cut the apple on the counter | STEP 5: Turn around and go to the sink | STEP 6: Put the knife in the sink | STEP 7: Turn around and go to the counter | STEP 8: Pick up an apple piece from the counter | STEP 9: Turn around and go to the sink | STEP 10: Put the apple piece in the sink, wash the apple piece with water, pick up the apple piece from the sink | STEP 11: Turn left, go forward, turn left at the microwave | STEP 12: Put the apple piece in the microwave", "output": ["END"]} +{"id": "trial_T20190909_114656_853216-1%0", "input": "Pick up a disc and turn a lamp on.", "output": ["STEP 1: Move to the right and stand in the middle of the brown dresser."]} +{"id": "trial_T20190909_114656_853216-1%1", "input": "Pick up a disc and turn a lamp on. | STEP 1: Move to the right and stand in the middle of the brown dresser.", "output": ["STEP 2: Pick the disc up from the dresser."]} +{"id": "trial_T20190909_114656_853216-1%2", "input": "Pick up a disc and turn a lamp on. | STEP 1: Move to the right and stand in the middle of the brown dresser. | STEP 2: Pick the disc up from the dresser.", "output": ["STEP 3: Turn around and face the lamp on the white table."]} +{"id": "trial_T20190909_114656_853216-1%3", "input": "Pick up a disc and turn a lamp on. | STEP 1: Move to the right and stand in the middle of the brown dresser. | STEP 2: Pick the disc up from the dresser. | STEP 3: Turn around and face the lamp on the white table.", "output": ["STEP 4: Turn the lamp on."]} +{"id": "trial_T20190909_114656_853216-1%4", "input": "Pick up a disc and turn a lamp on. | STEP 1: Move to the right and stand in the middle of the brown dresser. | STEP 2: Pick the disc up from the dresser. | STEP 3: Turn around and face the lamp on the white table. | STEP 4: Turn the lamp on.", "output": ["END"]} +{"id": "trial_T20190909_114656_853216-2%0", "input": "Pick up a CD and turn on a lamp.", "output": ["STEP 1: Turn to the right, move forward, turn to the left to the dresser."]} +{"id": "trial_T20190909_114656_853216-2%1", "input": "Pick up a CD and turn on a lamp. | STEP 1: Turn to the right, move forward, turn to the left to the dresser.", "output": ["STEP 2: Pick up the CD that is on the dresser between the pen and keys."]} +{"id": "trial_T20190909_114656_853216-2%2", "input": "Pick up a CD and turn on a lamp. | STEP 1: Turn to the right, move forward, turn to the left to the dresser. | STEP 2: Pick up the CD that is on the dresser between the pen and keys.", "output": ["STEP 3: Turn around, go to the white table with the lamp on it."]} +{"id": "trial_T20190909_114656_853216-2%3", "input": "Pick up a CD and turn on a lamp. | STEP 1: Turn to the right, move forward, turn to the left to the dresser. | STEP 2: Pick up the CD that is on the dresser between the pen and keys. | STEP 3: Turn around, go to the white table with the lamp on it.", "output": ["STEP 4: Turn on the lamp."]} +{"id": "trial_T20190909_114656_853216-2%4", "input": "Pick up a CD and turn on a lamp. | STEP 1: Turn to the right, move forward, turn to the left to the dresser. | STEP 2: Pick up the CD that is on the dresser between the pen and keys. | STEP 3: Turn around, go to the white table with the lamp on it. | STEP 4: Turn on the lamp.", "output": ["END"]} +{"id": "trial_T20190907_181912_964375-0%0", "input": "Place two sets of keys on the middle cushion of the tan couch.", "output": ["STEP 1: Turn around and walk to the black shelves."]} +{"id": "trial_T20190907_181912_964375-0%1", "input": "Place two sets of keys on the middle cushion of the tan couch. | STEP 1: Turn around and walk to the black shelves.", "output": ["STEP 2: Pick up the keys from the bottom shelf."]} +{"id": "trial_T20190907_181912_964375-0%2", "input": "Place two sets of keys on the middle cushion of the tan couch. | STEP 1: Turn around and walk to the black shelves. | STEP 2: Pick up the keys from the bottom shelf.", "output": ["STEP 3: Turn right and walk to the middle of the tan couch."]} +{"id": "trial_T20190907_181912_964375-0%3", "input": "Place two sets of keys on the middle cushion of the tan couch. | STEP 1: Turn around and walk to the black shelves. | STEP 2: Pick up the keys from the bottom shelf. | STEP 3: Turn right and walk to the middle of the tan couch.", "output": ["STEP 4: Place the keys on the middle seat of the couch."]} +{"id": "trial_T20190907_181912_964375-0%4", "input": "Place two sets of keys on the middle cushion of the tan couch. | STEP 1: Turn around and walk to the black shelves. | STEP 2: Pick up the keys from the bottom shelf. | STEP 3: Turn right and walk to the middle of the tan couch. | STEP 4: Place the keys on the middle seat of the couch.", "output": ["STEP 5: Turn left and walk to the TV in the corner."]} +{"id": "trial_T20190907_181912_964375-0%5", "input": "Place two sets of keys on the middle cushion of the tan couch. | STEP 1: Turn around and walk to the black shelves. | STEP 2: Pick up the keys from the bottom shelf. | STEP 3: Turn right and walk to the middle of the tan couch. | STEP 4: Place the keys on the middle seat of the couch. | STEP 5: Turn left and walk to the TV in the corner.", "output": ["STEP 6: Pick up the keys from the behind the TV."]} +{"id": "trial_T20190907_181912_964375-0%6", "input": "Place two sets of keys on the middle cushion of the tan couch. | STEP 1: Turn around and walk to the black shelves. | STEP 2: Pick up the keys from the bottom shelf. | STEP 3: Turn right and walk to the middle of the tan couch. | STEP 4: Place the keys on the middle seat of the couch. | STEP 5: Turn left and walk to the TV in the corner. | STEP 6: Pick up the keys from the behind the TV.", "output": ["STEP 7: Turn around and walk to the middle of the tan couch."]} +{"id": "trial_T20190907_181912_964375-0%7", "input": "Place two sets of keys on the middle cushion of the tan couch. | STEP 1: Turn around and walk to the black shelves. | STEP 2: Pick up the keys from the bottom shelf. | STEP 3: Turn right and walk to the middle of the tan couch. | STEP 4: Place the keys on the middle seat of the couch. | STEP 5: Turn left and walk to the TV in the corner. | STEP 6: Pick up the keys from the behind the TV. | STEP 7: Turn around and walk to the middle of the tan couch.", "output": ["STEP 8: Place the keys to the left of the keys already on the couch."]} +{"id": "trial_T20190907_181912_964375-0%8", "input": "Place two sets of keys on the middle cushion of the tan couch. | STEP 1: Turn around and walk to the black shelves. | STEP 2: Pick up the keys from the bottom shelf. | STEP 3: Turn right and walk to the middle of the tan couch. | STEP 4: Place the keys on the middle seat of the couch. | STEP 5: Turn left and walk to the TV in the corner. | STEP 6: Pick up the keys from the behind the TV. | STEP 7: Turn around and walk to the middle of the tan couch. | STEP 8: Place the keys to the left of the keys already on the couch.", "output": ["END"]} +{"id": "trial_T20190909_025240_852617-0%0", "input": "Rinse a tea kettle and set it next to the coffee maker.", "output": ["STEP 1: Turn around and walk forward, making a left to stop at the stove."]} +{"id": "trial_T20190909_025240_852617-0%1", "input": "Rinse a tea kettle and set it next to the coffee maker. | STEP 1: Turn around and walk forward, making a left to stop at the stove.", "output": ["STEP 2: Pick up the tea kettle from the stove."]} +{"id": "trial_T20190909_025240_852617-0%2", "input": "Rinse a tea kettle and set it next to the coffee maker. | STEP 1: Turn around and walk forward, making a left to stop at the stove. | STEP 2: Pick up the tea kettle from the stove.", "output": ["STEP 3: Turn around to face the sink."]} +{"id": "trial_T20190909_025240_852617-0%3", "input": "Rinse a tea kettle and set it next to the coffee maker. | STEP 1: Turn around and walk forward, making a left to stop at the stove. | STEP 2: Pick up the tea kettle from the stove. | STEP 3: Turn around to face the sink.", "output": ["STEP 4: Rinse the tea kettle in the sink, removing it again."]} +{"id": "trial_T20190909_025240_852617-0%4", "input": "Rinse a tea kettle and set it next to the coffee maker. | STEP 1: Turn around and walk forward, making a left to stop at the stove. | STEP 2: Pick up the tea kettle from the stove. | STEP 3: Turn around to face the sink. | STEP 4: Rinse the tea kettle in the sink, removing it again.", "output": ["STEP 5: Make a left to stop at the counter before the fridge."]} +{"id": "trial_T20190909_025240_852617-0%5", "input": "Rinse a tea kettle and set it next to the coffee maker. | STEP 1: Turn around and walk forward, making a left to stop at the stove. | STEP 2: Pick up the tea kettle from the stove. | STEP 3: Turn around to face the sink. | STEP 4: Rinse the tea kettle in the sink, removing it again. | STEP 5: Make a left to stop at the counter before the fridge.", "output": ["STEP 6: Set the tea kettle down on the counter next to the coffee maker."]} +{"id": "trial_T20190909_025240_852617-0%6", "input": "Rinse a tea kettle and set it next to the coffee maker. | STEP 1: Turn around and walk forward, making a left to stop at the stove. | STEP 2: Pick up the tea kettle from the stove. | STEP 3: Turn around to face the sink. | STEP 4: Rinse the tea kettle in the sink, removing it again. | STEP 5: Make a left to stop at the counter before the fridge. | STEP 6: Set the tea kettle down on the counter next to the coffee maker.", "output": ["END"]} +{"id": "trial_T20190907_180214_916507-2%0", "input": "Retrieve a tomato for heating in the microwave and placement in the sink.", "output": ["STEP 1: Walk straight towards the wall and then face the counter top on the right."]} +{"id": "trial_T20190907_180214_916507-2%1", "input": "Retrieve a tomato for heating in the microwave and placement in the sink. | STEP 1: Walk straight towards the wall and then face the counter top on the right.", "output": ["STEP 2: Pick up the tomato to the right of the fork."]} +{"id": "trial_T20190907_180214_916507-2%2", "input": "Retrieve a tomato for heating in the microwave and placement in the sink. | STEP 1: Walk straight towards the wall and then face the counter top on the right. | STEP 2: Pick up the tomato to the right of the fork.", "output": ["STEP 3: Turn around and move to the opposite wall in the room, then face left to see the microwave above the oven."]} +{"id": "trial_T20190907_180214_916507-2%3", "input": "Retrieve a tomato for heating in the microwave and placement in the sink. | STEP 1: Walk straight towards the wall and then face the counter top on the right. | STEP 2: Pick up the tomato to the right of the fork. | STEP 3: Turn around and move to the opposite wall in the room, then face left to see the microwave above the oven.", "output": ["STEP 4: Open the microwave door and place the tomato inside next to the mug, cook for several seconds and remove. "]} +{"id": "trial_T20190907_180214_916507-2%4", "input": "Retrieve a tomato for heating in the microwave and placement in the sink. | STEP 1: Walk straight towards the wall and then face the counter top on the right. | STEP 2: Pick up the tomato to the right of the fork. | STEP 3: Turn around and move to the opposite wall in the room, then face left to see the microwave above the oven. | STEP 4: Open the microwave door and place the tomato inside next to the mug, cook for several seconds and remove. ", "output": ["STEP 5: Walk to the opposite side of the room and face left to see the sink."]} +{"id": "trial_T20190907_180214_916507-2%5", "input": "Retrieve a tomato for heating in the microwave and placement in the sink. | STEP 1: Walk straight towards the wall and then face the counter top on the right. | STEP 2: Pick up the tomato to the right of the fork. | STEP 3: Turn around and move to the opposite wall in the room, then face left to see the microwave above the oven. | STEP 4: Open the microwave door and place the tomato inside next to the mug, cook for several seconds and remove. | STEP 5: Walk to the opposite side of the room and face left to see the sink.", "output": ["STEP 6: Place the tomato in the right sink below the apple,."]} +{"id": "trial_T20190907_180214_916507-2%6", "input": "Retrieve a tomato for heating in the microwave and placement in the sink. | STEP 1: Walk straight towards the wall and then face the counter top on the right. | STEP 2: Pick up the tomato to the right of the fork. | STEP 3: Turn around and move to the opposite wall in the room, then face left to see the microwave above the oven. | STEP 4: Open the microwave door and place the tomato inside next to the mug, cook for several seconds and remove. | STEP 5: Walk to the opposite side of the room and face left to see the sink. | STEP 6: Place the tomato in the right sink below the apple,.", "output": ["END"]} +{"id": "trial_T20190908_113043_918944-2%0", "input": "Put a clean cup on the table.", "output": ["STEP 1: Turn around and walk to the sink."]} +{"id": "trial_T20190908_113043_918944-2%1", "input": "Put a clean cup on the table. | STEP 1: Turn around and walk to the sink.", "output": ["STEP 2: Look up and open the cabinet that's above the left side of the sink and get the cup down from there then close the door."]} +{"id": "trial_T20190908_113043_918944-2%2", "input": "Put a clean cup on the table. | STEP 1: Turn around and walk to the sink. | STEP 2: Look up and open the cabinet that's above the left side of the sink and get the cup down from there then close the door.", "output": ["STEP 3: Take a small step to your right."]} +{"id": "trial_T20190908_113043_918944-2%3", "input": "Put a clean cup on the table. | STEP 1: Turn around and walk to the sink. | STEP 2: Look up and open the cabinet that's above the left side of the sink and get the cup down from there then close the door. | STEP 3: Take a small step to your right.", "output": ["STEP 4: Wash the cup in the sink and then pick it back up and shut off the water."]} +{"id": "trial_T20190908_113043_918944-2%4", "input": "Put a clean cup on the table. | STEP 1: Turn around and walk to the sink. | STEP 2: Look up and open the cabinet that's above the left side of the sink and get the cup down from there then close the door. | STEP 3: Take a small step to your right. | STEP 4: Wash the cup in the sink and then pick it back up and shut off the water.", "output": ["STEP 5: Turn right and then walk two steps then turn left and walk to the small circular table."]} +{"id": "trial_T20190908_113043_918944-2%5", "input": "Put a clean cup on the table. | STEP 1: Turn around and walk to the sink. | STEP 2: Look up and open the cabinet that's above the left side of the sink and get the cup down from there then close the door. | STEP 3: Take a small step to your right. | STEP 4: Wash the cup in the sink and then pick it back up and shut off the water. | STEP 5: Turn right and then walk two steps then turn left and walk to the small circular table.", "output": ["STEP 6: Put the cup to the right of the sponge."]} +{"id": "trial_T20190908_113043_918944-2%6", "input": "Put a clean cup on the table. | STEP 1: Turn around and walk to the sink. | STEP 2: Look up and open the cabinet that's above the left side of the sink and get the cup down from there then close the door. | STEP 3: Take a small step to your right. | STEP 4: Wash the cup in the sink and then pick it back up and shut off the water. | STEP 5: Turn right and then walk two steps then turn left and walk to the small circular table. | STEP 6: Put the cup to the right of the sponge.", "output": ["END"]} +{"id": "trial_T20190908_091212_752278-2%0", "input": "Put a cooked slice of tomato on the counter.", "output": ["STEP 1: Turn to the right, go across the room and turn right towards the counter next to the fridge."]} +{"id": "trial_T20190908_091212_752278-2%1", "input": "Put a cooked slice of tomato on the counter. | STEP 1: Turn to the right, go across the room and turn right towards the counter next to the fridge.", "output": ["STEP 2: Pick up the knife by the tomato."]} +{"id": "trial_T20190908_091212_752278-2%2", "input": "Put a cooked slice of tomato on the counter. | STEP 1: Turn to the right, go across the room and turn right towards the counter next to the fridge. | STEP 2: Pick up the knife by the tomato.", "output": ["STEP 3: Move left and closer to the tomato."]} +{"id": "trial_T20190908_091212_752278-2%3", "input": "Put a cooked slice of tomato on the counter. | STEP 1: Turn to the right, go across the room and turn right towards the counter next to the fridge. | STEP 2: Pick up the knife by the tomato. | STEP 3: Move left and closer to the tomato.", "output": ["STEP 4: Cut the tomato with the knife."]} +{"id": "trial_T20190908_091212_752278-2%4", "input": "Put a cooked slice of tomato on the counter. | STEP 1: Turn to the right, go across the room and turn right towards the counter next to the fridge. | STEP 2: Pick up the knife by the tomato. | STEP 3: Move left and closer to the tomato. | STEP 4: Cut the tomato with the knife.", "output": ["STEP 5: Turn around and head to the sink."]} +{"id": "trial_T20190908_091212_752278-2%5", "input": "Put a cooked slice of tomato on the counter. | STEP 1: Turn to the right, go across the room and turn right towards the counter next to the fridge. | STEP 2: Pick up the knife by the tomato. | STEP 3: Move left and closer to the tomato. | STEP 4: Cut the tomato with the knife. | STEP 5: Turn around and head to the sink.", "output": ["STEP 6: Put the knife in the sink to the left of the green cup."]} +{"id": "trial_T20190908_091212_752278-2%6", "input": "Put a cooked slice of tomato on the counter. | STEP 1: Turn to the right, go across the room and turn right towards the counter next to the fridge. | STEP 2: Pick up the knife by the tomato. | STEP 3: Move left and closer to the tomato. | STEP 4: Cut the tomato with the knife. | STEP 5: Turn around and head to the sink. | STEP 6: Put the knife in the sink to the left of the green cup.", "output": ["STEP 7: Turn around and head back to the counter."]} +{"id": "trial_T20190908_091212_752278-2%7", "input": "Put a cooked slice of tomato on the counter. | STEP 1: Turn to the right, go across the room and turn right towards the counter next to the fridge. | STEP 2: Pick up the knife by the tomato. | STEP 3: Move left and closer to the tomato. | STEP 4: Cut the tomato with the knife. | STEP 5: Turn around and head to the sink. | STEP 6: Put the knife in the sink to the left of the green cup. | STEP 7: Turn around and head back to the counter.", "output": ["STEP 8: Pick up a slice of tomato."]} +{"id": "trial_T20190908_091212_752278-2%8", "input": "Put a cooked slice of tomato on the counter. | STEP 1: Turn to the right, go across the room and turn right towards the counter next to the fridge. | STEP 2: Pick up the knife by the tomato. | STEP 3: Move left and closer to the tomato. | STEP 4: Cut the tomato with the knife. | STEP 5: Turn around and head to the sink. | STEP 6: Put the knife in the sink to the left of the green cup. | STEP 7: Turn around and head back to the counter. | STEP 8: Pick up a slice of tomato.", "output": ["STEP 9: Turn right, go across the room and turn left to the microwave above the oven."]} +{"id": "trial_T20190908_091212_752278-2%9", "input": "Put a cooked slice of tomato on the counter. | STEP 1: Turn to the right, go across the room and turn right towards the counter next to the fridge. | STEP 2: Pick up the knife by the tomato. | STEP 3: Move left and closer to the tomato. | STEP 4: Cut the tomato with the knife. | STEP 5: Turn around and head to the sink. | STEP 6: Put the knife in the sink to the left of the green cup. | STEP 7: Turn around and head back to the counter. | STEP 8: Pick up a slice of tomato. | STEP 9: Turn right, go across the room and turn left to the microwave above the oven.", "output": ["STEP 10: Put the tomato in the microwave, cook it and pick it back up."]} +{"id": "trial_T20190908_091212_752278-2%10", "input": "Put a cooked slice of tomato on the counter. | STEP 1: Turn to the right, go across the room and turn right towards the counter next to the fridge. | STEP 2: Pick up the knife by the tomato. | STEP 3: Move left and closer to the tomato. | STEP 4: Cut the tomato with the knife. | STEP 5: Turn around and head to the sink. | STEP 6: Put the knife in the sink to the left of the green cup. | STEP 7: Turn around and head back to the counter. | STEP 8: Pick up a slice of tomato. | STEP 9: Turn right, go across the room and turn left to the microwave above the oven. | STEP 10: Put the tomato in the microwave, cook it and pick it back up.", "output": ["STEP 11: Turn left and go the counter to the left of the stove."]} +{"id": "trial_T20190908_091212_752278-2%11", "input": "Put a cooked slice of tomato on the counter. | STEP 1: Turn to the right, go across the room and turn right towards the counter next to the fridge. | STEP 2: Pick up the knife by the tomato. | STEP 3: Move left and closer to the tomato. | STEP 4: Cut the tomato with the knife. | STEP 5: Turn around and head to the sink. | STEP 6: Put the knife in the sink to the left of the green cup. | STEP 7: Turn around and head back to the counter. | STEP 8: Pick up a slice of tomato. | STEP 9: Turn right, go across the room and turn left to the microwave above the oven. | STEP 10: Put the tomato in the microwave, cook it and pick it back up. | STEP 11: Turn left and go the counter to the left of the stove.", "output": ["STEP 12: Put the slice of tomato on the counter by the corner of the stove."]} +{"id": "trial_T20190908_091212_752278-2%12", "input": "Put a cooked slice of tomato on the counter. | STEP 1: Turn to the right, go across the room and turn right towards the counter next to the fridge. | STEP 2: Pick up the knife by the tomato. | STEP 3: Move left and closer to the tomato. | STEP 4: Cut the tomato with the knife. | STEP 5: Turn around and head to the sink. | STEP 6: Put the knife in the sink to the left of the green cup. | STEP 7: Turn around and head back to the counter. | STEP 8: Pick up a slice of tomato. | STEP 9: Turn right, go across the room and turn left to the microwave above the oven. | STEP 10: Put the tomato in the microwave, cook it and pick it back up. | STEP 11: Turn left and go the counter to the left of the stove. | STEP 12: Put the slice of tomato on the counter by the corner of the stove.", "output": ["END"]} +{"id": "trial_T20190906_190048_275702-1%0", "input": "Place the clean spoon in the drawer below the bread.", "output": ["STEP 1: Turn right and head towards the loaf of bread on the counter on your right."]} +{"id": "trial_T20190906_190048_275702-1%1", "input": "Place the clean spoon in the drawer below the bread. | STEP 1: Turn right and head towards the loaf of bread on the counter on your right.", "output": ["STEP 2: Pick up the spoon behind the loaf of bread."]} +{"id": "trial_T20190906_190048_275702-1%2", "input": "Place the clean spoon in the drawer below the bread. | STEP 1: Turn right and head towards the loaf of bread on the counter on your right. | STEP 2: Pick up the spoon behind the loaf of bread.", "output": ["STEP 3: Turn around and walk towards the sink."]} +{"id": "trial_T20190906_190048_275702-1%3", "input": "Place the clean spoon in the drawer below the bread. | STEP 1: Turn right and head towards the loaf of bread on the counter on your right. | STEP 2: Pick up the spoon behind the loaf of bread. | STEP 3: Turn around and walk towards the sink.", "output": ["STEP 4: Place the spoon in the sink, turn on the faucet, wash the spoon, turn off the faucet, and pick up the spoon."]} +{"id": "trial_T20190906_190048_275702-1%4", "input": "Place the clean spoon in the drawer below the bread. | STEP 1: Turn right and head towards the loaf of bread on the counter on your right. | STEP 2: Pick up the spoon behind the loaf of bread. | STEP 3: Turn around and walk towards the sink. | STEP 4: Place the spoon in the sink, turn on the faucet, wash the spoon, turn off the faucet, and pick up the spoon.", "output": ["STEP 5: Turn around and face the bread on the counter."]} +{"id": "trial_T20190906_190048_275702-1%5", "input": "Place the clean spoon in the drawer below the bread. | STEP 1: Turn right and head towards the loaf of bread on the counter on your right. | STEP 2: Pick up the spoon behind the loaf of bread. | STEP 3: Turn around and walk towards the sink. | STEP 4: Place the spoon in the sink, turn on the faucet, wash the spoon, turn off the faucet, and pick up the spoon. | STEP 5: Turn around and face the bread on the counter.", "output": ["STEP 6: Open the drawer below the bread, place the spoon in it, and close the drawer."]} +{"id": "trial_T20190906_190048_275702-1%6", "input": "Place the clean spoon in the drawer below the bread. | STEP 1: Turn right and head towards the loaf of bread on the counter on your right. | STEP 2: Pick up the spoon behind the loaf of bread. | STEP 3: Turn around and walk towards the sink. | STEP 4: Place the spoon in the sink, turn on the faucet, wash the spoon, turn off the faucet, and pick up the spoon. | STEP 5: Turn around and face the bread on the counter. | STEP 6: Open the drawer below the bread, place the spoon in it, and close the drawer.", "output": ["END"]} +{"id": "trial_T20190909_101039_777074-0%0", "input": "Move the pencil from the table to the top of the cabinet under the table", "output": ["STEP 1: Go to the wall then turn right to face the table"]} +{"id": "trial_T20190909_101039_777074-0%1", "input": "Move the pencil from the table to the top of the cabinet under the table | STEP 1: Go to the wall then turn right to face the table", "output": ["STEP 2: Pick up the pencil that is to the left of the alarm clock at the back of the table"]} +{"id": "trial_T20190909_101039_777074-0%2", "input": "Move the pencil from the table to the top of the cabinet under the table | STEP 1: Go to the wall then turn right to face the table | STEP 2: Pick up the pencil that is to the left of the alarm clock at the back of the table", "output": ["STEP 3: Turn around and take a step then turn around again to face the table "]} +{"id": "trial_T20190909_101039_777074-0%3", "input": "Move the pencil from the table to the top of the cabinet under the table | STEP 1: Go to the wall then turn right to face the table | STEP 2: Pick up the pencil that is to the left of the alarm clock at the back of the table | STEP 3: Turn around and take a step then turn around again to face the table ", "output": ["STEP 4: Put the pencil on top of the cabinet under the table"]} +{"id": "trial_T20190909_101039_777074-0%4", "input": "Move the pencil from the table to the top of the cabinet under the table | STEP 1: Go to the wall then turn right to face the table | STEP 2: Pick up the pencil that is to the left of the alarm clock at the back of the table | STEP 3: Turn around and take a step then turn around again to face the table | STEP 4: Put the pencil on top of the cabinet under the table", "output": ["END"]} +{"id": "trial_T20190909_101039_777074-1%0", "input": "Move the yellow pencil from the desk to the drawers underneath.", "output": ["STEP 1: Walk forward and make a right to walk to the desk."]} +{"id": "trial_T20190909_101039_777074-1%1", "input": "Move the yellow pencil from the desk to the drawers underneath. | STEP 1: Walk forward and make a right to walk to the desk.", "output": ["STEP 2: Pick up a yellow pencil from the desk."]} +{"id": "trial_T20190909_101039_777074-1%2", "input": "Move the yellow pencil from the desk to the drawers underneath. | STEP 1: Walk forward and make a right to walk to the desk. | STEP 2: Pick up a yellow pencil from the desk.", "output": ["STEP 3: Move to face the drawers below the desk."]} +{"id": "trial_T20190909_101039_777074-1%3", "input": "Move the yellow pencil from the desk to the drawers underneath. | STEP 1: Walk forward and make a right to walk to the desk. | STEP 2: Pick up a yellow pencil from the desk. | STEP 3: Move to face the drawers below the desk.", "output": ["STEP 4: Set the pencil down on top of the drawers below the desk."]} +{"id": "trial_T20190909_101039_777074-1%4", "input": "Move the yellow pencil from the desk to the drawers underneath. | STEP 1: Walk forward and make a right to walk to the desk. | STEP 2: Pick up a yellow pencil from the desk. | STEP 3: Move to face the drawers below the desk. | STEP 4: Set the pencil down on top of the drawers below the desk.", "output": ["END"]} +{"id": "trial_T20190908_113425_489359-2%0", "input": "Examine the mug by the light", "output": ["STEP 1: Turn to your right and face the table "]} +{"id": "trial_T20190908_113425_489359-2%1", "input": "Examine the mug by the light | STEP 1: Turn to your right and face the table ", "output": ["STEP 2: Pick up the mug on the table"]} +{"id": "trial_T20190908_113425_489359-2%2", "input": "Examine the mug by the light | STEP 1: Turn to your right and face the table | STEP 2: Pick up the mug on the table", "output": ["STEP 3: Turn right then walk forward, turn left face the lamp"]} +{"id": "trial_T20190908_113425_489359-2%3", "input": "Examine the mug by the light | STEP 1: Turn to your right and face the table | STEP 2: Pick up the mug on the table | STEP 3: Turn right then walk forward, turn left face the lamp", "output": ["STEP 4: Turn on the lamp"]} +{"id": "trial_T20190908_113425_489359-2%4", "input": "Examine the mug by the light | STEP 1: Turn to your right and face the table | STEP 2: Pick up the mug on the table | STEP 3: Turn right then walk forward, turn left face the lamp | STEP 4: Turn on the lamp", "output": ["END"]} +{"id": "trial_T20190908_220912_262481-1%0", "input": "To move two newspapers to the chair on the side of the room.", "output": ["STEP 1: TUrn around and step forward to face the living room table."]} +{"id": "trial_T20190908_220912_262481-1%1", "input": "To move two newspapers to the chair on the side of the room. | STEP 1: TUrn around and step forward to face the living room table.", "output": ["STEP 2: Pick up the newspaper on the living room table."]} +{"id": "trial_T20190908_220912_262481-1%2", "input": "To move two newspapers to the chair on the side of the room. | STEP 1: TUrn around and step forward to face the living room table. | STEP 2: Pick up the newspaper on the living room table.", "output": ["STEP 3: Turn right and step forward to face the chair."]} +{"id": "trial_T20190908_220912_262481-1%3", "input": "To move two newspapers to the chair on the side of the room. | STEP 1: TUrn around and step forward to face the living room table. | STEP 2: Pick up the newspaper on the living room table. | STEP 3: Turn right and step forward to face the chair.", "output": ["STEP 4: Place the newspaper in the chair."]} +{"id": "trial_T20190908_220912_262481-1%4", "input": "To move two newspapers to the chair on the side of the room. | STEP 1: TUrn around and step forward to face the living room table. | STEP 2: Pick up the newspaper on the living room table. | STEP 3: Turn right and step forward to face the chair. | STEP 4: Place the newspaper in the chair.", "output": ["STEP 5: Take a step to the left to face the table to the left of the chair."]} +{"id": "trial_T20190908_220912_262481-1%5", "input": "To move two newspapers to the chair on the side of the room. | STEP 1: TUrn around and step forward to face the living room table. | STEP 2: Pick up the newspaper on the living room table. | STEP 3: Turn right and step forward to face the chair. | STEP 4: Place the newspaper in the chair. | STEP 5: Take a step to the left to face the table to the left of the chair.", "output": ["STEP 6: Pick up the newspaper on the table."]} +{"id": "trial_T20190908_220912_262481-1%6", "input": "To move two newspapers to the chair on the side of the room. | STEP 1: TUrn around and step forward to face the living room table. | STEP 2: Pick up the newspaper on the living room table. | STEP 3: Turn right and step forward to face the chair. | STEP 4: Place the newspaper in the chair. | STEP 5: Take a step to the left to face the table to the left of the chair. | STEP 6: Pick up the newspaper on the table.", "output": ["STEP 7: Take a step to the right to face the chair."]} +{"id": "trial_T20190908_220912_262481-1%7", "input": "To move two newspapers to the chair on the side of the room. | STEP 1: TUrn around and step forward to face the living room table. | STEP 2: Pick up the newspaper on the living room table. | STEP 3: Turn right and step forward to face the chair. | STEP 4: Place the newspaper in the chair. | STEP 5: Take a step to the left to face the table to the left of the chair. | STEP 6: Pick up the newspaper on the table. | STEP 7: Take a step to the right to face the chair.", "output": ["STEP 8: Place the newspaper next to the first newspaper in the chair."]} +{"id": "trial_T20190908_220912_262481-1%8", "input": "To move two newspapers to the chair on the side of the room. | STEP 1: TUrn around and step forward to face the living room table. | STEP 2: Pick up the newspaper on the living room table. | STEP 3: Turn right and step forward to face the chair. | STEP 4: Place the newspaper in the chair. | STEP 5: Take a step to the left to face the table to the left of the chair. | STEP 6: Pick up the newspaper on the table. | STEP 7: Take a step to the right to face the chair. | STEP 8: Place the newspaper next to the first newspaper in the chair.", "output": ["END"]} +{"id": "trial_T20190907_223211_131783-2%0", "input": "Take the box near the TV, put it on the couch", "output": ["STEP 1: Head straight to the TV in the corner"]} +{"id": "trial_T20190907_223211_131783-2%1", "input": "Take the box near the TV, put it on the couch | STEP 1: Head straight to the TV in the corner", "output": ["STEP 2: Pick up the box from the floor next to the TV"]} +{"id": "trial_T20190907_223211_131783-2%2", "input": "Take the box near the TV, put it on the couch | STEP 1: Head straight to the TV in the corner | STEP 2: Pick up the box from the floor next to the TV", "output": ["STEP 3: Turn around, head across the living room"]} +{"id": "trial_T20190907_223211_131783-2%3", "input": "Take the box near the TV, put it on the couch | STEP 1: Head straight to the TV in the corner | STEP 2: Pick up the box from the floor next to the TV | STEP 3: Turn around, head across the living room", "output": ["STEP 4: Put the box on the couch"]} +{"id": "trial_T20190907_223211_131783-2%4", "input": "Take the box near the TV, put it on the couch | STEP 1: Head straight to the TV in the corner | STEP 2: Pick up the box from the floor next to the TV | STEP 3: Turn around, head across the living room | STEP 4: Put the box on the couch", "output": ["END"]} +{"id": "trial_T20190907_002204_489147-1%0", "input": "Place the two tissue boxes from the shelf on the toilet basin.", "output": ["STEP 1: Turn left and walk straight towards the shelves on the wall."]} +{"id": "trial_T20190907_002204_489147-1%1", "input": "Place the two tissue boxes from the shelf on the toilet basin. | STEP 1: Turn left and walk straight towards the shelves on the wall.", "output": ["STEP 2: Pick up the left tissue box on the bottom shelf."]} +{"id": "trial_T20190907_002204_489147-1%2", "input": "Place the two tissue boxes from the shelf on the toilet basin. | STEP 1: Turn left and walk straight towards the shelves on the wall. | STEP 2: Pick up the left tissue box on the bottom shelf.", "output": ["STEP 3: Turn around and head towards the toilet."]} +{"id": "trial_T20190907_002204_489147-1%3", "input": "Place the two tissue boxes from the shelf on the toilet basin. | STEP 1: Turn left and walk straight towards the shelves on the wall. | STEP 2: Pick up the left tissue box on the bottom shelf. | STEP 3: Turn around and head towards the toilet.", "output": ["STEP 4: Place the tissue box on the toilet basin."]} +{"id": "trial_T20190907_002204_489147-1%4", "input": "Place the two tissue boxes from the shelf on the toilet basin. | STEP 1: Turn left and walk straight towards the shelves on the wall. | STEP 2: Pick up the left tissue box on the bottom shelf. | STEP 3: Turn around and head towards the toilet. | STEP 4: Place the tissue box on the toilet basin.", "output": ["STEP 5: Turn around and walk towards the shelves."]} +{"id": "trial_T20190907_002204_489147-1%5", "input": "Place the two tissue boxes from the shelf on the toilet basin. | STEP 1: Turn left and walk straight towards the shelves on the wall. | STEP 2: Pick up the left tissue box on the bottom shelf. | STEP 3: Turn around and head towards the toilet. | STEP 4: Place the tissue box on the toilet basin. | STEP 5: Turn around and walk towards the shelves.", "output": ["STEP 6: Pick up the tissue box on the bottom shelf."]} +{"id": "trial_T20190907_002204_489147-1%6", "input": "Place the two tissue boxes from the shelf on the toilet basin. | STEP 1: Turn left and walk straight towards the shelves on the wall. | STEP 2: Pick up the left tissue box on the bottom shelf. | STEP 3: Turn around and head towards the toilet. | STEP 4: Place the tissue box on the toilet basin. | STEP 5: Turn around and walk towards the shelves. | STEP 6: Pick up the tissue box on the bottom shelf.", "output": ["STEP 7: Turn around and head towards the toilet."]} +{"id": "trial_T20190907_002204_489147-1%7", "input": "Place the two tissue boxes from the shelf on the toilet basin. | STEP 1: Turn left and walk straight towards the shelves on the wall. | STEP 2: Pick up the left tissue box on the bottom shelf. | STEP 3: Turn around and head towards the toilet. | STEP 4: Place the tissue box on the toilet basin. | STEP 5: Turn around and walk towards the shelves. | STEP 6: Pick up the tissue box on the bottom shelf. | STEP 7: Turn around and head towards the toilet.", "output": ["STEP 8: Place the tissue box to the left of the first tissue box."]} +{"id": "trial_T20190907_002204_489147-1%8", "input": "Place the two tissue boxes from the shelf on the toilet basin. | STEP 1: Turn left and walk straight towards the shelves on the wall. | STEP 2: Pick up the left tissue box on the bottom shelf. | STEP 3: Turn around and head towards the toilet. | STEP 4: Place the tissue box on the toilet basin. | STEP 5: Turn around and walk towards the shelves. | STEP 6: Pick up the tissue box on the bottom shelf. | STEP 7: Turn around and head towards the toilet. | STEP 8: Place the tissue box to the left of the first tissue box.", "output": ["END"]} +{"id": "trial_T20190909_004116_598075-1%0", "input": "Move a pen to the top of a set of drawers.", "output": ["STEP 1: Walk over to face the front of the desk."]} +{"id": "trial_T20190909_004116_598075-1%1", "input": "Move a pen to the top of a set of drawers. | STEP 1: Walk over to face the front of the desk.", "output": ["STEP 2: Pick up the pen that is the closest to the front of the desk."]} +{"id": "trial_T20190909_004116_598075-1%2", "input": "Move a pen to the top of a set of drawers. | STEP 1: Walk over to face the front of the desk. | STEP 2: Pick up the pen that is the closest to the front of the desk.", "output": ["STEP 3: Move back a bit until you can see the drawers under the desk."]} +{"id": "trial_T20190909_004116_598075-1%3", "input": "Move a pen to the top of a set of drawers. | STEP 1: Walk over to face the front of the desk. | STEP 2: Pick up the pen that is the closest to the front of the desk. | STEP 3: Move back a bit until you can see the drawers under the desk.", "output": ["STEP 4: Place the pen on top of the drawers, on the right hand side."]} +{"id": "trial_T20190909_004116_598075-1%4", "input": "Move a pen to the top of a set of drawers. | STEP 1: Walk over to face the front of the desk. | STEP 2: Pick up the pen that is the closest to the front of the desk. | STEP 3: Move back a bit until you can see the drawers under the desk. | STEP 4: Place the pen on top of the drawers, on the right hand side.", "output": ["END"]} +{"id": "trial_T20190909_004116_598075-2%0", "input": "To move a pen to the drawer of the desk. ", "output": ["STEP 1: Walk over to face the front of the desk on the right. "]} +{"id": "trial_T20190909_004116_598075-2%1", "input": "To move a pen to the drawer of the desk. | STEP 1: Walk over to face the front of the desk on the right. ", "output": ["STEP 2: Pick up the pen from the desk to the right of the pencil. "]} +{"id": "trial_T20190909_004116_598075-2%2", "input": "To move a pen to the drawer of the desk. | STEP 1: Walk over to face the front of the desk on the right. | STEP 2: Pick up the pen from the desk to the right of the pencil. ", "output": ["STEP 3: Move further back from the desk and face the drawers below the desk. "]} +{"id": "trial_T20190909_004116_598075-2%3", "input": "To move a pen to the drawer of the desk. | STEP 1: Walk over to face the front of the desk on the right. | STEP 2: Pick up the pen from the desk to the right of the pencil. | STEP 3: Move further back from the desk and face the drawers below the desk. ", "output": ["STEP 4: Open the top drawer, place the pen inside the drawer, close the drawer. "]} +{"id": "trial_T20190909_004116_598075-2%4", "input": "To move a pen to the drawer of the desk. | STEP 1: Walk over to face the front of the desk on the right. | STEP 2: Pick up the pen from the desk to the right of the pencil. | STEP 3: Move further back from the desk and face the drawers below the desk. | STEP 4: Open the top drawer, place the pen inside the drawer, close the drawer. ", "output": ["END"]} +{"id": "trial_T20190909_005440_828167-2%0", "input": "Move two pencils to the dresser drawer. ", "output": ["STEP 1: Turn right and face the desk. "]} +{"id": "trial_T20190909_005440_828167-2%1", "input": "Move two pencils to the dresser drawer. | STEP 1: Turn right and face the desk. ", "output": ["STEP 2: Pick up the pencil from the desk. "]} +{"id": "trial_T20190909_005440_828167-2%2", "input": "Move two pencils to the dresser drawer. | STEP 1: Turn right and face the desk. | STEP 2: Pick up the pencil from the desk. ", "output": ["STEP 3: Turn around and face the dresser. "]} +{"id": "trial_T20190909_005440_828167-2%3", "input": "Move two pencils to the dresser drawer. | STEP 1: Turn right and face the desk. | STEP 2: Pick up the pencil from the desk. | STEP 3: Turn around and face the dresser. ", "output": ["STEP 4: Open the bottom left drawer of the dresser, put the pencil in the drawer, and close the drawer. "]} +{"id": "trial_T20190909_005440_828167-2%4", "input": "Move two pencils to the dresser drawer. | STEP 1: Turn right and face the desk. | STEP 2: Pick up the pencil from the desk. | STEP 3: Turn around and face the dresser. | STEP 4: Open the bottom left drawer of the dresser, put the pencil in the drawer, and close the drawer. ", "output": ["STEP 5: Look at the top of the dresser. "]} +{"id": "trial_T20190909_005440_828167-2%5", "input": "Move two pencils to the dresser drawer. | STEP 1: Turn right and face the desk. | STEP 2: Pick up the pencil from the desk. | STEP 3: Turn around and face the dresser. | STEP 4: Open the bottom left drawer of the dresser, put the pencil in the drawer, and close the drawer. | STEP 5: Look at the top of the dresser. ", "output": ["STEP 6: Pick up the pencil behind the book on the dresser. "]} +{"id": "trial_T20190909_005440_828167-2%6", "input": "Move two pencils to the dresser drawer. | STEP 1: Turn right and face the desk. | STEP 2: Pick up the pencil from the desk. | STEP 3: Turn around and face the dresser. | STEP 4: Open the bottom left drawer of the dresser, put the pencil in the drawer, and close the drawer. | STEP 5: Look at the top of the dresser. | STEP 6: Pick up the pencil behind the book on the dresser. ", "output": ["STEP 7: Move back from the dresser. "]} +{"id": "trial_T20190909_005440_828167-2%7", "input": "Move two pencils to the dresser drawer. | STEP 1: Turn right and face the desk. | STEP 2: Pick up the pencil from the desk. | STEP 3: Turn around and face the dresser. | STEP 4: Open the bottom left drawer of the dresser, put the pencil in the drawer, and close the drawer. | STEP 5: Look at the top of the dresser. | STEP 6: Pick up the pencil behind the book on the dresser. | STEP 7: Move back from the dresser. ", "output": ["STEP 8: Open the bottom left drawer, put the pencil in the drawer, and close the drawer. "]} +{"id": "trial_T20190909_005440_828167-2%8", "input": "Move two pencils to the dresser drawer. | STEP 1: Turn right and face the desk. | STEP 2: Pick up the pencil from the desk. | STEP 3: Turn around and face the dresser. | STEP 4: Open the bottom left drawer of the dresser, put the pencil in the drawer, and close the drawer. | STEP 5: Look at the top of the dresser. | STEP 6: Pick up the pencil behind the book on the dresser. | STEP 7: Move back from the dresser. | STEP 8: Open the bottom left drawer, put the pencil in the drawer, and close the drawer. ", "output": ["END"]} +{"id": "trial_T20190908_070434_862184-0%0", "input": "Clean off a teapot and place it back on the stove.", "output": ["STEP 1: Walk to the stove on your left."]} +{"id": "trial_T20190908_070434_862184-0%1", "input": "Clean off a teapot and place it back on the stove. | STEP 1: Walk to the stove on your left.", "output": ["STEP 2: Grab the teapot off the stove."]} +{"id": "trial_T20190908_070434_862184-0%2", "input": "Clean off a teapot and place it back on the stove. | STEP 1: Walk to the stove on your left. | STEP 2: Grab the teapot off the stove.", "output": ["STEP 3: Walk to the kitchen sink."]} +{"id": "trial_T20190908_070434_862184-0%3", "input": "Clean off a teapot and place it back on the stove. | STEP 1: Walk to the stove on your left. | STEP 2: Grab the teapot off the stove. | STEP 3: Walk to the kitchen sink.", "output": ["STEP 4: Put the teapot in the sink, soak with water, and grab the teapot."]} +{"id": "trial_T20190908_070434_862184-0%4", "input": "Clean off a teapot and place it back on the stove. | STEP 1: Walk to the stove on your left. | STEP 2: Grab the teapot off the stove. | STEP 3: Walk to the kitchen sink. | STEP 4: Put the teapot in the sink, soak with water, and grab the teapot.", "output": ["STEP 5: Walk back to the stove that's behind you."]} +{"id": "trial_T20190908_070434_862184-0%5", "input": "Clean off a teapot and place it back on the stove. | STEP 1: Walk to the stove on your left. | STEP 2: Grab the teapot off the stove. | STEP 3: Walk to the kitchen sink. | STEP 4: Put the teapot in the sink, soak with water, and grab the teapot. | STEP 5: Walk back to the stove that's behind you.", "output": ["STEP 6: Put the teapot back on the stove."]} +{"id": "trial_T20190908_070434_862184-0%6", "input": "Clean off a teapot and place it back on the stove. | STEP 1: Walk to the stove on your left. | STEP 2: Grab the teapot off the stove. | STEP 3: Walk to the kitchen sink. | STEP 4: Put the teapot in the sink, soak with water, and grab the teapot. | STEP 5: Walk back to the stove that's behind you. | STEP 6: Put the teapot back on the stove.", "output": ["END"]} +{"id": "trial_T20190908_070434_862184-2%0", "input": "Place clean kettle behind large pot on stove", "output": ["STEP 1: turn around, go to stove on the right"]} +{"id": "trial_T20190908_070434_862184-2%1", "input": "Place clean kettle behind large pot on stove | STEP 1: turn around, go to stove on the right", "output": ["STEP 2: pick up kettle from behind large round pot on stove"]} +{"id": "trial_T20190908_070434_862184-2%2", "input": "Place clean kettle behind large pot on stove | STEP 1: turn around, go to stove on the right | STEP 2: pick up kettle from behind large round pot on stove", "output": ["STEP 3: turn around, face sink"]} +{"id": "trial_T20190908_070434_862184-2%3", "input": "Place clean kettle behind large pot on stove | STEP 1: turn around, go to stove on the right | STEP 2: pick up kettle from behind large round pot on stove | STEP 3: turn around, face sink", "output": ["STEP 4: place kettle in sink, turn on water, pick up kettle from sink"]} +{"id": "trial_T20190908_070434_862184-2%4", "input": "Place clean kettle behind large pot on stove | STEP 1: turn around, go to stove on the right | STEP 2: pick up kettle from behind large round pot on stove | STEP 3: turn around, face sink | STEP 4: place kettle in sink, turn on water, pick up kettle from sink", "output": ["STEP 5: turn around, face stove"]} +{"id": "trial_T20190908_070434_862184-2%5", "input": "Place clean kettle behind large pot on stove | STEP 1: turn around, go to stove on the right | STEP 2: pick up kettle from behind large round pot on stove | STEP 3: turn around, face sink | STEP 4: place kettle in sink, turn on water, pick up kettle from sink | STEP 5: turn around, face stove", "output": ["STEP 6: place kettle behind large round pot on stove"]} +{"id": "trial_T20190908_070434_862184-2%6", "input": "Place clean kettle behind large pot on stove | STEP 1: turn around, go to stove on the right | STEP 2: pick up kettle from behind large round pot on stove | STEP 3: turn around, face sink | STEP 4: place kettle in sink, turn on water, pick up kettle from sink | STEP 5: turn around, face stove | STEP 6: place kettle behind large round pot on stove", "output": ["END"]} +{"id": "trial_T20190908_213522_775941-2%0", "input": "Place the two watches in the drawer of the desk.", "output": ["STEP 1: Turn right and step forward and turn right to face the living room table."]} +{"id": "trial_T20190908_213522_775941-2%1", "input": "Place the two watches in the drawer of the desk. | STEP 1: Turn right and step forward and turn right to face the living room table.", "output": ["STEP 2: Pick up the watch on the living room table."]} +{"id": "trial_T20190908_213522_775941-2%2", "input": "Place the two watches in the drawer of the desk. | STEP 1: Turn right and step forward and turn right to face the living room table. | STEP 2: Pick up the watch on the living room table.", "output": ["STEP 3: Turn left and walk forward to face the desk."]} +{"id": "trial_T20190908_213522_775941-2%3", "input": "Place the two watches in the drawer of the desk. | STEP 1: Turn right and step forward and turn right to face the living room table. | STEP 2: Pick up the watch on the living room table. | STEP 3: Turn left and walk forward to face the desk.", "output": ["STEP 4: Place the watch in the drawer of the desk."]} +{"id": "trial_T20190908_213522_775941-2%4", "input": "Place the two watches in the drawer of the desk. | STEP 1: Turn right and step forward and turn right to face the living room table. | STEP 2: Pick up the watch on the living room table. | STEP 3: Turn left and walk forward to face the desk. | STEP 4: Place the watch in the drawer of the desk.", "output": ["STEP 5: Turn around and walk forward and turn left to face the living room table."]} +{"id": "trial_T20190908_213522_775941-2%5", "input": "Place the two watches in the drawer of the desk. | STEP 1: Turn right and step forward and turn right to face the living room table. | STEP 2: Pick up the watch on the living room table. | STEP 3: Turn left and walk forward to face the desk. | STEP 4: Place the watch in the drawer of the desk. | STEP 5: Turn around and walk forward and turn left to face the living room table.", "output": ["STEP 6: Pick up the watch on the living room table."]} +{"id": "trial_T20190908_213522_775941-2%6", "input": "Place the two watches in the drawer of the desk. | STEP 1: Turn right and step forward and turn right to face the living room table. | STEP 2: Pick up the watch on the living room table. | STEP 3: Turn left and walk forward to face the desk. | STEP 4: Place the watch in the drawer of the desk. | STEP 5: Turn around and walk forward and turn left to face the living room table. | STEP 6: Pick up the watch on the living room table.", "output": ["STEP 7: Turn left and walk forward to face the desk."]} +{"id": "trial_T20190908_213522_775941-2%7", "input": "Place the two watches in the drawer of the desk. | STEP 1: Turn right and step forward and turn right to face the living room table. | STEP 2: Pick up the watch on the living room table. | STEP 3: Turn left and walk forward to face the desk. | STEP 4: Place the watch in the drawer of the desk. | STEP 5: Turn around and walk forward and turn left to face the living room table. | STEP 6: Pick up the watch on the living room table. | STEP 7: Turn left and walk forward to face the desk.", "output": ["STEP 8: Place the watch in the drawer with the first watch."]} +{"id": "trial_T20190908_213522_775941-2%8", "input": "Place the two watches in the drawer of the desk. | STEP 1: Turn right and step forward and turn right to face the living room table. | STEP 2: Pick up the watch on the living room table. | STEP 3: Turn left and walk forward to face the desk. | STEP 4: Place the watch in the drawer of the desk. | STEP 5: Turn around and walk forward and turn left to face the living room table. | STEP 6: Pick up the watch on the living room table. | STEP 7: Turn left and walk forward to face the desk. | STEP 8: Place the watch in the drawer with the first watch.", "output": ["END"]} +{"id": "trial_T20190906_175851_641650-1%0", "input": "Put a cleaned rag on the shelf.", "output": ["STEP 1: move to the tub to the left of you"]} +{"id": "trial_T20190906_175851_641650-1%1", "input": "Put a cleaned rag on the shelf. | STEP 1: move to the tub to the left of you", "output": ["STEP 2: pick up a rag from the tub"]} +{"id": "trial_T20190906_175851_641650-1%2", "input": "Put a cleaned rag on the shelf. | STEP 1: move to the tub to the left of you | STEP 2: pick up a rag from the tub", "output": ["STEP 3: move to the sink to the right"]} +{"id": "trial_T20190906_175851_641650-1%3", "input": "Put a cleaned rag on the shelf. | STEP 1: move to the tub to the left of you | STEP 2: pick up a rag from the tub | STEP 3: move to the sink to the right", "output": ["STEP 4: clean the rag in the sink"]} +{"id": "trial_T20190906_175851_641650-1%4", "input": "Put a cleaned rag on the shelf. | STEP 1: move to the tub to the left of you | STEP 2: pick up a rag from the tub | STEP 3: move to the sink to the right | STEP 4: clean the rag in the sink", "output": ["STEP 5: move to the shelf behind you"]} +{"id": "trial_T20190906_175851_641650-1%5", "input": "Put a cleaned rag on the shelf. | STEP 1: move to the tub to the left of you | STEP 2: pick up a rag from the tub | STEP 3: move to the sink to the right | STEP 4: clean the rag in the sink | STEP 5: move to the shelf behind you", "output": ["STEP 6: put the rag on the shelf"]} +{"id": "trial_T20190906_175851_641650-1%6", "input": "Put a cleaned rag on the shelf. | STEP 1: move to the tub to the left of you | STEP 2: pick up a rag from the tub | STEP 3: move to the sink to the right | STEP 4: clean the rag in the sink | STEP 5: move to the shelf behind you | STEP 6: put the rag on the shelf", "output": ["END"]} +{"id": "trial_T20190906_175851_641650-2%0", "input": "Put a wet wash cloth on a shelf.", "output": ["STEP 1: Turn around and take a step to your left."]} +{"id": "trial_T20190906_175851_641650-2%1", "input": "Put a wet wash cloth on a shelf. | STEP 1: Turn around and take a step to your left.", "output": ["STEP 2: Pick up the wash cloth that's to the right of the other one."]} +{"id": "trial_T20190906_175851_641650-2%2", "input": "Put a wet wash cloth on a shelf. | STEP 1: Turn around and take a step to your left. | STEP 2: Pick up the wash cloth that's to the right of the other one.", "output": ["STEP 3: Turn around and take two steps then turn left and walk to the garbage that's to the left of the toilet."]} +{"id": "trial_T20190906_175851_641650-2%3", "input": "Put a wet wash cloth on a shelf. | STEP 1: Turn around and take a step to your left. | STEP 2: Pick up the wash cloth that's to the right of the other one. | STEP 3: Turn around and take two steps then turn left and walk to the garbage that's to the left of the toilet.", "output": ["STEP 4: Get the cloth wet in the sink."]} +{"id": "trial_T20190906_175851_641650-2%4", "input": "Put a wet wash cloth on a shelf. | STEP 1: Turn around and take a step to your left. | STEP 2: Pick up the wash cloth that's to the right of the other one. | STEP 3: Turn around and take two steps then turn left and walk to the garbage that's to the left of the toilet. | STEP 4: Get the cloth wet in the sink.", "output": ["STEP 5: Turn around and walk to the shelves."]} +{"id": "trial_T20190906_175851_641650-2%5", "input": "Put a wet wash cloth on a shelf. | STEP 1: Turn around and take a step to your left. | STEP 2: Pick up the wash cloth that's to the right of the other one. | STEP 3: Turn around and take two steps then turn left and walk to the garbage that's to the left of the toilet. | STEP 4: Get the cloth wet in the sink. | STEP 5: Turn around and walk to the shelves.", "output": ["STEP 6: Put the wet cloth to the left of the tissues on the bottom shelf."]} +{"id": "trial_T20190906_175851_641650-2%6", "input": "Put a wet wash cloth on a shelf. | STEP 1: Turn around and take a step to your left. | STEP 2: Pick up the wash cloth that's to the right of the other one. | STEP 3: Turn around and take two steps then turn left and walk to the garbage that's to the left of the toilet. | STEP 4: Get the cloth wet in the sink. | STEP 5: Turn around and walk to the shelves. | STEP 6: Put the wet cloth to the left of the tissues on the bottom shelf.", "output": ["END"]} +{"id": "trial_T20190906_175851_641650-3%0", "input": "Place a wet wash cloth on a shelf in the bathroom.", "output": ["STEP 1: Turn around and walk to the center of the tub."]} +{"id": "trial_T20190906_175851_641650-3%1", "input": "Place a wet wash cloth on a shelf in the bathroom. | STEP 1: Turn around and walk to the center of the tub.", "output": ["STEP 2: Pick up the yellow wash cloth to the right of another."]} +{"id": "trial_T20190906_175851_641650-3%2", "input": "Place a wet wash cloth on a shelf in the bathroom. | STEP 1: Turn around and walk to the center of the tub. | STEP 2: Pick up the yellow wash cloth to the right of another.", "output": ["STEP 3: Turn around and walk so you are facing the garbage to the left of the toilet."]} +{"id": "trial_T20190906_175851_641650-3%3", "input": "Place a wet wash cloth on a shelf in the bathroom. | STEP 1: Turn around and walk to the center of the tub. | STEP 2: Pick up the yellow wash cloth to the right of another. | STEP 3: Turn around and walk so you are facing the garbage to the left of the toilet.", "output": ["STEP 4: Put the wash cloth in the sink and get it wet."]} +{"id": "trial_T20190906_175851_641650-3%4", "input": "Place a wet wash cloth on a shelf in the bathroom. | STEP 1: Turn around and walk to the center of the tub. | STEP 2: Pick up the yellow wash cloth to the right of another. | STEP 3: Turn around and walk so you are facing the garbage to the left of the toilet. | STEP 4: Put the wash cloth in the sink and get it wet.", "output": ["STEP 5: Turn around and make your way to the shelf running along the wall on the floor."]} +{"id": "trial_T20190906_175851_641650-3%5", "input": "Place a wet wash cloth on a shelf in the bathroom. | STEP 1: Turn around and walk to the center of the tub. | STEP 2: Pick up the yellow wash cloth to the right of another. | STEP 3: Turn around and walk so you are facing the garbage to the left of the toilet. | STEP 4: Put the wash cloth in the sink and get it wet. | STEP 5: Turn around and make your way to the shelf running along the wall on the floor.", "output": ["STEP 6: Place the wash cloth to the left of the box of tissues."]} +{"id": "trial_T20190906_175851_641650-3%6", "input": "Place a wet wash cloth on a shelf in the bathroom. | STEP 1: Turn around and walk to the center of the tub. | STEP 2: Pick up the yellow wash cloth to the right of another. | STEP 3: Turn around and walk so you are facing the garbage to the left of the toilet. | STEP 4: Put the wash cloth in the sink and get it wet. | STEP 5: Turn around and make your way to the shelf running along the wall on the floor. | STEP 6: Place the wash cloth to the left of the box of tissues.", "output": ["END"]} +{"id": "trial_T20190906_175851_641650-4%0", "input": "Place a clean rag on the bathroom shelf.", "output": ["STEP 1: Turn around and walk to the bath tub."]} +{"id": "trial_T20190906_175851_641650-4%1", "input": "Place a clean rag on the bathroom shelf. | STEP 1: Turn around and walk to the bath tub.", "output": ["STEP 2: Pick up the dirty rag on the right inside of the bath tub."]} +{"id": "trial_T20190906_175851_641650-4%2", "input": "Place a clean rag on the bathroom shelf. | STEP 1: Turn around and walk to the bath tub. | STEP 2: Pick up the dirty rag on the right inside of the bath tub.", "output": ["STEP 3: Turn around, then walk across the room and turn left towards the sink."]} +{"id": "trial_T20190906_175851_641650-4%3", "input": "Place a clean rag on the bathroom shelf. | STEP 1: Turn around and walk to the bath tub. | STEP 2: Pick up the dirty rag on the right inside of the bath tub. | STEP 3: Turn around, then walk across the room and turn left towards the sink.", "output": ["STEP 4: Rinse the dirty rag in the sink."]} +{"id": "trial_T20190906_175851_641650-4%4", "input": "Place a clean rag on the bathroom shelf. | STEP 1: Turn around and walk to the bath tub. | STEP 2: Pick up the dirty rag on the right inside of the bath tub. | STEP 3: Turn around, then walk across the room and turn left towards the sink. | STEP 4: Rinse the dirty rag in the sink.", "output": ["STEP 5: Pick up the rag, then turn around and walk towards the shelves."]} +{"id": "trial_T20190906_175851_641650-4%5", "input": "Place a clean rag on the bathroom shelf. | STEP 1: Turn around and walk to the bath tub. | STEP 2: Pick up the dirty rag on the right inside of the bath tub. | STEP 3: Turn around, then walk across the room and turn left towards the sink. | STEP 4: Rinse the dirty rag in the sink. | STEP 5: Pick up the rag, then turn around and walk towards the shelves.", "output": ["STEP 6: Place the rag on the bottom shelf."]} +{"id": "trial_T20190906_175851_641650-4%6", "input": "Place a clean rag on the bathroom shelf. | STEP 1: Turn around and walk to the bath tub. | STEP 2: Pick up the dirty rag on the right inside of the bath tub. | STEP 3: Turn around, then walk across the room and turn left towards the sink. | STEP 4: Rinse the dirty rag in the sink. | STEP 5: Pick up the rag, then turn around and walk towards the shelves. | STEP 6: Place the rag on the bottom shelf.", "output": ["END"]} +{"id": "trial_T20190906_175851_641650-5%0", "input": "Put a washed rag on a shelf.", "output": ["STEP 1: Turn around and walk to the tub."]} +{"id": "trial_T20190906_175851_641650-5%1", "input": "Put a washed rag on a shelf. | STEP 1: Turn around and walk to the tub.", "output": ["STEP 2: Pick up the yellow rag on the right."]} +{"id": "trial_T20190906_175851_641650-5%2", "input": "Put a washed rag on a shelf. | STEP 1: Turn around and walk to the tub. | STEP 2: Pick up the yellow rag on the right.", "output": ["STEP 3: Turn right and walk to the sink."]} +{"id": "trial_T20190906_175851_641650-5%3", "input": "Put a washed rag on a shelf. | STEP 1: Turn around and walk to the tub. | STEP 2: Pick up the yellow rag on the right. | STEP 3: Turn right and walk to the sink.", "output": ["STEP 4: Wash the rag in the sink."]} +{"id": "trial_T20190906_175851_641650-5%4", "input": "Put a washed rag on a shelf. | STEP 1: Turn around and walk to the tub. | STEP 2: Pick up the yellow rag on the right. | STEP 3: Turn right and walk to the sink. | STEP 4: Wash the rag in the sink.", "output": ["STEP 5: Turn around and walk to the wall with the two shelves."]} +{"id": "trial_T20190906_175851_641650-5%5", "input": "Put a washed rag on a shelf. | STEP 1: Turn around and walk to the tub. | STEP 2: Pick up the yellow rag on the right. | STEP 3: Turn right and walk to the sink. | STEP 4: Wash the rag in the sink. | STEP 5: Turn around and walk to the wall with the two shelves.", "output": ["STEP 6: Place the yellow rag to the left of the tissue box on the bottom shelf."]} +{"id": "trial_T20190906_175851_641650-5%6", "input": "Put a washed rag on a shelf. | STEP 1: Turn around and walk to the tub. | STEP 2: Pick up the yellow rag on the right. | STEP 3: Turn right and walk to the sink. | STEP 4: Wash the rag in the sink. | STEP 5: Turn around and walk to the wall with the two shelves. | STEP 6: Place the yellow rag to the left of the tissue box on the bottom shelf.", "output": ["END"]} +{"id": "trial_T20190908_125453_655281-2%0", "input": "Put two spray bottles on a toilet tank.", "output": ["STEP 1: Go forward, turn right, go forward to the toilet, turn left, go forward a step, turn right, go forward to the wall, turn left, go forward to the green bin."]} +{"id": "trial_T20190908_125453_655281-2%1", "input": "Put two spray bottles on a toilet tank. | STEP 1: Go forward, turn right, go forward to the toilet, turn left, go forward a step, turn right, go forward to the wall, turn left, go forward to the green bin.", "output": ["STEP 2: Take the spray bottle from the green bin."]} +{"id": "trial_T20190908_125453_655281-2%2", "input": "Put two spray bottles on a toilet tank. | STEP 1: Go forward, turn right, go forward to the toilet, turn left, go forward a step, turn right, go forward to the wall, turn left, go forward to the green bin. | STEP 2: Take the spray bottle from the green bin.", "output": ["STEP 3: Turn around, go forward to the toilet."]} +{"id": "trial_T20190908_125453_655281-2%3", "input": "Put two spray bottles on a toilet tank. | STEP 1: Go forward, turn right, go forward to the toilet, turn left, go forward a step, turn right, go forward to the wall, turn left, go forward to the green bin. | STEP 2: Take the spray bottle from the green bin. | STEP 3: Turn around, go forward to the toilet.", "output": ["STEP 4: Put the spray bottle on the toilet tank."]} +{"id": "trial_T20190908_125453_655281-2%4", "input": "Put two spray bottles on a toilet tank. | STEP 1: Go forward, turn right, go forward to the toilet, turn left, go forward a step, turn right, go forward to the wall, turn left, go forward to the green bin. | STEP 2: Take the spray bottle from the green bin. | STEP 3: Turn around, go forward to the toilet. | STEP 4: Put the spray bottle on the toilet tank.", "output": ["STEP 5: Turn around, go forward to the wall, turn left, go forward to the sink."]} +{"id": "trial_T20190908_125453_655281-2%5", "input": "Put two spray bottles on a toilet tank. | STEP 1: Go forward, turn right, go forward to the toilet, turn left, go forward a step, turn right, go forward to the wall, turn left, go forward to the green bin. | STEP 2: Take the spray bottle from the green bin. | STEP 3: Turn around, go forward to the toilet. | STEP 4: Put the spray bottle on the toilet tank. | STEP 5: Turn around, go forward to the wall, turn left, go forward to the sink.", "output": ["STEP 6: Take the spray bottle from the bottom right cabinet below the sink."]} +{"id": "trial_T20190908_125453_655281-2%6", "input": "Put two spray bottles on a toilet tank. | STEP 1: Go forward, turn right, go forward to the toilet, turn left, go forward a step, turn right, go forward to the wall, turn left, go forward to the green bin. | STEP 2: Take the spray bottle from the green bin. | STEP 3: Turn around, go forward to the toilet. | STEP 4: Put the spray bottle on the toilet tank. | STEP 5: Turn around, go forward to the wall, turn left, go forward to the sink. | STEP 6: Take the spray bottle from the bottom right cabinet below the sink.", "output": ["STEP 7: Turn around, go forward, turn right, go forward to the toilet."]} +{"id": "trial_T20190908_125453_655281-2%7", "input": "Put two spray bottles on a toilet tank. | STEP 1: Go forward, turn right, go forward to the toilet, turn left, go forward a step, turn right, go forward to the wall, turn left, go forward to the green bin. | STEP 2: Take the spray bottle from the green bin. | STEP 3: Turn around, go forward to the toilet. | STEP 4: Put the spray bottle on the toilet tank. | STEP 5: Turn around, go forward to the wall, turn left, go forward to the sink. | STEP 6: Take the spray bottle from the bottom right cabinet below the sink. | STEP 7: Turn around, go forward, turn right, go forward to the toilet.", "output": ["STEP 8: Put the spray bottle on the toilet tank."]} +{"id": "trial_T20190908_125453_655281-2%8", "input": "Put two spray bottles on a toilet tank. | STEP 1: Go forward, turn right, go forward to the toilet, turn left, go forward a step, turn right, go forward to the wall, turn left, go forward to the green bin. | STEP 2: Take the spray bottle from the green bin. | STEP 3: Turn around, go forward to the toilet. | STEP 4: Put the spray bottle on the toilet tank. | STEP 5: Turn around, go forward to the wall, turn left, go forward to the sink. | STEP 6: Take the spray bottle from the bottom right cabinet below the sink. | STEP 7: Turn around, go forward, turn right, go forward to the toilet. | STEP 8: Put the spray bottle on the toilet tank.", "output": ["END"]} +{"id": "trial_T20190912_025016_632439-0%0", "input": "Move two books from the dresser to the bed.", "output": ["STEP 1: Move to dresser to the left of the bed"]} +{"id": "trial_T20190912_025016_632439-0%1", "input": "Move two books from the dresser to the bed. | STEP 1: Move to dresser to the left of the bed", "output": ["STEP 2: Pick up a book from the dresser"]} +{"id": "trial_T20190912_025016_632439-0%2", "input": "Move two books from the dresser to the bed. | STEP 1: Move to dresser to the left of the bed | STEP 2: Pick up a book from the dresser", "output": ["STEP 3: Move to the bed to the right of you"]} +{"id": "trial_T20190912_025016_632439-0%3", "input": "Move two books from the dresser to the bed. | STEP 1: Move to dresser to the left of the bed | STEP 2: Pick up a book from the dresser | STEP 3: Move to the bed to the right of you", "output": ["STEP 4: Place the book on the bed"]} +{"id": "trial_T20190912_025016_632439-0%4", "input": "Move two books from the dresser to the bed. | STEP 1: Move to dresser to the left of the bed | STEP 2: Pick up a book from the dresser | STEP 3: Move to the bed to the right of you | STEP 4: Place the book on the bed", "output": ["STEP 5: Move to dresser to the left of the bed"]} +{"id": "trial_T20190912_025016_632439-0%5", "input": "Move two books from the dresser to the bed. | STEP 1: Move to dresser to the left of the bed | STEP 2: Pick up a book from the dresser | STEP 3: Move to the bed to the right of you | STEP 4: Place the book on the bed | STEP 5: Move to dresser to the left of the bed", "output": ["STEP 6: Pick up a book from the dresser"]} +{"id": "trial_T20190912_025016_632439-0%6", "input": "Move two books from the dresser to the bed. | STEP 1: Move to dresser to the left of the bed | STEP 2: Pick up a book from the dresser | STEP 3: Move to the bed to the right of you | STEP 4: Place the book on the bed | STEP 5: Move to dresser to the left of the bed | STEP 6: Pick up a book from the dresser", "output": ["STEP 7: Move to the bed to the right of you"]} +{"id": "trial_T20190912_025016_632439-0%7", "input": "Move two books from the dresser to the bed. | STEP 1: Move to dresser to the left of the bed | STEP 2: Pick up a book from the dresser | STEP 3: Move to the bed to the right of you | STEP 4: Place the book on the bed | STEP 5: Move to dresser to the left of the bed | STEP 6: Pick up a book from the dresser | STEP 7: Move to the bed to the right of you", "output": ["STEP 8: Place the book on the bed"]} +{"id": "trial_T20190912_025016_632439-0%8", "input": "Move two books from the dresser to the bed. | STEP 1: Move to dresser to the left of the bed | STEP 2: Pick up a book from the dresser | STEP 3: Move to the bed to the right of you | STEP 4: Place the book on the bed | STEP 5: Move to dresser to the left of the bed | STEP 6: Pick up a book from the dresser | STEP 7: Move to the bed to the right of you | STEP 8: Place the book on the bed", "output": ["END"]} +{"id": "trial_T20190906_200033_429462-0%0", "input": "rinse off a potato to store it in the fridge", "output": ["STEP 1: walk over to the kitchen counter next to the fridge "]} +{"id": "trial_T20190906_200033_429462-0%1", "input": "rinse off a potato to store it in the fridge | STEP 1: walk over to the kitchen counter next to the fridge ", "output": ["STEP 2: grab the potato off of the counter"]} +{"id": "trial_T20190906_200033_429462-0%2", "input": "rinse off a potato to store it in the fridge | STEP 1: walk over to the kitchen counter next to the fridge | STEP 2: grab the potato off of the counter", "output": ["STEP 3: turn and walk over to the kitchen sink"]} +{"id": "trial_T20190906_200033_429462-0%3", "input": "rinse off a potato to store it in the fridge | STEP 1: walk over to the kitchen counter next to the fridge | STEP 2: grab the potato off of the counter | STEP 3: turn and walk over to the kitchen sink", "output": ["STEP 4: place the potato inside the sink and wash it off, then pick it back up"]} +{"id": "trial_T20190906_200033_429462-0%4", "input": "rinse off a potato to store it in the fridge | STEP 1: walk over to the kitchen counter next to the fridge | STEP 2: grab the potato off of the counter | STEP 3: turn and walk over to the kitchen sink | STEP 4: place the potato inside the sink and wash it off, then pick it back up", "output": ["STEP 5: turn and walk over to the fridge again"]} +{"id": "trial_T20190906_200033_429462-0%5", "input": "rinse off a potato to store it in the fridge | STEP 1: walk over to the kitchen counter next to the fridge | STEP 2: grab the potato off of the counter | STEP 3: turn and walk over to the kitchen sink | STEP 4: place the potato inside the sink and wash it off, then pick it back up | STEP 5: turn and walk over to the fridge again", "output": ["STEP 6: place the potato inside the fridge and close the door"]} +{"id": "trial_T20190906_200033_429462-0%6", "input": "rinse off a potato to store it in the fridge | STEP 1: walk over to the kitchen counter next to the fridge | STEP 2: grab the potato off of the counter | STEP 3: turn and walk over to the kitchen sink | STEP 4: place the potato inside the sink and wash it off, then pick it back up | STEP 5: turn and walk over to the fridge again | STEP 6: place the potato inside the fridge and close the door", "output": ["END"]} +{"id": "trial_T20190908_113716_189822-1%0", "input": "Pick up the golden vase and put it on the black bookcase.", "output": ["STEP 1: Turn right at the black bookcase and walk to the end of the black drawers to the right."]} +{"id": "trial_T20190908_113716_189822-1%1", "input": "Pick up the golden vase and put it on the black bookcase. | STEP 1: Turn right at the black bookcase and walk to the end of the black drawers to the right.", "output": ["STEP 2: Pick up the golden vase from the black drawers. "]} +{"id": "trial_T20190908_113716_189822-1%2", "input": "Pick up the golden vase and put it on the black bookcase. | STEP 1: Turn right at the black bookcase and walk to the end of the black drawers to the right. | STEP 2: Pick up the golden vase from the black drawers. ", "output": ["STEP 3: Turn left and walk to the black bookcase."]} +{"id": "trial_T20190908_113716_189822-1%3", "input": "Pick up the golden vase and put it on the black bookcase. | STEP 1: Turn right at the black bookcase and walk to the end of the black drawers to the right. | STEP 2: Pick up the golden vase from the black drawers. | STEP 3: Turn left and walk to the black bookcase.", "output": ["STEP 4: Put the golden vase on the black bookcase."]} +{"id": "trial_T20190908_113716_189822-1%4", "input": "Pick up the golden vase and put it on the black bookcase. | STEP 1: Turn right at the black bookcase and walk to the end of the black drawers to the right. | STEP 2: Pick up the golden vase from the black drawers. | STEP 3: Turn left and walk to the black bookcase. | STEP 4: Put the golden vase on the black bookcase.", "output": ["END"]} +{"id": "trial_T20190907_034240_393045-1%0", "input": "Put the washed pink soap on the toilet. ", "output": ["STEP 1: Turn around and go to counter by the sink."]} +{"id": "trial_T20190907_034240_393045-1%1", "input": "Put the washed pink soap on the toilet. | STEP 1: Turn around and go to counter by the sink.", "output": ["STEP 2: Pick up the soap on the counter. "]} +{"id": "trial_T20190907_034240_393045-1%2", "input": "Put the washed pink soap on the toilet. | STEP 1: Turn around and go to counter by the sink. | STEP 2: Pick up the soap on the counter. ", "output": ["STEP 3: Turn and go to the sink on the right."]} +{"id": "trial_T20190907_034240_393045-1%3", "input": "Put the washed pink soap on the toilet. | STEP 1: Turn around and go to counter by the sink. | STEP 2: Pick up the soap on the counter. | STEP 3: Turn and go to the sink on the right.", "output": ["STEP 4: Put the soap in the sink and turn on the water. "]} +{"id": "trial_T20190907_034240_393045-1%4", "input": "Put the washed pink soap on the toilet. | STEP 1: Turn around and go to counter by the sink. | STEP 2: Pick up the soap on the counter. | STEP 3: Turn and go to the sink on the right. | STEP 4: Put the soap in the sink and turn on the water. ", "output": ["STEP 5: Turn around and go to the toilet. "]} +{"id": "trial_T20190907_034240_393045-1%5", "input": "Put the washed pink soap on the toilet. | STEP 1: Turn around and go to counter by the sink. | STEP 2: Pick up the soap on the counter. | STEP 3: Turn and go to the sink on the right. | STEP 4: Put the soap in the sink and turn on the water. | STEP 5: Turn around and go to the toilet. ", "output": ["STEP 6: Turn around and put the pink soap on the toilet. "]} +{"id": "trial_T20190907_034240_393045-1%6", "input": "Put the washed pink soap on the toilet. | STEP 1: Turn around and go to counter by the sink. | STEP 2: Pick up the soap on the counter. | STEP 3: Turn and go to the sink on the right. | STEP 4: Put the soap in the sink and turn on the water. | STEP 5: Turn around and go to the toilet. | STEP 6: Turn around and put the pink soap on the toilet. ", "output": ["END"]} +{"id": "trial_T20190909_080422_006743-2%0", "input": "Microwave a mug from the cupboard and put it next to the toaster.", "output": ["STEP 1: Go forward and turn left to face the counter with the toaster on it."]} +{"id": "trial_T20190909_080422_006743-2%1", "input": "Microwave a mug from the cupboard and put it next to the toaster. | STEP 1: Go forward and turn left to face the counter with the toaster on it.", "output": ["STEP 2: Open up the cupboard above the toaster, grab the mug, and close the cupboard."]} +{"id": "trial_T20190909_080422_006743-2%2", "input": "Microwave a mug from the cupboard and put it next to the toaster. | STEP 1: Go forward and turn left to face the counter with the toaster on it. | STEP 2: Open up the cupboard above the toaster, grab the mug, and close the cupboard.", "output": ["STEP 3: Turn right and face the microwave above the oven."]} +{"id": "trial_T20190909_080422_006743-2%3", "input": "Microwave a mug from the cupboard and put it next to the toaster. | STEP 1: Go forward and turn left to face the counter with the toaster on it. | STEP 2: Open up the cupboard above the toaster, grab the mug, and close the cupboard. | STEP 3: Turn right and face the microwave above the oven.", "output": ["STEP 4: Microwave the mug for a moment, then take it back out of the microwave and close the microwave."]} +{"id": "trial_T20190909_080422_006743-2%4", "input": "Microwave a mug from the cupboard and put it next to the toaster. | STEP 1: Go forward and turn left to face the counter with the toaster on it. | STEP 2: Open up the cupboard above the toaster, grab the mug, and close the cupboard. | STEP 3: Turn right and face the microwave above the oven. | STEP 4: Microwave the mug for a moment, then take it back out of the microwave and close the microwave.", "output": ["STEP 5: Turn left and go back to the counter area with the toaster on it."]} +{"id": "trial_T20190909_080422_006743-2%5", "input": "Microwave a mug from the cupboard and put it next to the toaster. | STEP 1: Go forward and turn left to face the counter with the toaster on it. | STEP 2: Open up the cupboard above the toaster, grab the mug, and close the cupboard. | STEP 3: Turn right and face the microwave above the oven. | STEP 4: Microwave the mug for a moment, then take it back out of the microwave and close the microwave. | STEP 5: Turn left and go back to the counter area with the toaster on it.", "output": ["STEP 6: Place the mug on the counter to the left of the butterknife."]} +{"id": "trial_T20190909_080422_006743-2%6", "input": "Microwave a mug from the cupboard and put it next to the toaster. | STEP 1: Go forward and turn left to face the counter with the toaster on it. | STEP 2: Open up the cupboard above the toaster, grab the mug, and close the cupboard. | STEP 3: Turn right and face the microwave above the oven. | STEP 4: Microwave the mug for a moment, then take it back out of the microwave and close the microwave. | STEP 5: Turn left and go back to the counter area with the toaster on it. | STEP 6: Place the mug on the counter to the left of the butterknife.", "output": ["END"]} +{"id": "trial_T20190908_101131_853686-2%0", "input": "Put a heated tomato in a fridge", "output": ["STEP 1: Go to the counter across the fridge"]} +{"id": "trial_T20190908_101131_853686-2%1", "input": "Put a heated tomato in a fridge | STEP 1: Go to the counter across the fridge", "output": ["STEP 2: Pick up the tomato from the counter"]} +{"id": "trial_T20190908_101131_853686-2%2", "input": "Put a heated tomato in a fridge | STEP 1: Go to the counter across the fridge | STEP 2: Pick up the tomato from the counter", "output": ["STEP 3: Go to the microwave"]} +{"id": "trial_T20190908_101131_853686-2%3", "input": "Put a heated tomato in a fridge | STEP 1: Go to the counter across the fridge | STEP 2: Pick up the tomato from the counter | STEP 3: Go to the microwave", "output": ["STEP 4: Microwave the tomato"]} +{"id": "trial_T20190908_101131_853686-2%4", "input": "Put a heated tomato in a fridge | STEP 1: Go to the counter across the fridge | STEP 2: Pick up the tomato from the counter | STEP 3: Go to the microwave | STEP 4: Microwave the tomato", "output": ["STEP 5: Go to the fridge"]} +{"id": "trial_T20190908_101131_853686-2%5", "input": "Put a heated tomato in a fridge | STEP 1: Go to the counter across the fridge | STEP 2: Pick up the tomato from the counter | STEP 3: Go to the microwave | STEP 4: Microwave the tomato | STEP 5: Go to the fridge", "output": ["STEP 6: Place the tomato inside the fridge"]} +{"id": "trial_T20190908_101131_853686-2%6", "input": "Put a heated tomato in a fridge | STEP 1: Go to the counter across the fridge | STEP 2: Pick up the tomato from the counter | STEP 3: Go to the microwave | STEP 4: Microwave the tomato | STEP 5: Go to the fridge | STEP 6: Place the tomato inside the fridge", "output": ["END"]} +{"id": "trial_T20190908_060855_136513-1%0", "input": "Put a roll of toilet paper on the holder. ", "output": ["STEP 1: Go to the sink in front of you. "]} +{"id": "trial_T20190908_060855_136513-1%1", "input": "Put a roll of toilet paper on the holder. | STEP 1: Go to the sink in front of you. ", "output": ["STEP 2: Open the left cabinet, under the sink closest to the wall and pull out a roll of toilet paper. "]} +{"id": "trial_T20190908_060855_136513-1%2", "input": "Put a roll of toilet paper on the holder. | STEP 1: Go to the sink in front of you. | STEP 2: Open the left cabinet, under the sink closest to the wall and pull out a roll of toilet paper. ", "output": ["STEP 3: Turn to your left and go to the toilet. "]} +{"id": "trial_T20190908_060855_136513-1%3", "input": "Put a roll of toilet paper on the holder. | STEP 1: Go to the sink in front of you. | STEP 2: Open the left cabinet, under the sink closest to the wall and pull out a roll of toilet paper. | STEP 3: Turn to your left and go to the toilet. ", "output": ["STEP 4: Place the toilet paper roll on the toilet paper holder, on the back wall, between the toilet and the shower."]} +{"id": "trial_T20190908_060855_136513-1%4", "input": "Put a roll of toilet paper on the holder. | STEP 1: Go to the sink in front of you. | STEP 2: Open the left cabinet, under the sink closest to the wall and pull out a roll of toilet paper. | STEP 3: Turn to your left and go to the toilet. | STEP 4: Place the toilet paper roll on the toilet paper holder, on the back wall, between the toilet and the shower.", "output": ["END"]} +{"id": "trial_T20190908_060855_136513-2%0", "input": "retrieve the tissue from the cabinet and place it on the roll", "output": ["STEP 1: walk towards the sink"]} +{"id": "trial_T20190908_060855_136513-2%1", "input": "retrieve the tissue from the cabinet and place it on the roll | STEP 1: walk towards the sink", "output": ["STEP 2: open the cabinet and get the tissue from the shelf"]} +{"id": "trial_T20190908_060855_136513-2%2", "input": "retrieve the tissue from the cabinet and place it on the roll | STEP 1: walk towards the sink | STEP 2: open the cabinet and get the tissue from the shelf", "output": ["STEP 3: turn left and walk to the shower. turn left "]} +{"id": "trial_T20190908_060855_136513-2%3", "input": "retrieve the tissue from the cabinet and place it on the roll | STEP 1: walk towards the sink | STEP 2: open the cabinet and get the tissue from the shelf | STEP 3: turn left and walk to the shower. turn left ", "output": ["STEP 4: place the tissue on the roll"]} +{"id": "trial_T20190908_060855_136513-2%4", "input": "retrieve the tissue from the cabinet and place it on the roll | STEP 1: walk towards the sink | STEP 2: open the cabinet and get the tissue from the shelf | STEP 3: turn left and walk to the shower. turn left | STEP 4: place the tissue on the roll", "output": ["END"]} +{"id": "trial_T20190907_153654_775875-2%0", "input": "Examine a watering can by the light of a table lamp.", "output": ["STEP 1: Turn around and walk to the black shelves by the wall."]} +{"id": "trial_T20190907_153654_775875-2%1", "input": "Examine a watering can by the light of a table lamp. | STEP 1: Turn around and walk to the black shelves by the wall.", "output": ["STEP 2: Pick up the watering can from the bottom shelf."]} +{"id": "trial_T20190907_153654_775875-2%2", "input": "Examine a watering can by the light of a table lamp. | STEP 1: Turn around and walk to the black shelves by the wall. | STEP 2: Pick up the watering can from the bottom shelf.", "output": ["STEP 3: Turn right and walk in front of the lamp on the end table."]} +{"id": "trial_T20190907_153654_775875-2%3", "input": "Examine a watering can by the light of a table lamp. | STEP 1: Turn around and walk to the black shelves by the wall. | STEP 2: Pick up the watering can from the bottom shelf. | STEP 3: Turn right and walk in front of the lamp on the end table.", "output": ["STEP 4: Turn on the lamp."]} +{"id": "trial_T20190907_153654_775875-2%4", "input": "Examine a watering can by the light of a table lamp. | STEP 1: Turn around and walk to the black shelves by the wall. | STEP 2: Pick up the watering can from the bottom shelf. | STEP 3: Turn right and walk in front of the lamp on the end table. | STEP 4: Turn on the lamp.", "output": ["END"]} +{"id": "trial_T20190908_080835_042367-2%0", "input": "Slice bread, grab a slice, cook it in the microwave, put it on the counter.", "output": ["STEP 1: Walk towards the counter"]} +{"id": "trial_T20190908_080835_042367-2%1", "input": "Slice bread, grab a slice, cook it in the microwave, put it on the counter. | STEP 1: Walk towards the counter", "output": ["STEP 2: Grab yellow knife from counter"]} +{"id": "trial_T20190908_080835_042367-2%2", "input": "Slice bread, grab a slice, cook it in the microwave, put it on the counter. | STEP 1: Walk towards the counter | STEP 2: Grab yellow knife from counter", "output": ["STEP 3: Walk with the knife towards the table"]} +{"id": "trial_T20190908_080835_042367-2%3", "input": "Slice bread, grab a slice, cook it in the microwave, put it on the counter. | STEP 1: Walk towards the counter | STEP 2: Grab yellow knife from counter | STEP 3: Walk with the knife towards the table", "output": ["STEP 4: Slice bread on the table"]} +{"id": "trial_T20190908_080835_042367-2%4", "input": "Slice bread, grab a slice, cook it in the microwave, put it on the counter. | STEP 1: Walk towards the counter | STEP 2: Grab yellow knife from counter | STEP 3: Walk with the knife towards the table | STEP 4: Slice bread on the table", "output": ["STEP 5: Look up from the table"]} +{"id": "trial_T20190908_080835_042367-2%5", "input": "Slice bread, grab a slice, cook it in the microwave, put it on the counter. | STEP 1: Walk towards the counter | STEP 2: Grab yellow knife from counter | STEP 3: Walk with the knife towards the table | STEP 4: Slice bread on the table | STEP 5: Look up from the table", "output": ["STEP 6: Put knife on the table"]} +{"id": "trial_T20190908_080835_042367-2%6", "input": "Slice bread, grab a slice, cook it in the microwave, put it on the counter. | STEP 1: Walk towards the counter | STEP 2: Grab yellow knife from counter | STEP 3: Walk with the knife towards the table | STEP 4: Slice bread on the table | STEP 5: Look up from the table | STEP 6: Put knife on the table", "output": ["STEP 7: Look down from the table"]} +{"id": "trial_T20190908_080835_042367-2%7", "input": "Slice bread, grab a slice, cook it in the microwave, put it on the counter. | STEP 1: Walk towards the counter | STEP 2: Grab yellow knife from counter | STEP 3: Walk with the knife towards the table | STEP 4: Slice bread on the table | STEP 5: Look up from the table | STEP 6: Put knife on the table | STEP 7: Look down from the table", "output": ["STEP 8: Grab a bread slice from the table"]} +{"id": "trial_T20190908_080835_042367-2%8", "input": "Slice bread, grab a slice, cook it in the microwave, put it on the counter. | STEP 1: Walk towards the counter | STEP 2: Grab yellow knife from counter | STEP 3: Walk with the knife towards the table | STEP 4: Slice bread on the table | STEP 5: Look up from the table | STEP 6: Put knife on the table | STEP 7: Look down from the table | STEP 8: Grab a bread slice from the table", "output": ["STEP 9: Walk with the bread slice towards the microwave"]} +{"id": "trial_T20190908_080835_042367-2%9", "input": "Slice bread, grab a slice, cook it in the microwave, put it on the counter. | STEP 1: Walk towards the counter | STEP 2: Grab yellow knife from counter | STEP 3: Walk with the knife towards the table | STEP 4: Slice bread on the table | STEP 5: Look up from the table | STEP 6: Put knife on the table | STEP 7: Look down from the table | STEP 8: Grab a bread slice from the table | STEP 9: Walk with the bread slice towards the microwave", "output": ["STEP 10: Put the bread slice in the microwave, cook it and take it out"]} +{"id": "trial_T20190908_080835_042367-2%10", "input": "Slice bread, grab a slice, cook it in the microwave, put it on the counter. | STEP 1: Walk towards the counter | STEP 2: Grab yellow knife from counter | STEP 3: Walk with the knife towards the table | STEP 4: Slice bread on the table | STEP 5: Look up from the table | STEP 6: Put knife on the table | STEP 7: Look down from the table | STEP 8: Grab a bread slice from the table | STEP 9: Walk with the bread slice towards the microwave | STEP 10: Put the bread slice in the microwave, cook it and take it out", "output": ["STEP 11: Walk with the bread slice towards the counter"]} +{"id": "trial_T20190908_080835_042367-2%11", "input": "Slice bread, grab a slice, cook it in the microwave, put it on the counter. | STEP 1: Walk towards the counter | STEP 2: Grab yellow knife from counter | STEP 3: Walk with the knife towards the table | STEP 4: Slice bread on the table | STEP 5: Look up from the table | STEP 6: Put knife on the table | STEP 7: Look down from the table | STEP 8: Grab a bread slice from the table | STEP 9: Walk with the bread slice towards the microwave | STEP 10: Put the bread slice in the microwave, cook it and take it out | STEP 11: Walk with the bread slice towards the counter", "output": ["STEP 12: Put the bread slice on the counter"]} +{"id": "trial_T20190908_080835_042367-2%12", "input": "Slice bread, grab a slice, cook it in the microwave, put it on the counter. | STEP 1: Walk towards the counter | STEP 2: Grab yellow knife from counter | STEP 3: Walk with the knife towards the table | STEP 4: Slice bread on the table | STEP 5: Look up from the table | STEP 6: Put knife on the table | STEP 7: Look down from the table | STEP 8: Grab a bread slice from the table | STEP 9: Walk with the bread slice towards the microwave | STEP 10: Put the bread slice in the microwave, cook it and take it out | STEP 11: Walk with the bread slice towards the counter | STEP 12: Put the bread slice on the counter", "output": ["END"]} +{"id": "trial_T20190908_113832_021708-1%0", "input": "Move a golden vase to a wooden shelving unit.", "output": ["STEP 1: Walk over to the dresser across the room that is below a mirror on the wall."]} +{"id": "trial_T20190908_113832_021708-1%1", "input": "Move a golden vase to a wooden shelving unit. | STEP 1: Walk over to the dresser across the room that is below a mirror on the wall.", "output": ["STEP 2: Pick up the golden vase off of the dresser."]} +{"id": "trial_T20190908_113832_021708-1%2", "input": "Move a golden vase to a wooden shelving unit. | STEP 1: Walk over to the dresser across the room that is below a mirror on the wall. | STEP 2: Pick up the golden vase off of the dresser.", "output": ["STEP 3: Turn right and walk over to the wooden shelving unit."]} +{"id": "trial_T20190908_113832_021708-1%3", "input": "Move a golden vase to a wooden shelving unit. | STEP 1: Walk over to the dresser across the room that is below a mirror on the wall. | STEP 2: Pick up the golden vase off of the dresser. | STEP 3: Turn right and walk over to the wooden shelving unit.", "output": ["STEP 4: Put the golden vase on the bottom shelf of the wooden shelving unit."]} +{"id": "trial_T20190908_113832_021708-1%4", "input": "Move a golden vase to a wooden shelving unit. | STEP 1: Walk over to the dresser across the room that is below a mirror on the wall. | STEP 2: Pick up the golden vase off of the dresser. | STEP 3: Turn right and walk over to the wooden shelving unit. | STEP 4: Put the golden vase on the bottom shelf of the wooden shelving unit.", "output": ["END"]} +{"id": "trial_T20190907_195923_069158-0%0", "input": "Put a cooled slice of potato in the microwave.", "output": ["STEP 1: Turn left and then turn right. Move to the last plate on the left side counter."]} +{"id": "trial_T20190907_195923_069158-0%1", "input": "Put a cooled slice of potato in the microwave. | STEP 1: Turn left and then turn right. Move to the last plate on the left side counter.", "output": ["STEP 2: Pick up the knife that's on the counter behind the plate."]} +{"id": "trial_T20190907_195923_069158-0%2", "input": "Put a cooled slice of potato in the microwave. | STEP 1: Turn left and then turn right. Move to the last plate on the left side counter. | STEP 2: Pick up the knife that's on the counter behind the plate.", "output": ["STEP 3: Slice the potato that's on the counter behind the plate."]} +{"id": "trial_T20190907_195923_069158-0%3", "input": "Put a cooled slice of potato in the microwave. | STEP 1: Turn left and then turn right. Move to the last plate on the left side counter. | STEP 2: Pick up the knife that's on the counter behind the plate. | STEP 3: Slice the potato that's on the counter behind the plate.", "output": ["STEP 4: Move a few inches to the right."]} +{"id": "trial_T20190907_195923_069158-0%4", "input": "Put a cooled slice of potato in the microwave. | STEP 1: Turn left and then turn right. Move to the last plate on the left side counter. | STEP 2: Pick up the knife that's on the counter behind the plate. | STEP 3: Slice the potato that's on the counter behind the plate. | STEP 4: Move a few inches to the right.", "output": ["STEP 5: Set the knife down on the right side of the plate with the blade facing away from the plate."]} +{"id": "trial_T20190907_195923_069158-0%5", "input": "Put a cooled slice of potato in the microwave. | STEP 1: Turn left and then turn right. Move to the last plate on the left side counter. | STEP 2: Pick up the knife that's on the counter behind the plate. | STEP 3: Slice the potato that's on the counter behind the plate. | STEP 4: Move a few inches to the right. | STEP 5: Set the knife down on the right side of the plate with the blade facing away from the plate.", "output": ["STEP 6: Move one step closer to the counter."]} +{"id": "trial_T20190907_195923_069158-0%6", "input": "Put a cooled slice of potato in the microwave. | STEP 1: Turn left and then turn right. Move to the last plate on the left side counter. | STEP 2: Pick up the knife that's on the counter behind the plate. | STEP 3: Slice the potato that's on the counter behind the plate. | STEP 4: Move a few inches to the right. | STEP 5: Set the knife down on the right side of the plate with the blade facing away from the plate. | STEP 6: Move one step closer to the counter.", "output": ["STEP 7: Pick up a slice of potato."]} +{"id": "trial_T20190907_195923_069158-0%7", "input": "Put a cooled slice of potato in the microwave. | STEP 1: Turn left and then turn right. Move to the last plate on the left side counter. | STEP 2: Pick up the knife that's on the counter behind the plate. | STEP 3: Slice the potato that's on the counter behind the plate. | STEP 4: Move a few inches to the right. | STEP 5: Set the knife down on the right side of the plate with the blade facing away from the plate. | STEP 6: Move one step closer to the counter. | STEP 7: Pick up a slice of potato.", "output": ["STEP 8: Turn around and face the fridge."]} +{"id": "trial_T20190907_195923_069158-0%8", "input": "Put a cooled slice of potato in the microwave. | STEP 1: Turn left and then turn right. Move to the last plate on the left side counter. | STEP 2: Pick up the knife that's on the counter behind the plate. | STEP 3: Slice the potato that's on the counter behind the plate. | STEP 4: Move a few inches to the right. | STEP 5: Set the knife down on the right side of the plate with the blade facing away from the plate. | STEP 6: Move one step closer to the counter. | STEP 7: Pick up a slice of potato. | STEP 8: Turn around and face the fridge.", "output": ["STEP 9: Put the potato on the second shelf on the right side. Close the fridge for a few moments and take the potato slice back out."]} +{"id": "trial_T20190907_195923_069158-0%9", "input": "Put a cooled slice of potato in the microwave. | STEP 1: Turn left and then turn right. Move to the last plate on the left side counter. | STEP 2: Pick up the knife that's on the counter behind the plate. | STEP 3: Slice the potato that's on the counter behind the plate. | STEP 4: Move a few inches to the right. | STEP 5: Set the knife down on the right side of the plate with the blade facing away from the plate. | STEP 6: Move one step closer to the counter. | STEP 7: Pick up a slice of potato. | STEP 8: Turn around and face the fridge. | STEP 9: Put the potato on the second shelf on the right side. Close the fridge for a few moments and take the potato slice back out.", "output": ["STEP 10: Turn right and face the microwave over the stove on your right."]} +{"id": "trial_T20190907_195923_069158-0%10", "input": "Put a cooled slice of potato in the microwave. | STEP 1: Turn left and then turn right. Move to the last plate on the left side counter. | STEP 2: Pick up the knife that's on the counter behind the plate. | STEP 3: Slice the potato that's on the counter behind the plate. | STEP 4: Move a few inches to the right. | STEP 5: Set the knife down on the right side of the plate with the blade facing away from the plate. | STEP 6: Move one step closer to the counter. | STEP 7: Pick up a slice of potato. | STEP 8: Turn around and face the fridge. | STEP 9: Put the potato on the second shelf on the right side. Close the fridge for a few moments and take the potato slice back out. | STEP 10: Turn right and face the microwave over the stove on your right.", "output": ["STEP 11: Put the potato in the microwave on the right of the mug."]} +{"id": "trial_T20190907_195923_069158-0%11", "input": "Put a cooled slice of potato in the microwave. | STEP 1: Turn left and then turn right. Move to the last plate on the left side counter. | STEP 2: Pick up the knife that's on the counter behind the plate. | STEP 3: Slice the potato that's on the counter behind the plate. | STEP 4: Move a few inches to the right. | STEP 5: Set the knife down on the right side of the plate with the blade facing away from the plate. | STEP 6: Move one step closer to the counter. | STEP 7: Pick up a slice of potato. | STEP 8: Turn around and face the fridge. | STEP 9: Put the potato on the second shelf on the right side. Close the fridge for a few moments and take the potato slice back out. | STEP 10: Turn right and face the microwave over the stove on your right. | STEP 11: Put the potato in the microwave on the right of the mug.", "output": ["END"]} +{"id": "trial_T20190907_195923_069158-1%0", "input": "Place a chilled piece of potato into the microwave above the stove.", "output": ["STEP 1: Walk to the potato on the counter opposite the fridge."]} +{"id": "trial_T20190907_195923_069158-1%1", "input": "Place a chilled piece of potato into the microwave above the stove. | STEP 1: Walk to the potato on the counter opposite the fridge.", "output": ["STEP 2: Pick up the yellow knife in front of the potato on the counter."]} +{"id": "trial_T20190907_195923_069158-1%2", "input": "Place a chilled piece of potato into the microwave above the stove. | STEP 1: Walk to the potato on the counter opposite the fridge. | STEP 2: Pick up the yellow knife in front of the potato on the counter.", "output": ["STEP 3: Cut up the potato on the counter."]} +{"id": "trial_T20190907_195923_069158-1%3", "input": "Place a chilled piece of potato into the microwave above the stove. | STEP 1: Walk to the potato on the counter opposite the fridge. | STEP 2: Pick up the yellow knife in front of the potato on the counter. | STEP 3: Cut up the potato on the counter.", "output": ["STEP 4: Take one step back and then face the counter with the cut up potato on it."]} +{"id": "trial_T20190907_195923_069158-1%4", "input": "Place a chilled piece of potato into the microwave above the stove. | STEP 1: Walk to the potato on the counter opposite the fridge. | STEP 2: Pick up the yellow knife in front of the potato on the counter. | STEP 3: Cut up the potato on the counter. | STEP 4: Take one step back and then face the counter with the cut up potato on it.", "output": ["STEP 5: Place the knife to the right of the plate on the counter."]} +{"id": "trial_T20190907_195923_069158-1%5", "input": "Place a chilled piece of potato into the microwave above the stove. | STEP 1: Walk to the potato on the counter opposite the fridge. | STEP 2: Pick up the yellow knife in front of the potato on the counter. | STEP 3: Cut up the potato on the counter. | STEP 4: Take one step back and then face the counter with the cut up potato on it. | STEP 5: Place the knife to the right of the plate on the counter.", "output": ["STEP 6: Take one step forward toward the potato on the counter."]} +{"id": "trial_T20190907_195923_069158-1%6", "input": "Place a chilled piece of potato into the microwave above the stove. | STEP 1: Walk to the potato on the counter opposite the fridge. | STEP 2: Pick up the yellow knife in front of the potato on the counter. | STEP 3: Cut up the potato on the counter. | STEP 4: Take one step back and then face the counter with the cut up potato on it. | STEP 5: Place the knife to the right of the plate on the counter. | STEP 6: Take one step forward toward the potato on the counter.", "output": ["STEP 7: Pick up a piece of the potato on the counter."]} +{"id": "trial_T20190907_195923_069158-1%7", "input": "Place a chilled piece of potato into the microwave above the stove. | STEP 1: Walk to the potato on the counter opposite the fridge. | STEP 2: Pick up the yellow knife in front of the potato on the counter. | STEP 3: Cut up the potato on the counter. | STEP 4: Take one step back and then face the counter with the cut up potato on it. | STEP 5: Place the knife to the right of the plate on the counter. | STEP 6: Take one step forward toward the potato on the counter. | STEP 7: Pick up a piece of the potato on the counter.", "output": ["STEP 8: Turn around and walk to the fridge."]} +{"id": "trial_T20190907_195923_069158-1%8", "input": "Place a chilled piece of potato into the microwave above the stove. | STEP 1: Walk to the potato on the counter opposite the fridge. | STEP 2: Pick up the yellow knife in front of the potato on the counter. | STEP 3: Cut up the potato on the counter. | STEP 4: Take one step back and then face the counter with the cut up potato on it. | STEP 5: Place the knife to the right of the plate on the counter. | STEP 6: Take one step forward toward the potato on the counter. | STEP 7: Pick up a piece of the potato on the counter. | STEP 8: Turn around and walk to the fridge.", "output": ["STEP 9: Chill the potato in the fridge and then pick the potato up from the fridge."]} +{"id": "trial_T20190907_195923_069158-1%9", "input": "Place a chilled piece of potato into the microwave above the stove. | STEP 1: Walk to the potato on the counter opposite the fridge. | STEP 2: Pick up the yellow knife in front of the potato on the counter. | STEP 3: Cut up the potato on the counter. | STEP 4: Take one step back and then face the counter with the cut up potato on it. | STEP 5: Place the knife to the right of the plate on the counter. | STEP 6: Take one step forward toward the potato on the counter. | STEP 7: Pick up a piece of the potato on the counter. | STEP 8: Turn around and walk to the fridge. | STEP 9: Chill the potato in the fridge and then pick the potato up from the fridge.", "output": ["STEP 10: Turn right and walk to the microwave above the stove."]} +{"id": "trial_T20190907_195923_069158-1%10", "input": "Place a chilled piece of potato into the microwave above the stove. | STEP 1: Walk to the potato on the counter opposite the fridge. | STEP 2: Pick up the yellow knife in front of the potato on the counter. | STEP 3: Cut up the potato on the counter. | STEP 4: Take one step back and then face the counter with the cut up potato on it. | STEP 5: Place the knife to the right of the plate on the counter. | STEP 6: Take one step forward toward the potato on the counter. | STEP 7: Pick up a piece of the potato on the counter. | STEP 8: Turn around and walk to the fridge. | STEP 9: Chill the potato in the fridge and then pick the potato up from the fridge. | STEP 10: Turn right and walk to the microwave above the stove.", "output": ["STEP 11: Place the piece of potato into the microwave and then close the microwave."]} +{"id": "trial_T20190907_195923_069158-1%11", "input": "Place a chilled piece of potato into the microwave above the stove. | STEP 1: Walk to the potato on the counter opposite the fridge. | STEP 2: Pick up the yellow knife in front of the potato on the counter. | STEP 3: Cut up the potato on the counter. | STEP 4: Take one step back and then face the counter with the cut up potato on it. | STEP 5: Place the knife to the right of the plate on the counter. | STEP 6: Take one step forward toward the potato on the counter. | STEP 7: Pick up a piece of the potato on the counter. | STEP 8: Turn around and walk to the fridge. | STEP 9: Chill the potato in the fridge and then pick the potato up from the fridge. | STEP 10: Turn right and walk to the microwave above the stove. | STEP 11: Place the piece of potato into the microwave and then close the microwave.", "output": ["END"]} +{"id": "trial_T20190907_020621_780624-1%0", "input": "Grab the statue on the coffee table, turn on the lamp on the side table", "output": ["STEP 1: Turn right, walk across the room to the sofa, turn left, and turn left, facing the coffee table"]} +{"id": "trial_T20190907_020621_780624-1%1", "input": "Grab the statue on the coffee table, turn on the lamp on the side table | STEP 1: Turn right, walk across the room to the sofa, turn left, and turn left, facing the coffee table", "output": ["STEP 2: Grab the statue on the table"]} +{"id": "trial_T20190907_020621_780624-1%2", "input": "Grab the statue on the coffee table, turn on the lamp on the side table | STEP 1: Turn right, walk across the room to the sofa, turn left, and turn left, facing the coffee table | STEP 2: Grab the statue on the table", "output": ["STEP 3: Turn right, walk to the side table on the right"]} +{"id": "trial_T20190907_020621_780624-1%3", "input": "Grab the statue on the coffee table, turn on the lamp on the side table | STEP 1: Turn right, walk across the room to the sofa, turn left, and turn left, facing the coffee table | STEP 2: Grab the statue on the table | STEP 3: Turn right, walk to the side table on the right", "output": ["STEP 4: Turn on the lamp on the side table"]} +{"id": "trial_T20190907_020621_780624-1%4", "input": "Grab the statue on the coffee table, turn on the lamp on the side table | STEP 1: Turn right, walk across the room to the sofa, turn left, and turn left, facing the coffee table | STEP 2: Grab the statue on the table | STEP 3: Turn right, walk to the side table on the right | STEP 4: Turn on the lamp on the side table", "output": ["END"]} +{"id": "trial_T20190908_071233_937560-1%0", "input": "Put the keys in with the box on the sofa.", "output": ["STEP 1: Go to the end table in front across the room."]} +{"id": "trial_T20190908_071233_937560-1%1", "input": "Put the keys in with the box on the sofa. | STEP 1: Go to the end table in front across the room.", "output": ["STEP 2: Pick up the empty box under the table."]} +{"id": "trial_T20190908_071233_937560-1%2", "input": "Put the keys in with the box on the sofa. | STEP 1: Go to the end table in front across the room. | STEP 2: Pick up the empty box under the table.", "output": ["STEP 3: Turn around and go to the right front side of the sofa with a checkered cushion."]} +{"id": "trial_T20190908_071233_937560-1%3", "input": "Put the keys in with the box on the sofa. | STEP 1: Go to the end table in front across the room. | STEP 2: Pick up the empty box under the table. | STEP 3: Turn around and go to the right front side of the sofa with a checkered cushion.", "output": ["STEP 4: Place the empty box on the sofa seat."]} +{"id": "trial_T20190908_071233_937560-1%4", "input": "Put the keys in with the box on the sofa. | STEP 1: Go to the end table in front across the room. | STEP 2: Pick up the empty box under the table. | STEP 3: Turn around and go to the right front side of the sofa with a checkered cushion. | STEP 4: Place the empty box on the sofa seat.", "output": ["STEP 5: Move over left and face the sofa."]} +{"id": "trial_T20190908_071233_937560-1%5", "input": "Put the keys in with the box on the sofa. | STEP 1: Go to the end table in front across the room. | STEP 2: Pick up the empty box under the table. | STEP 3: Turn around and go to the right front side of the sofa with a checkered cushion. | STEP 4: Place the empty box on the sofa seat. | STEP 5: Move over left and face the sofa.", "output": ["STEP 6: Pick up the keys on the sofa seat next to the box."]} +{"id": "trial_T20190908_071233_937560-1%6", "input": "Put the keys in with the box on the sofa. | STEP 1: Go to the end table in front across the room. | STEP 2: Pick up the empty box under the table. | STEP 3: Turn around and go to the right front side of the sofa with a checkered cushion. | STEP 4: Place the empty box on the sofa seat. | STEP 5: Move over left and face the sofa. | STEP 6: Pick up the keys on the sofa seat next to the box.", "output": ["STEP 7: Move over right to the front of the box."]} +{"id": "trial_T20190908_071233_937560-1%7", "input": "Put the keys in with the box on the sofa. | STEP 1: Go to the end table in front across the room. | STEP 2: Pick up the empty box under the table. | STEP 3: Turn around and go to the right front side of the sofa with a checkered cushion. | STEP 4: Place the empty box on the sofa seat. | STEP 5: Move over left and face the sofa. | STEP 6: Pick up the keys on the sofa seat next to the box. | STEP 7: Move over right to the front of the box.", "output": ["STEP 8: Place the keys in the box and close the box."]} +{"id": "trial_T20190908_071233_937560-1%8", "input": "Put the keys in with the box on the sofa. | STEP 1: Go to the end table in front across the room. | STEP 2: Pick up the empty box under the table. | STEP 3: Turn around and go to the right front side of the sofa with a checkered cushion. | STEP 4: Place the empty box on the sofa seat. | STEP 5: Move over left and face the sofa. | STEP 6: Pick up the keys on the sofa seat next to the box. | STEP 7: Move over right to the front of the box. | STEP 8: Place the keys in the box and close the box.", "output": ["END"]} +{"id": "trial_T20190907_114802_508846-2%0", "input": "fill the bowl from the top cabinet with water, put it on the counter", "output": ["STEP 1: turn right to the cabinet above the toaster"]} +{"id": "trial_T20190907_114802_508846-2%1", "input": "fill the bowl from the top cabinet with water, put it on the counter | STEP 1: turn right to the cabinet above the toaster", "output": ["STEP 2: open the cabinet, grab the bowl in the cabinet, close the cabinet"]} +{"id": "trial_T20190907_114802_508846-2%2", "input": "fill the bowl from the top cabinet with water, put it on the counter | STEP 1: turn right to the cabinet above the toaster | STEP 2: open the cabinet, grab the bowl in the cabinet, close the cabinet", "output": ["STEP 3: turn left, walk to the sink on the left"]} +{"id": "trial_T20190907_114802_508846-2%3", "input": "fill the bowl from the top cabinet with water, put it on the counter | STEP 1: turn right to the cabinet above the toaster | STEP 2: open the cabinet, grab the bowl in the cabinet, close the cabinet | STEP 3: turn left, walk to the sink on the left", "output": ["STEP 4: put the bowl in the sink, fill the bowl with water from the faucet, take the bowl"]} +{"id": "trial_T20190907_114802_508846-2%4", "input": "fill the bowl from the top cabinet with water, put it on the counter | STEP 1: turn right to the cabinet above the toaster | STEP 2: open the cabinet, grab the bowl in the cabinet, close the cabinet | STEP 3: turn left, walk to the sink on the left | STEP 4: put the bowl in the sink, fill the bowl with water from the faucet, take the bowl", "output": ["STEP 5: turn left, walk to the counter with a toast on it"]} +{"id": "trial_T20190907_114802_508846-2%5", "input": "fill the bowl from the top cabinet with water, put it on the counter | STEP 1: turn right to the cabinet above the toaster | STEP 2: open the cabinet, grab the bowl in the cabinet, close the cabinet | STEP 3: turn left, walk to the sink on the left | STEP 4: put the bowl in the sink, fill the bowl with water from the faucet, take the bowl | STEP 5: turn left, walk to the counter with a toast on it", "output": ["STEP 6: put the bowl with water on the counter"]} +{"id": "trial_T20190907_114802_508846-2%6", "input": "fill the bowl from the top cabinet with water, put it on the counter | STEP 1: turn right to the cabinet above the toaster | STEP 2: open the cabinet, grab the bowl in the cabinet, close the cabinet | STEP 3: turn left, walk to the sink on the left | STEP 4: put the bowl in the sink, fill the bowl with water from the faucet, take the bowl | STEP 5: turn left, walk to the counter with a toast on it | STEP 6: put the bowl with water on the counter", "output": ["END"]} +{"id": "trial_T20190907_114802_508846-3%0", "input": "Grab a bowl, wash it, set it on the counter", "output": ["STEP 1: Turn around and face the kitchen counter originally to your right"]} +{"id": "trial_T20190907_114802_508846-3%1", "input": "Grab a bowl, wash it, set it on the counter | STEP 1: Turn around and face the kitchen counter originally to your right", "output": ["STEP 2: Open the kitchen cabinet and take out a bowl that was inside"]} +{"id": "trial_T20190907_114802_508846-3%2", "input": "Grab a bowl, wash it, set it on the counter | STEP 1: Turn around and face the kitchen counter originally to your right | STEP 2: Open the kitchen cabinet and take out a bowl that was inside", "output": ["STEP 3: Turn to your left and then face the kitchen sink"]} +{"id": "trial_T20190907_114802_508846-3%3", "input": "Grab a bowl, wash it, set it on the counter | STEP 1: Turn around and face the kitchen counter originally to your right | STEP 2: Open the kitchen cabinet and take out a bowl that was inside | STEP 3: Turn to your left and then face the kitchen sink", "output": ["STEP 4: Place the bowl in the sink, rinse the bowl and then pick it back up"]} +{"id": "trial_T20190907_114802_508846-3%4", "input": "Grab a bowl, wash it, set it on the counter | STEP 1: Turn around and face the kitchen counter originally to your right | STEP 2: Open the kitchen cabinet and take out a bowl that was inside | STEP 3: Turn to your left and then face the kitchen sink | STEP 4: Place the bowl in the sink, rinse the bowl and then pick it back up", "output": ["STEP 5: Turn to your left and head back to the kitchen cabinet"]} +{"id": "trial_T20190907_114802_508846-3%5", "input": "Grab a bowl, wash it, set it on the counter | STEP 1: Turn around and face the kitchen counter originally to your right | STEP 2: Open the kitchen cabinet and take out a bowl that was inside | STEP 3: Turn to your left and then face the kitchen sink | STEP 4: Place the bowl in the sink, rinse the bowl and then pick it back up | STEP 5: Turn to your left and head back to the kitchen cabinet", "output": ["STEP 6: Place the clean bowl on the kitchen counter"]} +{"id": "trial_T20190907_114802_508846-3%6", "input": "Grab a bowl, wash it, set it on the counter | STEP 1: Turn around and face the kitchen counter originally to your right | STEP 2: Open the kitchen cabinet and take out a bowl that was inside | STEP 3: Turn to your left and then face the kitchen sink | STEP 4: Place the bowl in the sink, rinse the bowl and then pick it back up | STEP 5: Turn to your left and head back to the kitchen cabinet | STEP 6: Place the clean bowl on the kitchen counter", "output": ["END"]} +{"id": "trial_T20190906_184725_582613-0%0", "input": "Put a heated glass in the cabinet above the bread on the counter. ", "output": ["STEP 1: Move to the cabinet on the left, above the lettuce. "]} +{"id": "trial_T20190906_184725_582613-0%1", "input": "Put a heated glass in the cabinet above the bread on the counter. | STEP 1: Move to the cabinet on the left, above the lettuce. ", "output": ["STEP 2: Pick up the glass in the cabinet."]} +{"id": "trial_T20190906_184725_582613-0%2", "input": "Put a heated glass in the cabinet above the bread on the counter. | STEP 1: Move to the cabinet on the left, above the lettuce. | STEP 2: Pick up the glass in the cabinet.", "output": ["STEP 3: Bring the glass to the microwave."]} +{"id": "trial_T20190906_184725_582613-0%3", "input": "Put a heated glass in the cabinet above the bread on the counter. | STEP 1: Move to the cabinet on the left, above the lettuce. | STEP 2: Pick up the glass in the cabinet. | STEP 3: Bring the glass to the microwave.", "output": ["STEP 4: Heat the glass in the microwave."]} +{"id": "trial_T20190906_184725_582613-0%4", "input": "Put a heated glass in the cabinet above the bread on the counter. | STEP 1: Move to the cabinet on the left, above the lettuce. | STEP 2: Pick up the glass in the cabinet. | STEP 3: Bring the glass to the microwave. | STEP 4: Heat the glass in the microwave.", "output": ["STEP 5: Bring the glass to the counter left of the sink. "]} +{"id": "trial_T20190906_184725_582613-0%5", "input": "Put a heated glass in the cabinet above the bread on the counter. | STEP 1: Move to the cabinet on the left, above the lettuce. | STEP 2: Pick up the glass in the cabinet. | STEP 3: Bring the glass to the microwave. | STEP 4: Heat the glass in the microwave. | STEP 5: Bring the glass to the counter left of the sink. ", "output": ["STEP 6: Put the glass in the cabinet above the bread on the counter. "]} +{"id": "trial_T20190906_184725_582613-0%6", "input": "Put a heated glass in the cabinet above the bread on the counter. | STEP 1: Move to the cabinet on the left, above the lettuce. | STEP 2: Pick up the glass in the cabinet. | STEP 3: Bring the glass to the microwave. | STEP 4: Heat the glass in the microwave. | STEP 5: Bring the glass to the counter left of the sink. | STEP 6: Put the glass in the cabinet above the bread on the counter. ", "output": ["END"]} +{"id": "trial_T20190907_185743_217661-0%0", "input": "Get spray bottle from toilet tank, place spray bottle on vanity. ", "output": ["STEP 1: Turn right, turn left, walk to the toilet, turn left."]} +{"id": "trial_T20190907_185743_217661-0%1", "input": "Get spray bottle from toilet tank, place spray bottle on vanity. | STEP 1: Turn right, turn left, walk to the toilet, turn left.", "output": ["STEP 2: Pick up the spray bottle on the toilet tank."]} +{"id": "trial_T20190907_185743_217661-0%2", "input": "Get spray bottle from toilet tank, place spray bottle on vanity. | STEP 1: Turn right, turn left, walk to the toilet, turn left. | STEP 2: Pick up the spray bottle on the toilet tank.", "output": ["STEP 3: Turn around, walk to the vanity, "]} +{"id": "trial_T20190907_185743_217661-0%3", "input": "Get spray bottle from toilet tank, place spray bottle on vanity. | STEP 1: Turn right, turn left, walk to the toilet, turn left. | STEP 2: Pick up the spray bottle on the toilet tank. | STEP 3: Turn around, walk to the vanity, ", "output": ["STEP 4: Place the spray bottle on vanity in front of the tissues. "]} +{"id": "trial_T20190907_185743_217661-0%4", "input": "Get spray bottle from toilet tank, place spray bottle on vanity. | STEP 1: Turn right, turn left, walk to the toilet, turn left. | STEP 2: Pick up the spray bottle on the toilet tank. | STEP 3: Turn around, walk to the vanity, | STEP 4: Place the spray bottle on vanity in front of the tissues. ", "output": ["END"]} +{"id": "trial_T20190909_151104_208973-1%0", "input": "Examine a pillow by the light of the lamp on the desk. ", "output": ["STEP 1: Turn left, go to the bed."]} +{"id": "trial_T20190909_151104_208973-1%1", "input": "Examine a pillow by the light of the lamp on the desk. | STEP 1: Turn left, go to the bed.", "output": ["STEP 2: Pick up the close pillow on the bed. "]} +{"id": "trial_T20190909_151104_208973-1%2", "input": "Examine a pillow by the light of the lamp on the desk. | STEP 1: Turn left, go to the bed. | STEP 2: Pick up the close pillow on the bed. ", "output": ["STEP 3: Bring the pillow to the left, to the lamp on the desk."]} +{"id": "trial_T20190909_151104_208973-1%3", "input": "Examine a pillow by the light of the lamp on the desk. | STEP 1: Turn left, go to the bed. | STEP 2: Pick up the close pillow on the bed. | STEP 3: Bring the pillow to the left, to the lamp on the desk.", "output": ["STEP 4: Turn on the lamp on the desk."]} +{"id": "trial_T20190909_151104_208973-1%4", "input": "Examine a pillow by the light of the lamp on the desk. | STEP 1: Turn left, go to the bed. | STEP 2: Pick up the close pillow on the bed. | STEP 3: Bring the pillow to the left, to the lamp on the desk. | STEP 4: Turn on the lamp on the desk.", "output": ["END"]} +{"id": "trial_T20190909_151104_208973-2%0", "input": "Look at a patterned pillow under a lit lamp.", "output": ["STEP 1: Turn left to walk to the bed."]} +{"id": "trial_T20190909_151104_208973-2%1", "input": "Look at a patterned pillow under a lit lamp. | STEP 1: Turn left to walk to the bed.", "output": ["STEP 2: Pick up the patterned pillow closest to you."]} +{"id": "trial_T20190909_151104_208973-2%2", "input": "Look at a patterned pillow under a lit lamp. | STEP 1: Turn left to walk to the bed. | STEP 2: Pick up the patterned pillow closest to you.", "output": ["STEP 3: Turn left to walk to the white desk."]} +{"id": "trial_T20190909_151104_208973-2%3", "input": "Look at a patterned pillow under a lit lamp. | STEP 1: Turn left to walk to the bed. | STEP 2: Pick up the patterned pillow closest to you. | STEP 3: Turn left to walk to the white desk.", "output": ["STEP 4: Turn on the lamp on the desk."]} +{"id": "trial_T20190909_151104_208973-2%4", "input": "Look at a patterned pillow under a lit lamp. | STEP 1: Turn left to walk to the bed. | STEP 2: Pick up the patterned pillow closest to you. | STEP 3: Turn left to walk to the white desk. | STEP 4: Turn on the lamp on the desk.", "output": ["END"]} +{"id": "trial_T20190909_081054_216664-0%0", "input": "Move a pen to the dresser with keys.", "output": ["STEP 1: Turn around and face the white table on the right."]} +{"id": "trial_T20190909_081054_216664-0%1", "input": "Move a pen to the dresser with keys. | STEP 1: Turn around and face the white table on the right.", "output": ["STEP 2: Pick up the pen from behind the left computer."]} +{"id": "trial_T20190909_081054_216664-0%2", "input": "Move a pen to the dresser with keys. | STEP 1: Turn around and face the white table on the right. | STEP 2: Pick up the pen from behind the left computer.", "output": ["STEP 3: Carry the pen and turn to the right and move to the large brown dresser."]} +{"id": "trial_T20190909_081054_216664-0%3", "input": "Move a pen to the dresser with keys. | STEP 1: Turn around and face the white table on the right. | STEP 2: Pick up the pen from behind the left computer. | STEP 3: Carry the pen and turn to the right and move to the large brown dresser.", "output": ["STEP 4: Place the pen on top of the dresser, inside the the hoop for the keys."]} +{"id": "trial_T20190909_081054_216664-0%4", "input": "Move a pen to the dresser with keys. | STEP 1: Turn around and face the white table on the right. | STEP 2: Pick up the pen from behind the left computer. | STEP 3: Carry the pen and turn to the right and move to the large brown dresser. | STEP 4: Place the pen on top of the dresser, inside the the hoop for the keys.", "output": ["END"]} +{"id": "trial_T20190909_081054_216664-1%0", "input": "place a pencil on top of some keys on the dresser", "output": ["STEP 1: turn around and walk over to the desk on the right side of the room"]} +{"id": "trial_T20190909_081054_216664-1%1", "input": "place a pencil on top of some keys on the dresser | STEP 1: turn around and walk over to the desk on the right side of the room", "output": ["STEP 2: grab a pencil off of the desk there"]} +{"id": "trial_T20190909_081054_216664-1%2", "input": "place a pencil on top of some keys on the dresser | STEP 1: turn around and walk over to the desk on the right side of the room | STEP 2: grab a pencil off of the desk there", "output": ["STEP 3: turn right and walk over to the dresser at the far end of the room"]} +{"id": "trial_T20190909_081054_216664-1%3", "input": "place a pencil on top of some keys on the dresser | STEP 1: turn around and walk over to the desk on the right side of the room | STEP 2: grab a pencil off of the desk there | STEP 3: turn right and walk over to the dresser at the far end of the room", "output": ["STEP 4: place the pencil on top of the keys on top of the dresser"]} +{"id": "trial_T20190909_081054_216664-1%4", "input": "place a pencil on top of some keys on the dresser | STEP 1: turn around and walk over to the desk on the right side of the room | STEP 2: grab a pencil off of the desk there | STEP 3: turn right and walk over to the dresser at the far end of the room | STEP 4: place the pencil on top of the keys on top of the dresser", "output": ["END"]} +{"id": "trial_T20190907_211139_592319-2%0", "input": "Put the apple from the table into the sink.", "output": ["STEP 1: Turn around and then go to the table on your right."]} +{"id": "trial_T20190907_211139_592319-2%1", "input": "Put the apple from the table into the sink. | STEP 1: Turn around and then go to the table on your right.", "output": ["STEP 2: Pick up the apple from the table."]} +{"id": "trial_T20190907_211139_592319-2%2", "input": "Put the apple from the table into the sink. | STEP 1: Turn around and then go to the table on your right. | STEP 2: Pick up the apple from the table.", "output": ["STEP 3: Turn around and go to the sink."]} +{"id": "trial_T20190907_211139_592319-2%3", "input": "Put the apple from the table into the sink. | STEP 1: Turn around and then go to the table on your right. | STEP 2: Pick up the apple from the table. | STEP 3: Turn around and go to the sink.", "output": ["STEP 4: Put the apple in the sink."]} +{"id": "trial_T20190907_211139_592319-2%4", "input": "Put the apple from the table into the sink. | STEP 1: Turn around and then go to the table on your right. | STEP 2: Pick up the apple from the table. | STEP 3: Turn around and go to the sink. | STEP 4: Put the apple in the sink.", "output": ["END"]} +{"id": "trial_T20190907_230502_351146-0%0", "input": "get the tissues from the sink and put them on the toilet tank.", "output": ["STEP 1: walk over to the sink on the right"]} +{"id": "trial_T20190907_230502_351146-0%1", "input": "get the tissues from the sink and put them on the toilet tank. | STEP 1: walk over to the sink on the right", "output": ["STEP 2: pick up the box of tissues"]} +{"id": "trial_T20190907_230502_351146-0%2", "input": "get the tissues from the sink and put them on the toilet tank. | STEP 1: walk over to the sink on the right | STEP 2: pick up the box of tissues", "output": ["STEP 3: walk the box of tissues over to the toilet"]} +{"id": "trial_T20190907_230502_351146-0%3", "input": "get the tissues from the sink and put them on the toilet tank. | STEP 1: walk over to the sink on the right | STEP 2: pick up the box of tissues | STEP 3: walk the box of tissues over to the toilet", "output": ["STEP 4: place the box of tissues on top of the toilet tank"]} +{"id": "trial_T20190907_230502_351146-0%4", "input": "get the tissues from the sink and put them on the toilet tank. | STEP 1: walk over to the sink on the right | STEP 2: pick up the box of tissues | STEP 3: walk the box of tissues over to the toilet | STEP 4: place the box of tissues on top of the toilet tank", "output": ["END"]} +{"id": "trial_T20190907_211041_725559-2%0", "input": "Move an apple from the round table to the sink.", "output": ["STEP 1: Turn around and go to the round table."]} +{"id": "trial_T20190907_211041_725559-2%1", "input": "Move an apple from the round table to the sink. | STEP 1: Turn around and go to the round table.", "output": ["STEP 2: Pick up the apple on the round table. "]} +{"id": "trial_T20190907_211041_725559-2%2", "input": "Move an apple from the round table to the sink. | STEP 1: Turn around and go to the round table. | STEP 2: Pick up the apple on the round table. ", "output": ["STEP 3: Turn around and go to the sink."]} +{"id": "trial_T20190907_211041_725559-2%3", "input": "Move an apple from the round table to the sink. | STEP 1: Turn around and go to the round table. | STEP 2: Pick up the apple on the round table. | STEP 3: Turn around and go to the sink.", "output": ["STEP 4: Put the apple in the sink."]} +{"id": "trial_T20190907_211041_725559-2%4", "input": "Move an apple from the round table to the sink. | STEP 1: Turn around and go to the round table. | STEP 2: Pick up the apple on the round table. | STEP 3: Turn around and go to the sink. | STEP 4: Put the apple in the sink.", "output": ["END"]} +{"id": "trial_T20190908_123456_669219-2%0", "input": "To move two statues to the living room table.", "output": ["STEP 1: Turn around and walk to the right around the living room table and turn left and look up to face the statue on the shelf above the couch."]} +{"id": "trial_T20190908_123456_669219-2%1", "input": "To move two statues to the living room table. | STEP 1: Turn around and walk to the right around the living room table and turn left and look up to face the statue on the shelf above the couch.", "output": ["STEP 2: Pick up the statue on the shelf above the couch."]} +{"id": "trial_T20190908_123456_669219-2%2", "input": "To move two statues to the living room table. | STEP 1: Turn around and walk to the right around the living room table and turn left and look up to face the statue on the shelf above the couch. | STEP 2: Pick up the statue on the shelf above the couch.", "output": ["STEP 3: Turn around to face the living room table."]} +{"id": "trial_T20190908_123456_669219-2%3", "input": "To move two statues to the living room table. | STEP 1: Turn around and walk to the right around the living room table and turn left and look up to face the statue on the shelf above the couch. | STEP 2: Pick up the statue on the shelf above the couch. | STEP 3: Turn around to face the living room table.", "output": ["STEP 4: Place the statue on the right side of the living room table."]} +{"id": "trial_T20190908_123456_669219-2%4", "input": "To move two statues to the living room table. | STEP 1: Turn around and walk to the right around the living room table and turn left and look up to face the statue on the shelf above the couch. | STEP 2: Pick up the statue on the shelf above the couch. | STEP 3: Turn around to face the living room table. | STEP 4: Place the statue on the right side of the living room table.", "output": ["STEP 5: Turn right and walk across the room to face the table to the left of the chair."]} +{"id": "trial_T20190908_123456_669219-2%5", "input": "To move two statues to the living room table. | STEP 1: Turn around and walk to the right around the living room table and turn left and look up to face the statue on the shelf above the couch. | STEP 2: Pick up the statue on the shelf above the couch. | STEP 3: Turn around to face the living room table. | STEP 4: Place the statue on the right side of the living room table. | STEP 5: Turn right and walk across the room to face the table to the left of the chair.", "output": ["STEP 6: Pick up the statue on the table."]} +{"id": "trial_T20190908_123456_669219-2%6", "input": "To move two statues to the living room table. | STEP 1: Turn around and walk to the right around the living room table and turn left and look up to face the statue on the shelf above the couch. | STEP 2: Pick up the statue on the shelf above the couch. | STEP 3: Turn around to face the living room table. | STEP 4: Place the statue on the right side of the living room table. | STEP 5: Turn right and walk across the room to face the table to the left of the chair. | STEP 6: Pick up the statue on the table.", "output": ["STEP 7: Turn around and walk around to face the living room table."]} +{"id": "trial_T20190908_123456_669219-2%7", "input": "To move two statues to the living room table. | STEP 1: Turn around and walk to the right around the living room table and turn left and look up to face the statue on the shelf above the couch. | STEP 2: Pick up the statue on the shelf above the couch. | STEP 3: Turn around to face the living room table. | STEP 4: Place the statue on the right side of the living room table. | STEP 5: Turn right and walk across the room to face the table to the left of the chair. | STEP 6: Pick up the statue on the table. | STEP 7: Turn around and walk around to face the living room table.", "output": ["STEP 8: Place the statue beside the first statue on the living room table."]} +{"id": "trial_T20190908_123456_669219-2%8", "input": "To move two statues to the living room table. | STEP 1: Turn around and walk to the right around the living room table and turn left and look up to face the statue on the shelf above the couch. | STEP 2: Pick up the statue on the shelf above the couch. | STEP 3: Turn around to face the living room table. | STEP 4: Place the statue on the right side of the living room table. | STEP 5: Turn right and walk across the room to face the table to the left of the chair. | STEP 6: Pick up the statue on the table. | STEP 7: Turn around and walk around to face the living room table. | STEP 8: Place the statue beside the first statue on the living room table.", "output": ["END"]} +{"id": "trial_T20190909_095557_177946-1%0", "input": "Put two laptops on the bed", "output": ["STEP 1: Walk straight to the white table, turn ring from the table, and go to the cabinet with the laptop"]} +{"id": "trial_T20190909_095557_177946-1%1", "input": "Put two laptops on the bed | STEP 1: Walk straight to the white table, turn ring from the table, and go to the cabinet with the laptop", "output": ["STEP 2: Close the laptop and pick it up from the cabinet top"]} +{"id": "trial_T20190909_095557_177946-1%2", "input": "Put two laptops on the bed | STEP 1: Walk straight to the white table, turn ring from the table, and go to the cabinet with the laptop | STEP 2: Close the laptop and pick it up from the cabinet top", "output": ["STEP 3: Turn around to face the bed"]} +{"id": "trial_T20190909_095557_177946-1%3", "input": "Put two laptops on the bed | STEP 1: Walk straight to the white table, turn ring from the table, and go to the cabinet with the laptop | STEP 2: Close the laptop and pick it up from the cabinet top | STEP 3: Turn around to face the bed", "output": ["STEP 4: Put the laptop on the bed"]} +{"id": "trial_T20190909_095557_177946-1%4", "input": "Put two laptops on the bed | STEP 1: Walk straight to the white table, turn ring from the table, and go to the cabinet with the laptop | STEP 2: Close the laptop and pick it up from the cabinet top | STEP 3: Turn around to face the bed | STEP 4: Put the laptop on the bed", "output": ["STEP 5: Go to the white table"]} +{"id": "trial_T20190909_095557_177946-1%5", "input": "Put two laptops on the bed | STEP 1: Walk straight to the white table, turn ring from the table, and go to the cabinet with the laptop | STEP 2: Close the laptop and pick it up from the cabinet top | STEP 3: Turn around to face the bed | STEP 4: Put the laptop on the bed | STEP 5: Go to the white table", "output": ["STEP 6: Close the laptop on the table and pick it up"]} +{"id": "trial_T20190909_095557_177946-1%6", "input": "Put two laptops on the bed | STEP 1: Walk straight to the white table, turn ring from the table, and go to the cabinet with the laptop | STEP 2: Close the laptop and pick it up from the cabinet top | STEP 3: Turn around to face the bed | STEP 4: Put the laptop on the bed | STEP 5: Go to the white table | STEP 6: Close the laptop on the table and pick it up", "output": ["STEP 7: Go back to the bed "]} +{"id": "trial_T20190909_095557_177946-1%7", "input": "Put two laptops on the bed | STEP 1: Walk straight to the white table, turn ring from the table, and go to the cabinet with the laptop | STEP 2: Close the laptop and pick it up from the cabinet top | STEP 3: Turn around to face the bed | STEP 4: Put the laptop on the bed | STEP 5: Go to the white table | STEP 6: Close the laptop on the table and pick it up | STEP 7: Go back to the bed ", "output": ["STEP 8: Place the laptop next to the first laptop"]} +{"id": "trial_T20190909_095557_177946-1%8", "input": "Put two laptops on the bed | STEP 1: Walk straight to the white table, turn ring from the table, and go to the cabinet with the laptop | STEP 2: Close the laptop and pick it up from the cabinet top | STEP 3: Turn around to face the bed | STEP 4: Put the laptop on the bed | STEP 5: Go to the white table | STEP 6: Close the laptop on the table and pick it up | STEP 7: Go back to the bed | STEP 8: Place the laptop next to the first laptop", "output": ["END"]} +{"id": "trial_T20190909_095557_177946-2%0", "input": "drop two laptops on the bed", "output": ["STEP 1: move right to the cupboard"]} +{"id": "trial_T20190909_095557_177946-2%1", "input": "drop two laptops on the bed | STEP 1: move right to the cupboard", "output": ["STEP 2: pick up the laptop from the cupboard"]} +{"id": "trial_T20190909_095557_177946-2%2", "input": "drop two laptops on the bed | STEP 1: move right to the cupboard | STEP 2: pick up the laptop from the cupboard", "output": ["STEP 3: move right to the bed"]} +{"id": "trial_T20190909_095557_177946-2%3", "input": "drop two laptops on the bed | STEP 1: move right to the cupboard | STEP 2: pick up the laptop from the cupboard | STEP 3: move right to the bed", "output": ["STEP 4: drop the laptop on the bed"]} +{"id": "trial_T20190909_095557_177946-2%4", "input": "drop two laptops on the bed | STEP 1: move right to the cupboard | STEP 2: pick up the laptop from the cupboard | STEP 3: move right to the bed | STEP 4: drop the laptop on the bed", "output": ["STEP 5: move right to the table"]} +{"id": "trial_T20190909_095557_177946-2%5", "input": "drop two laptops on the bed | STEP 1: move right to the cupboard | STEP 2: pick up the laptop from the cupboard | STEP 3: move right to the bed | STEP 4: drop the laptop on the bed | STEP 5: move right to the table", "output": ["STEP 6: pick up the laptop on the table"]} +{"id": "trial_T20190909_095557_177946-2%6", "input": "drop two laptops on the bed | STEP 1: move right to the cupboard | STEP 2: pick up the laptop from the cupboard | STEP 3: move right to the bed | STEP 4: drop the laptop on the bed | STEP 5: move right to the table | STEP 6: pick up the laptop on the table", "output": ["STEP 7: move right to the bed"]} +{"id": "trial_T20190909_095557_177946-2%7", "input": "drop two laptops on the bed | STEP 1: move right to the cupboard | STEP 2: pick up the laptop from the cupboard | STEP 3: move right to the bed | STEP 4: drop the laptop on the bed | STEP 5: move right to the table | STEP 6: pick up the laptop on the table | STEP 7: move right to the bed", "output": ["STEP 8: drop the laptop on the bed"]} +{"id": "trial_T20190909_095557_177946-2%8", "input": "drop two laptops on the bed | STEP 1: move right to the cupboard | STEP 2: pick up the laptop from the cupboard | STEP 3: move right to the bed | STEP 4: drop the laptop on the bed | STEP 5: move right to the table | STEP 6: pick up the laptop on the table | STEP 7: move right to the bed | STEP 8: drop the laptop on the bed", "output": ["END"]} +{"id": "trial_T20190908_080408_420413-1%0", "input": "place a mug filled with water in the cupboard under the gas", "output": ["STEP 1: turn right and head to the gas"]} +{"id": "trial_T20190908_080408_420413-1%1", "input": "place a mug filled with water in the cupboard under the gas | STEP 1: turn right and head to the gas", "output": ["STEP 2: pick up the mug by the gas"]} +{"id": "trial_T20190908_080408_420413-1%2", "input": "place a mug filled with water in the cupboard under the gas | STEP 1: turn right and head to the gas | STEP 2: pick up the mug by the gas", "output": ["STEP 3: turn around and head for the sink"]} +{"id": "trial_T20190908_080408_420413-1%3", "input": "place a mug filled with water in the cupboard under the gas | STEP 1: turn right and head to the gas | STEP 2: pick up the mug by the gas | STEP 3: turn around and head for the sink", "output": ["STEP 4: fill the mug with water"]} +{"id": "trial_T20190908_080408_420413-1%4", "input": "place a mug filled with water in the cupboard under the gas | STEP 1: turn right and head to the gas | STEP 2: pick up the mug by the gas | STEP 3: turn around and head for the sink | STEP 4: fill the mug with water", "output": ["STEP 5: turn around and head for the cupboard under the gas"]} +{"id": "trial_T20190908_080408_420413-1%5", "input": "place a mug filled with water in the cupboard under the gas | STEP 1: turn right and head to the gas | STEP 2: pick up the mug by the gas | STEP 3: turn around and head for the sink | STEP 4: fill the mug with water | STEP 5: turn around and head for the cupboard under the gas", "output": ["STEP 6: place the buy in the cupboard"]} +{"id": "trial_T20190908_080408_420413-1%6", "input": "place a mug filled with water in the cupboard under the gas | STEP 1: turn right and head to the gas | STEP 2: pick up the mug by the gas | STEP 3: turn around and head for the sink | STEP 4: fill the mug with water | STEP 5: turn around and head for the cupboard under the gas | STEP 6: place the buy in the cupboard", "output": ["END"]} +{"id": "trial_T20190909_153556_955880-0%0", "input": "Examine a laptop by the light of a lit lamp.", "output": ["STEP 1: Walk around the coffee table to reach the long brown couch."]} +{"id": "trial_T20190909_153556_955880-0%1", "input": "Examine a laptop by the light of a lit lamp. | STEP 1: Walk around the coffee table to reach the long brown couch.", "output": ["STEP 2: Pick up the laptop from the long brown couch."]} +{"id": "trial_T20190909_153556_955880-0%2", "input": "Examine a laptop by the light of a lit lamp. | STEP 1: Walk around the coffee table to reach the long brown couch. | STEP 2: Pick up the laptop from the long brown couch.", "output": ["STEP 3: Turn right to reach the table by the couch."]} +{"id": "trial_T20190909_153556_955880-0%3", "input": "Examine a laptop by the light of a lit lamp. | STEP 1: Walk around the coffee table to reach the long brown couch. | STEP 2: Pick up the laptop from the long brown couch. | STEP 3: Turn right to reach the table by the couch.", "output": ["STEP 4: Turn on the lamp on the table."]} +{"id": "trial_T20190909_153556_955880-0%4", "input": "Examine a laptop by the light of a lit lamp. | STEP 1: Walk around the coffee table to reach the long brown couch. | STEP 2: Pick up the laptop from the long brown couch. | STEP 3: Turn right to reach the table by the couch. | STEP 4: Turn on the lamp on the table.", "output": ["END"]} +{"id": "trial_T20190907_084721_972164-0%0", "input": "Place the two candles inside the cabinet below the sink.", "output": ["STEP 1: Pick up the candle next to the sink."]} +{"id": "trial_T20190907_084721_972164-0%1", "input": "Place the two candles inside the cabinet below the sink. | STEP 1: Pick up the candle next to the sink.", "output": ["STEP 2: Turn around, head towards the door, turn right towards the toilet, and then turn right towards the cabinet beneath the sink."]} +{"id": "trial_T20190907_084721_972164-0%2", "input": "Place the two candles inside the cabinet below the sink. | STEP 1: Pick up the candle next to the sink. | STEP 2: Turn around, head towards the door, turn right towards the toilet, and then turn right towards the cabinet beneath the sink.", "output": ["STEP 3: Open the right cabinet door and place the candle in it."]} +{"id": "trial_T20190907_084721_972164-0%3", "input": "Place the two candles inside the cabinet below the sink. | STEP 1: Pick up the candle next to the sink. | STEP 2: Turn around, head towards the door, turn right towards the toilet, and then turn right towards the cabinet beneath the sink. | STEP 3: Open the right cabinet door and place the candle in it.", "output": ["STEP 4: Turn around to face the toilet."]} +{"id": "trial_T20190907_084721_972164-0%4", "input": "Place the two candles inside the cabinet below the sink. | STEP 1: Pick up the candle next to the sink. | STEP 2: Turn around, head towards the door, turn right towards the toilet, and then turn right towards the cabinet beneath the sink. | STEP 3: Open the right cabinet door and place the candle in it. | STEP 4: Turn around to face the toilet.", "output": ["STEP 5: Pick up the candle on the toilet basin."]} +{"id": "trial_T20190907_084721_972164-0%5", "input": "Place the two candles inside the cabinet below the sink. | STEP 1: Pick up the candle next to the sink. | STEP 2: Turn around, head towards the door, turn right towards the toilet, and then turn right towards the cabinet beneath the sink. | STEP 3: Open the right cabinet door and place the candle in it. | STEP 4: Turn around to face the toilet. | STEP 5: Pick up the candle on the toilet basin.", "output": ["STEP 6: Turn around and face the cabinet beneath the sink."]} +{"id": "trial_T20190907_084721_972164-0%6", "input": "Place the two candles inside the cabinet below the sink. | STEP 1: Pick up the candle next to the sink. | STEP 2: Turn around, head towards the door, turn right towards the toilet, and then turn right towards the cabinet beneath the sink. | STEP 3: Open the right cabinet door and place the candle in it. | STEP 4: Turn around to face the toilet. | STEP 5: Pick up the candle on the toilet basin. | STEP 6: Turn around and face the cabinet beneath the sink.", "output": ["STEP 7: Open the right cabinet door, place the candle in it, and close the door."]} +{"id": "trial_T20190907_084721_972164-0%7", "input": "Place the two candles inside the cabinet below the sink. | STEP 1: Pick up the candle next to the sink. | STEP 2: Turn around, head towards the door, turn right towards the toilet, and then turn right towards the cabinet beneath the sink. | STEP 3: Open the right cabinet door and place the candle in it. | STEP 4: Turn around to face the toilet. | STEP 5: Pick up the candle on the toilet basin. | STEP 6: Turn around and face the cabinet beneath the sink. | STEP 7: Open the right cabinet door, place the candle in it, and close the door.", "output": ["END"]} +{"id": "trial_T20190907_084654_435920-1%0", "input": "Place two candles into the cabinet below the sink.", "output": ["STEP 1: Move to the counter between the shower and sink."]} +{"id": "trial_T20190907_084654_435920-1%1", "input": "Place two candles into the cabinet below the sink. | STEP 1: Move to the counter between the shower and sink.", "output": ["STEP 2: Pick up the left most candle from the counter."]} +{"id": "trial_T20190907_084654_435920-1%2", "input": "Place two candles into the cabinet below the sink. | STEP 1: Move to the counter between the shower and sink. | STEP 2: Pick up the left most candle from the counter.", "output": ["STEP 3: Move to the left most bathroom sink."]} +{"id": "trial_T20190907_084654_435920-1%3", "input": "Place two candles into the cabinet below the sink. | STEP 1: Move to the counter between the shower and sink. | STEP 2: Pick up the left most candle from the counter. | STEP 3: Move to the left most bathroom sink.", "output": ["STEP 4: Place the candle into the cabinet below the sink."]} +{"id": "trial_T20190907_084654_435920-1%4", "input": "Place two candles into the cabinet below the sink. | STEP 1: Move to the counter between the shower and sink. | STEP 2: Pick up the left most candle from the counter. | STEP 3: Move to the left most bathroom sink. | STEP 4: Place the candle into the cabinet below the sink.", "output": ["STEP 5: Move to the counter between the shower and sink."]} +{"id": "trial_T20190907_084654_435920-1%5", "input": "Place two candles into the cabinet below the sink. | STEP 1: Move to the counter between the shower and sink. | STEP 2: Pick up the left most candle from the counter. | STEP 3: Move to the left most bathroom sink. | STEP 4: Place the candle into the cabinet below the sink. | STEP 5: Move to the counter between the shower and sink.", "output": ["STEP 6: Pick up the candle from the counter."]} +{"id": "trial_T20190907_084654_435920-1%6", "input": "Place two candles into the cabinet below the sink. | STEP 1: Move to the counter between the shower and sink. | STEP 2: Pick up the left most candle from the counter. | STEP 3: Move to the left most bathroom sink. | STEP 4: Place the candle into the cabinet below the sink. | STEP 5: Move to the counter between the shower and sink. | STEP 6: Pick up the candle from the counter.", "output": ["STEP 7: Move to the left most bathroom sink."]} +{"id": "trial_T20190907_084654_435920-1%7", "input": "Place two candles into the cabinet below the sink. | STEP 1: Move to the counter between the shower and sink. | STEP 2: Pick up the left most candle from the counter. | STEP 3: Move to the left most bathroom sink. | STEP 4: Place the candle into the cabinet below the sink. | STEP 5: Move to the counter between the shower and sink. | STEP 6: Pick up the candle from the counter. | STEP 7: Move to the left most bathroom sink.", "output": ["STEP 8: Place the candle into the cabinet below the sink."]} +{"id": "trial_T20190907_084654_435920-1%8", "input": "Place two candles into the cabinet below the sink. | STEP 1: Move to the counter between the shower and sink. | STEP 2: Pick up the left most candle from the counter. | STEP 3: Move to the left most bathroom sink. | STEP 4: Place the candle into the cabinet below the sink. | STEP 5: Move to the counter between the shower and sink. | STEP 6: Pick up the candle from the counter. | STEP 7: Move to the left most bathroom sink. | STEP 8: Place the candle into the cabinet below the sink.", "output": ["END"]} +{"id": "trial_T20190907_084654_435920-2%0", "input": "Put the two candles near the sink in the cabinet under it.", "output": ["STEP 1: Move to the left side of the sink across from the toilet."]} +{"id": "trial_T20190907_084654_435920-2%1", "input": "Put the two candles near the sink in the cabinet under it. | STEP 1: Move to the left side of the sink across from the toilet.", "output": ["STEP 2: Pick up candle from the counter near the sink."]} +{"id": "trial_T20190907_084654_435920-2%2", "input": "Put the two candles near the sink in the cabinet under it. | STEP 1: Move to the left side of the sink across from the toilet. | STEP 2: Pick up candle from the counter near the sink.", "output": ["STEP 3: Move to the front cabinet of the sink you're standing in front of."]} +{"id": "trial_T20190907_084654_435920-2%3", "input": "Put the two candles near the sink in the cabinet under it. | STEP 1: Move to the left side of the sink across from the toilet. | STEP 2: Pick up candle from the counter near the sink. | STEP 3: Move to the front cabinet of the sink you're standing in front of.", "output": ["STEP 4: Open the cabinet and place the candle inside before closing the door."]} +{"id": "trial_T20190907_084654_435920-2%4", "input": "Put the two candles near the sink in the cabinet under it. | STEP 1: Move to the left side of the sink across from the toilet. | STEP 2: Pick up candle from the counter near the sink. | STEP 3: Move to the front cabinet of the sink you're standing in front of. | STEP 4: Open the cabinet and place the candle inside before closing the door.", "output": ["STEP 5: Move to the left side of the sink across from the toilet."]} +{"id": "trial_T20190907_084654_435920-2%5", "input": "Put the two candles near the sink in the cabinet under it. | STEP 1: Move to the left side of the sink across from the toilet. | STEP 2: Pick up candle from the counter near the sink. | STEP 3: Move to the front cabinet of the sink you're standing in front of. | STEP 4: Open the cabinet and place the candle inside before closing the door. | STEP 5: Move to the left side of the sink across from the toilet.", "output": ["STEP 6: Pick up candle from the counter near the sink."]} +{"id": "trial_T20190907_084654_435920-2%6", "input": "Put the two candles near the sink in the cabinet under it. | STEP 1: Move to the left side of the sink across from the toilet. | STEP 2: Pick up candle from the counter near the sink. | STEP 3: Move to the front cabinet of the sink you're standing in front of. | STEP 4: Open the cabinet and place the candle inside before closing the door. | STEP 5: Move to the left side of the sink across from the toilet. | STEP 6: Pick up candle from the counter near the sink.", "output": ["STEP 7: Move to the front cabinet of the sink you're standing in front of."]} +{"id": "trial_T20190907_084654_435920-2%7", "input": "Put the two candles near the sink in the cabinet under it. | STEP 1: Move to the left side of the sink across from the toilet. | STEP 2: Pick up candle from the counter near the sink. | STEP 3: Move to the front cabinet of the sink you're standing in front of. | STEP 4: Open the cabinet and place the candle inside before closing the door. | STEP 5: Move to the left side of the sink across from the toilet. | STEP 6: Pick up candle from the counter near the sink. | STEP 7: Move to the front cabinet of the sink you're standing in front of.", "output": ["STEP 8: Open the cabinet and place the candle inside before closing the door."]} +{"id": "trial_T20190907_084654_435920-2%8", "input": "Put the two candles near the sink in the cabinet under it. | STEP 1: Move to the left side of the sink across from the toilet. | STEP 2: Pick up candle from the counter near the sink. | STEP 3: Move to the front cabinet of the sink you're standing in front of. | STEP 4: Open the cabinet and place the candle inside before closing the door. | STEP 5: Move to the left side of the sink across from the toilet. | STEP 6: Pick up candle from the counter near the sink. | STEP 7: Move to the front cabinet of the sink you're standing in front of. | STEP 8: Open the cabinet and place the candle inside before closing the door.", "output": ["END"]} +{"id": "trial_T20190907_084654_435920-3%0", "input": "Put away candles in the bathroom cabinet", "output": ["STEP 1: Turn around walk straight then turn right and face the left side of the counter"]} +{"id": "trial_T20190907_084654_435920-3%1", "input": "Put away candles in the bathroom cabinet | STEP 1: Turn around walk straight then turn right and face the left side of the counter", "output": ["STEP 2: Pick up the candle from the counter "]} +{"id": "trial_T20190907_084654_435920-3%2", "input": "Put away candles in the bathroom cabinet | STEP 1: Turn around walk straight then turn right and face the left side of the counter | STEP 2: Pick up the candle from the counter ", "output": ["STEP 3: Turn around walk straight then turn back around and face the front of the counter"]} +{"id": "trial_T20190907_084654_435920-3%3", "input": "Put away candles in the bathroom cabinet | STEP 1: Turn around walk straight then turn right and face the left side of the counter | STEP 2: Pick up the candle from the counter | STEP 3: Turn around walk straight then turn back around and face the front of the counter", "output": ["STEP 4: Open the bottom right door and place the candle inside, then close the door"]} +{"id": "trial_T20190907_084654_435920-3%4", "input": "Put away candles in the bathroom cabinet | STEP 1: Turn around walk straight then turn right and face the left side of the counter | STEP 2: Pick up the candle from the counter | STEP 3: Turn around walk straight then turn back around and face the front of the counter | STEP 4: Open the bottom right door and place the candle inside, then close the door", "output": ["STEP 5: Turn to the left then go straight to the left side of the counter again"]} +{"id": "trial_T20190907_084654_435920-3%5", "input": "Put away candles in the bathroom cabinet | STEP 1: Turn around walk straight then turn right and face the left side of the counter | STEP 2: Pick up the candle from the counter | STEP 3: Turn around walk straight then turn back around and face the front of the counter | STEP 4: Open the bottom right door and place the candle inside, then close the door | STEP 5: Turn to the left then go straight to the left side of the counter again", "output": ["STEP 6: Pick up the candle from the counter "]} +{"id": "trial_T20190907_084654_435920-3%6", "input": "Put away candles in the bathroom cabinet | STEP 1: Turn around walk straight then turn right and face the left side of the counter | STEP 2: Pick up the candle from the counter | STEP 3: Turn around walk straight then turn back around and face the front of the counter | STEP 4: Open the bottom right door and place the candle inside, then close the door | STEP 5: Turn to the left then go straight to the left side of the counter again | STEP 6: Pick up the candle from the counter ", "output": ["STEP 7: Turn around walk straight then turn back around and face the front of the counter"]} +{"id": "trial_T20190907_084654_435920-3%7", "input": "Put away candles in the bathroom cabinet | STEP 1: Turn around walk straight then turn right and face the left side of the counter | STEP 2: Pick up the candle from the counter | STEP 3: Turn around walk straight then turn back around and face the front of the counter | STEP 4: Open the bottom right door and place the candle inside, then close the door | STEP 5: Turn to the left then go straight to the left side of the counter again | STEP 6: Pick up the candle from the counter | STEP 7: Turn around walk straight then turn back around and face the front of the counter", "output": ["STEP 8: Open the bottom right door and place the candle inside, then close the door"]} +{"id": "trial_T20190907_084654_435920-3%8", "input": "Put away candles in the bathroom cabinet | STEP 1: Turn around walk straight then turn right and face the left side of the counter | STEP 2: Pick up the candle from the counter | STEP 3: Turn around walk straight then turn back around and face the front of the counter | STEP 4: Open the bottom right door and place the candle inside, then close the door | STEP 5: Turn to the left then go straight to the left side of the counter again | STEP 6: Pick up the candle from the counter | STEP 7: Turn around walk straight then turn back around and face the front of the counter | STEP 8: Open the bottom right door and place the candle inside, then close the door", "output": ["END"]} +{"id": "trial_T20190907_084654_435920-4%0", "input": "Place two candles into the cabinet below the left hand sink.", "output": ["STEP 1: Turn right, move to the end of the counter."]} +{"id": "trial_T20190907_084654_435920-4%1", "input": "Place two candles into the cabinet below the left hand sink. | STEP 1: Turn right, move to the end of the counter.", "output": ["STEP 2: Pick up the left most candle from the counter top."]} +{"id": "trial_T20190907_084654_435920-4%2", "input": "Place two candles into the cabinet below the left hand sink. | STEP 1: Turn right, move to the end of the counter. | STEP 2: Pick up the left most candle from the counter top.", "output": ["STEP 3: Turn right, move to the left hand sink."]} +{"id": "trial_T20190907_084654_435920-4%3", "input": "Place two candles into the cabinet below the left hand sink. | STEP 1: Turn right, move to the end of the counter. | STEP 2: Pick up the left most candle from the counter top. | STEP 3: Turn right, move to the left hand sink.", "output": ["STEP 4: Open the right hand cabinet door, place the candle inside."]} +{"id": "trial_T20190907_084654_435920-4%4", "input": "Place two candles into the cabinet below the left hand sink. | STEP 1: Turn right, move to the end of the counter. | STEP 2: Pick up the left most candle from the counter top. | STEP 3: Turn right, move to the left hand sink. | STEP 4: Open the right hand cabinet door, place the candle inside.", "output": ["STEP 5: Turn left, move to the end of the counter."]} +{"id": "trial_T20190907_084654_435920-4%5", "input": "Place two candles into the cabinet below the left hand sink. | STEP 1: Turn right, move to the end of the counter. | STEP 2: Pick up the left most candle from the counter top. | STEP 3: Turn right, move to the left hand sink. | STEP 4: Open the right hand cabinet door, place the candle inside. | STEP 5: Turn left, move to the end of the counter.", "output": ["STEP 6: Pick up the candle from the counter top."]} +{"id": "trial_T20190907_084654_435920-4%6", "input": "Place two candles into the cabinet below the left hand sink. | STEP 1: Turn right, move to the end of the counter. | STEP 2: Pick up the left most candle from the counter top. | STEP 3: Turn right, move to the left hand sink. | STEP 4: Open the right hand cabinet door, place the candle inside. | STEP 5: Turn left, move to the end of the counter. | STEP 6: Pick up the candle from the counter top.", "output": ["STEP 7: Turn right, move to the left hand sink."]} +{"id": "trial_T20190907_084654_435920-4%7", "input": "Place two candles into the cabinet below the left hand sink. | STEP 1: Turn right, move to the end of the counter. | STEP 2: Pick up the left most candle from the counter top. | STEP 3: Turn right, move to the left hand sink. | STEP 4: Open the right hand cabinet door, place the candle inside. | STEP 5: Turn left, move to the end of the counter. | STEP 6: Pick up the candle from the counter top. | STEP 7: Turn right, move to the left hand sink.", "output": ["STEP 8: Open the right hand cabinet door, place the candle inside."]} +{"id": "trial_T20190907_084654_435920-4%8", "input": "Place two candles into the cabinet below the left hand sink. | STEP 1: Turn right, move to the end of the counter. | STEP 2: Pick up the left most candle from the counter top. | STEP 3: Turn right, move to the left hand sink. | STEP 4: Open the right hand cabinet door, place the candle inside. | STEP 5: Turn left, move to the end of the counter. | STEP 6: Pick up the candle from the counter top. | STEP 7: Turn right, move to the left hand sink. | STEP 8: Open the right hand cabinet door, place the candle inside.", "output": ["END"]} +{"id": "trial_T20190909_042630_332209-2%0", "input": "Examine a blue bottle by the light of a small lamp.", "output": ["STEP 1: Turn around, hang a left at the chair, turn right at the couch and walk to the round table on the left."]} +{"id": "trial_T20190909_042630_332209-2%1", "input": "Examine a blue bottle by the light of a small lamp. | STEP 1: Turn around, hang a left at the chair, turn right at the couch and walk to the round table on the left.", "output": ["STEP 2: Pick up the blue bottle from the left side of the table."]} +{"id": "trial_T20190909_042630_332209-2%2", "input": "Examine a blue bottle by the light of a small lamp. | STEP 1: Turn around, hang a left at the chair, turn right at the couch and walk to the round table on the left. | STEP 2: Pick up the blue bottle from the left side of the table.", "output": ["STEP 3: Turn right and walk to the round table on the left."]} +{"id": "trial_T20190909_042630_332209-2%3", "input": "Examine a blue bottle by the light of a small lamp. | STEP 1: Turn around, hang a left at the chair, turn right at the couch and walk to the round table on the left. | STEP 2: Pick up the blue bottle from the left side of the table. | STEP 3: Turn right and walk to the round table on the left.", "output": ["STEP 4: Turn on the small lamp on the table."]} +{"id": "trial_T20190909_042630_332209-2%4", "input": "Examine a blue bottle by the light of a small lamp. | STEP 1: Turn around, hang a left at the chair, turn right at the couch and walk to the round table on the left. | STEP 2: Pick up the blue bottle from the left side of the table. | STEP 3: Turn right and walk to the round table on the left. | STEP 4: Turn on the small lamp on the table.", "output": ["END"]} +{"id": "trial_T20190908_155034_570106-1%0", "input": "Cool the cup down, place the cup back on table", "output": ["STEP 1: Turn left to the table"]} +{"id": "trial_T20190908_155034_570106-1%1", "input": "Cool the cup down, place the cup back on table | STEP 1: Turn left to the table", "output": ["STEP 2: Grab the green cup off of the table"]} +{"id": "trial_T20190908_155034_570106-1%2", "input": "Cool the cup down, place the cup back on table | STEP 1: Turn left to the table | STEP 2: Grab the green cup off of the table", "output": ["STEP 3: Turn right towards the fridge"]} +{"id": "trial_T20190908_155034_570106-1%3", "input": "Cool the cup down, place the cup back on table | STEP 1: Turn left to the table | STEP 2: Grab the green cup off of the table | STEP 3: Turn right towards the fridge", "output": ["STEP 4: Open the fridge door, place cup inside of fridge next to apple"]} +{"id": "trial_T20190908_155034_570106-1%4", "input": "Cool the cup down, place the cup back on table | STEP 1: Turn left to the table | STEP 2: Grab the green cup off of the table | STEP 3: Turn right towards the fridge | STEP 4: Open the fridge door, place cup inside of fridge next to apple", "output": ["STEP 5: Open fridge door, grab cup from fridge"]} +{"id": "trial_T20190908_155034_570106-1%5", "input": "Cool the cup down, place the cup back on table | STEP 1: Turn left to the table | STEP 2: Grab the green cup off of the table | STEP 3: Turn right towards the fridge | STEP 4: Open the fridge door, place cup inside of fridge next to apple | STEP 5: Open fridge door, grab cup from fridge", "output": ["STEP 6: Turn left to the table, place cup on table"]} +{"id": "trial_T20190908_155034_570106-1%6", "input": "Cool the cup down, place the cup back on table | STEP 1: Turn left to the table | STEP 2: Grab the green cup off of the table | STEP 3: Turn right towards the fridge | STEP 4: Open the fridge door, place cup inside of fridge next to apple | STEP 5: Open fridge door, grab cup from fridge | STEP 6: Turn left to the table, place cup on table", "output": ["END"]} +{"id": "trial_T20190908_155034_570106-2%0", "input": "Put a chilled glass on the table.", "output": ["STEP 1: Turn left to face the table."]} +{"id": "trial_T20190908_155034_570106-2%1", "input": "Put a chilled glass on the table. | STEP 1: Turn left to face the table.", "output": ["STEP 2: Pick up the glass on the table, in front of the bread."]} +{"id": "trial_T20190908_155034_570106-2%2", "input": "Put a chilled glass on the table. | STEP 1: Turn left to face the table. | STEP 2: Pick up the glass on the table, in front of the bread.", "output": ["STEP 3: Turn around, go forward, then turn left to go to the fridge."]} +{"id": "trial_T20190908_155034_570106-2%3", "input": "Put a chilled glass on the table. | STEP 1: Turn left to face the table. | STEP 2: Pick up the glass on the table, in front of the bread. | STEP 3: Turn around, go forward, then turn left to go to the fridge.", "output": ["STEP 4: Chill the glass in the fridge."]} +{"id": "trial_T20190908_155034_570106-2%4", "input": "Put a chilled glass on the table. | STEP 1: Turn left to face the table. | STEP 2: Pick up the glass on the table, in front of the bread. | STEP 3: Turn around, go forward, then turn left to go to the fridge. | STEP 4: Chill the glass in the fridge.", "output": ["STEP 5: Turn left, then go forward to the table."]} +{"id": "trial_T20190908_155034_570106-2%5", "input": "Put a chilled glass on the table. | STEP 1: Turn left to face the table. | STEP 2: Pick up the glass on the table, in front of the bread. | STEP 3: Turn around, go forward, then turn left to go to the fridge. | STEP 4: Chill the glass in the fridge. | STEP 5: Turn left, then go forward to the table.", "output": ["STEP 6: Place the glass on the rightmost corner of the table."]} +{"id": "trial_T20190908_155034_570106-2%6", "input": "Put a chilled glass on the table. | STEP 1: Turn left to face the table. | STEP 2: Pick up the glass on the table, in front of the bread. | STEP 3: Turn around, go forward, then turn left to go to the fridge. | STEP 4: Chill the glass in the fridge. | STEP 5: Turn left, then go forward to the table. | STEP 6: Place the glass on the rightmost corner of the table.", "output": ["END"]} +{"id": "trial_T20190907_234809_289657-0%0", "input": "To rinse off a coffee mug and place in the coffee maker. ", "output": ["STEP 1: Walk to the coffee maker on the counter on the right. "]} +{"id": "trial_T20190907_234809_289657-0%1", "input": "To rinse off a coffee mug and place in the coffee maker. | STEP 1: Walk to the coffee maker on the counter on the right. ", "output": ["STEP 2: Pick up the dirty white mug from the coffee maker. "]} +{"id": "trial_T20190907_234809_289657-0%2", "input": "To rinse off a coffee mug and place in the coffee maker. | STEP 1: Walk to the coffee maker on the counter on the right. | STEP 2: Pick up the dirty white mug from the coffee maker. ", "output": ["STEP 3: Turn and walk to the sink on the left. "]} +{"id": "trial_T20190907_234809_289657-0%3", "input": "To rinse off a coffee mug and place in the coffee maker. | STEP 1: Walk to the coffee maker on the counter on the right. | STEP 2: Pick up the dirty white mug from the coffee maker. | STEP 3: Turn and walk to the sink on the left. ", "output": ["STEP 4: Place the mug inside the sink, turn the water on, clean the mug, turn the water off, pick the mug up from the sink. "]} +{"id": "trial_T20190907_234809_289657-0%4", "input": "To rinse off a coffee mug and place in the coffee maker. | STEP 1: Walk to the coffee maker on the counter on the right. | STEP 2: Pick up the dirty white mug from the coffee maker. | STEP 3: Turn and walk to the sink on the left. | STEP 4: Place the mug inside the sink, turn the water on, clean the mug, turn the water off, pick the mug up from the sink. ", "output": ["STEP 5: Turn left and walk back to the coffee maker. "]} +{"id": "trial_T20190907_234809_289657-0%5", "input": "To rinse off a coffee mug and place in the coffee maker. | STEP 1: Walk to the coffee maker on the counter on the right. | STEP 2: Pick up the dirty white mug from the coffee maker. | STEP 3: Turn and walk to the sink on the left. | STEP 4: Place the mug inside the sink, turn the water on, clean the mug, turn the water off, pick the mug up from the sink. | STEP 5: Turn left and walk back to the coffee maker. ", "output": ["STEP 6: Place the clean white mug in the coffee maker. "]} +{"id": "trial_T20190907_234809_289657-0%6", "input": "To rinse off a coffee mug and place in the coffee maker. | STEP 1: Walk to the coffee maker on the counter on the right. | STEP 2: Pick up the dirty white mug from the coffee maker. | STEP 3: Turn and walk to the sink on the left. | STEP 4: Place the mug inside the sink, turn the water on, clean the mug, turn the water off, pick the mug up from the sink. | STEP 5: Turn left and walk back to the coffee maker. | STEP 6: Place the clean white mug in the coffee maker. ", "output": ["END"]} +{"id": "trial_T20190907_234809_289657-2%0", "input": "Clean a coffee mug to return it to the coffee maker", "output": ["STEP 1: Move across the room to the counter top where the coffee maker is with the mug on it"]} +{"id": "trial_T20190907_234809_289657-2%1", "input": "Clean a coffee mug to return it to the coffee maker | STEP 1: Move across the room to the counter top where the coffee maker is with the mug on it", "output": ["STEP 2: Pick up the white coffee mug on the counter"]} +{"id": "trial_T20190907_234809_289657-2%2", "input": "Clean a coffee mug to return it to the coffee maker | STEP 1: Move across the room to the counter top where the coffee maker is with the mug on it | STEP 2: Pick up the white coffee mug on the counter", "output": ["STEP 3: Carry the coffee mug to the sink counter"]} +{"id": "trial_T20190907_234809_289657-2%3", "input": "Clean a coffee mug to return it to the coffee maker | STEP 1: Move across the room to the counter top where the coffee maker is with the mug on it | STEP 2: Pick up the white coffee mug on the counter | STEP 3: Carry the coffee mug to the sink counter", "output": ["STEP 4: Place the mug in the sink to wash it then pick up the coffee mug"]} +{"id": "trial_T20190907_234809_289657-2%4", "input": "Clean a coffee mug to return it to the coffee maker | STEP 1: Move across the room to the counter top where the coffee maker is with the mug on it | STEP 2: Pick up the white coffee mug on the counter | STEP 3: Carry the coffee mug to the sink counter | STEP 4: Place the mug in the sink to wash it then pick up the coffee mug", "output": ["STEP 5: Return to the coffee maker on top of the kitchen counter"]} +{"id": "trial_T20190907_234809_289657-2%5", "input": "Clean a coffee mug to return it to the coffee maker | STEP 1: Move across the room to the counter top where the coffee maker is with the mug on it | STEP 2: Pick up the white coffee mug on the counter | STEP 3: Carry the coffee mug to the sink counter | STEP 4: Place the mug in the sink to wash it then pick up the coffee mug | STEP 5: Return to the coffee maker on top of the kitchen counter", "output": ["STEP 6: Place the coffee mug on the coffee maker where the mug goes"]} +{"id": "trial_T20190907_234809_289657-2%6", "input": "Clean a coffee mug to return it to the coffee maker | STEP 1: Move across the room to the counter top where the coffee maker is with the mug on it | STEP 2: Pick up the white coffee mug on the counter | STEP 3: Carry the coffee mug to the sink counter | STEP 4: Place the mug in the sink to wash it then pick up the coffee mug | STEP 5: Return to the coffee maker on top of the kitchen counter | STEP 6: Place the coffee mug on the coffee maker where the mug goes", "output": ["END"]} +{"id": "trial_T20190911_235607_325240-1%0", "input": "Put a cooked slice of tomato in a fridge.", "output": ["STEP 1: Go a step to the right while facing the counter."]} +{"id": "trial_T20190911_235607_325240-1%1", "input": "Put a cooked slice of tomato in a fridge. | STEP 1: Go a step to the right while facing the counter.", "output": ["STEP 2: Take the knife from the counter."]} +{"id": "trial_T20190911_235607_325240-1%2", "input": "Put a cooked slice of tomato in a fridge. | STEP 1: Go a step to the right while facing the counter. | STEP 2: Take the knife from the counter.", "output": ["STEP 3: Go left to the counter area with the tomato."]} +{"id": "trial_T20190911_235607_325240-1%3", "input": "Put a cooked slice of tomato in a fridge. | STEP 1: Go a step to the right while facing the counter. | STEP 2: Take the knife from the counter. | STEP 3: Go left to the counter area with the tomato.", "output": ["STEP 4: Cut the tomato into slices."]} +{"id": "trial_T20190911_235607_325240-1%4", "input": "Put a cooked slice of tomato in a fridge. | STEP 1: Go a step to the right while facing the counter. | STEP 2: Take the knife from the counter. | STEP 3: Go left to the counter area with the tomato. | STEP 4: Cut the tomato into slices.", "output": ["STEP 5: Go to the oven to the left."]} +{"id": "trial_T20190911_235607_325240-1%5", "input": "Put a cooked slice of tomato in a fridge. | STEP 1: Go a step to the right while facing the counter. | STEP 2: Take the knife from the counter. | STEP 3: Go left to the counter area with the tomato. | STEP 4: Cut the tomato into slices. | STEP 5: Go to the oven to the left.", "output": ["STEP 6: Put the knife in the microwave above the oven."]} +{"id": "trial_T20190911_235607_325240-1%6", "input": "Put a cooked slice of tomato in a fridge. | STEP 1: Go a step to the right while facing the counter. | STEP 2: Take the knife from the counter. | STEP 3: Go left to the counter area with the tomato. | STEP 4: Cut the tomato into slices. | STEP 5: Go to the oven to the left. | STEP 6: Put the knife in the microwave above the oven.", "output": ["STEP 7: Go right to the tomato on the counter."]} +{"id": "trial_T20190911_235607_325240-1%7", "input": "Put a cooked slice of tomato in a fridge. | STEP 1: Go a step to the right while facing the counter. | STEP 2: Take the knife from the counter. | STEP 3: Go left to the counter area with the tomato. | STEP 4: Cut the tomato into slices. | STEP 5: Go to the oven to the left. | STEP 6: Put the knife in the microwave above the oven. | STEP 7: Go right to the tomato on the counter.", "output": ["STEP 8: Take a piece of tomato from the counter."]} +{"id": "trial_T20190911_235607_325240-1%8", "input": "Put a cooked slice of tomato in a fridge. | STEP 1: Go a step to the right while facing the counter. | STEP 2: Take the knife from the counter. | STEP 3: Go left to the counter area with the tomato. | STEP 4: Cut the tomato into slices. | STEP 5: Go to the oven to the left. | STEP 6: Put the knife in the microwave above the oven. | STEP 7: Go right to the tomato on the counter. | STEP 8: Take a piece of tomato from the counter.", "output": ["STEP 9: Go right to the tomato on the counter."]} +{"id": "trial_T20190911_235607_325240-1%9", "input": "Put a cooked slice of tomato in a fridge. | STEP 1: Go a step to the right while facing the counter. | STEP 2: Take the knife from the counter. | STEP 3: Go left to the counter area with the tomato. | STEP 4: Cut the tomato into slices. | STEP 5: Go to the oven to the left. | STEP 6: Put the knife in the microwave above the oven. | STEP 7: Go right to the tomato on the counter. | STEP 8: Take a piece of tomato from the counter. | STEP 9: Go right to the tomato on the counter.", "output": ["STEP 10: Cook the tomato in the microwave. Take the tomato from the microwave."]} +{"id": "trial_T20190911_235607_325240-1%10", "input": "Put a cooked slice of tomato in a fridge. | STEP 1: Go a step to the right while facing the counter. | STEP 2: Take the knife from the counter. | STEP 3: Go left to the counter area with the tomato. | STEP 4: Cut the tomato into slices. | STEP 5: Go to the oven to the left. | STEP 6: Put the knife in the microwave above the oven. | STEP 7: Go right to the tomato on the counter. | STEP 8: Take a piece of tomato from the counter. | STEP 9: Go right to the tomato on the counter. | STEP 10: Cook the tomato in the microwave. Take the tomato from the microwave.", "output": ["STEP 11: Turn right, go to the wall, turn right to the fridge."]} +{"id": "trial_T20190911_235607_325240-1%11", "input": "Put a cooked slice of tomato in a fridge. | STEP 1: Go a step to the right while facing the counter. | STEP 2: Take the knife from the counter. | STEP 3: Go left to the counter area with the tomato. | STEP 4: Cut the tomato into slices. | STEP 5: Go to the oven to the left. | STEP 6: Put the knife in the microwave above the oven. | STEP 7: Go right to the tomato on the counter. | STEP 8: Take a piece of tomato from the counter. | STEP 9: Go right to the tomato on the counter. | STEP 10: Cook the tomato in the microwave. Take the tomato from the microwave. | STEP 11: Turn right, go to the wall, turn right to the fridge.", "output": ["STEP 12: Put the tomato on the middle shelf of the right compartment of the fridge."]} +{"id": "trial_T20190911_235607_325240-1%12", "input": "Put a cooked slice of tomato in a fridge. | STEP 1: Go a step to the right while facing the counter. | STEP 2: Take the knife from the counter. | STEP 3: Go left to the counter area with the tomato. | STEP 4: Cut the tomato into slices. | STEP 5: Go to the oven to the left. | STEP 6: Put the knife in the microwave above the oven. | STEP 7: Go right to the tomato on the counter. | STEP 8: Take a piece of tomato from the counter. | STEP 9: Go right to the tomato on the counter. | STEP 10: Cook the tomato in the microwave. Take the tomato from the microwave. | STEP 11: Turn right, go to the wall, turn right to the fridge. | STEP 12: Put the tomato on the middle shelf of the right compartment of the fridge.", "output": ["END"]} +{"id": "trial_T20190918_215632_033865-0%0", "input": "Move a chilled tomato to the kitchen sink. ", "output": ["STEP 1: Move to stand at the counter between the coffee maker and dishwasher. "]} +{"id": "trial_T20190918_215632_033865-0%1", "input": "Move a chilled tomato to the kitchen sink. | STEP 1: Move to stand at the counter between the coffee maker and dishwasher. ", "output": ["STEP 2: Pick up the tomato from the counter. "]} +{"id": "trial_T20190918_215632_033865-0%2", "input": "Move a chilled tomato to the kitchen sink. | STEP 1: Move to stand at the counter between the coffee maker and dishwasher. | STEP 2: Pick up the tomato from the counter. ", "output": ["STEP 3: Carry the tomato to the refrigerator. "]} +{"id": "trial_T20190918_215632_033865-0%3", "input": "Move a chilled tomato to the kitchen sink. | STEP 1: Move to stand at the counter between the coffee maker and dishwasher. | STEP 2: Pick up the tomato from the counter. | STEP 3: Carry the tomato to the refrigerator. ", "output": ["STEP 4: Open the fridge to place the tomato on the top shelf, close the door, and then remove the tomato after a few seconds. "]} +{"id": "trial_T20190918_215632_033865-0%4", "input": "Move a chilled tomato to the kitchen sink. | STEP 1: Move to stand at the counter between the coffee maker and dishwasher. | STEP 2: Pick up the tomato from the counter. | STEP 3: Carry the tomato to the refrigerator. | STEP 4: Open the fridge to place the tomato on the top shelf, close the door, and then remove the tomato after a few seconds. ", "output": ["STEP 5: Carry the chilled tomato to the kitchen sink. "]} +{"id": "trial_T20190918_215632_033865-0%5", "input": "Move a chilled tomato to the kitchen sink. | STEP 1: Move to stand at the counter between the coffee maker and dishwasher. | STEP 2: Pick up the tomato from the counter. | STEP 3: Carry the tomato to the refrigerator. | STEP 4: Open the fridge to place the tomato on the top shelf, close the door, and then remove the tomato after a few seconds. | STEP 5: Carry the chilled tomato to the kitchen sink. ", "output": ["STEP 6: Place the tomato in the kitchen sink."]} +{"id": "trial_T20190918_215632_033865-0%6", "input": "Move a chilled tomato to the kitchen sink. | STEP 1: Move to stand at the counter between the coffee maker and dishwasher. | STEP 2: Pick up the tomato from the counter. | STEP 3: Carry the tomato to the refrigerator. | STEP 4: Open the fridge to place the tomato on the top shelf, close the door, and then remove the tomato after a few seconds. | STEP 5: Carry the chilled tomato to the kitchen sink. | STEP 6: Place the tomato in the kitchen sink.", "output": ["END"]} +{"id": "trial_T20190909_101304_822238-0%0", "input": "place microwaved potato slice in blue bin", "output": ["STEP 1: turn around, go to counter to the left of stove"]} +{"id": "trial_T20190909_101304_822238-0%1", "input": "place microwaved potato slice in blue bin | STEP 1: turn around, go to counter to the left of stove", "output": ["STEP 2: pick up yellow handle knife from counter"]} +{"id": "trial_T20190909_101304_822238-0%2", "input": "place microwaved potato slice in blue bin | STEP 1: turn around, go to counter to the left of stove | STEP 2: pick up yellow handle knife from counter", "output": ["STEP 3: go to blue bin in corner to the left"]} +{"id": "trial_T20190909_101304_822238-0%3", "input": "place microwaved potato slice in blue bin | STEP 1: turn around, go to counter to the left of stove | STEP 2: pick up yellow handle knife from counter | STEP 3: go to blue bin in corner to the left", "output": ["STEP 4: slice potato in front of tomato in blue bin"]} +{"id": "trial_T20190909_101304_822238-0%4", "input": "place microwaved potato slice in blue bin | STEP 1: turn around, go to counter to the left of stove | STEP 2: pick up yellow handle knife from counter | STEP 3: go to blue bin in corner to the left | STEP 4: slice potato in front of tomato in blue bin", "output": ["STEP 5: go to front of blue bin"]} +{"id": "trial_T20190909_101304_822238-0%5", "input": "place microwaved potato slice in blue bin | STEP 1: turn around, go to counter to the left of stove | STEP 2: pick up yellow handle knife from counter | STEP 3: go to blue bin in corner to the left | STEP 4: slice potato in front of tomato in blue bin | STEP 5: go to front of blue bin", "output": ["STEP 6: place knife in blue bin"]} +{"id": "trial_T20190909_101304_822238-0%6", "input": "place microwaved potato slice in blue bin | STEP 1: turn around, go to counter to the left of stove | STEP 2: pick up yellow handle knife from counter | STEP 3: go to blue bin in corner to the left | STEP 4: slice potato in front of tomato in blue bin | STEP 5: go to front of blue bin | STEP 6: place knife in blue bin", "output": ["STEP 7: go to left side of blue bin"]} +{"id": "trial_T20190909_101304_822238-0%7", "input": "place microwaved potato slice in blue bin | STEP 1: turn around, go to counter to the left of stove | STEP 2: pick up yellow handle knife from counter | STEP 3: go to blue bin in corner to the left | STEP 4: slice potato in front of tomato in blue bin | STEP 5: go to front of blue bin | STEP 6: place knife in blue bin | STEP 7: go to left side of blue bin", "output": ["STEP 8: pick up potato slice from blue bin"]} +{"id": "trial_T20190909_101304_822238-0%8", "input": "place microwaved potato slice in blue bin | STEP 1: turn around, go to counter to the left of stove | STEP 2: pick up yellow handle knife from counter | STEP 3: go to blue bin in corner to the left | STEP 4: slice potato in front of tomato in blue bin | STEP 5: go to front of blue bin | STEP 6: place knife in blue bin | STEP 7: go to left side of blue bin | STEP 8: pick up potato slice from blue bin", "output": ["STEP 9: turn right, go to microwave above stove to the left"]} +{"id": "trial_T20190909_101304_822238-0%9", "input": "place microwaved potato slice in blue bin | STEP 1: turn around, go to counter to the left of stove | STEP 2: pick up yellow handle knife from counter | STEP 3: go to blue bin in corner to the left | STEP 4: slice potato in front of tomato in blue bin | STEP 5: go to front of blue bin | STEP 6: place knife in blue bin | STEP 7: go to left side of blue bin | STEP 8: pick up potato slice from blue bin | STEP 9: turn right, go to microwave above stove to the left", "output": ["STEP 10: open microwave, place potato slice in microwave, close microwave, microwave potato slice, open microwave, pick up potato slice, close microwave"]} +{"id": "trial_T20190909_101304_822238-0%10", "input": "place microwaved potato slice in blue bin | STEP 1: turn around, go to counter to the left of stove | STEP 2: pick up yellow handle knife from counter | STEP 3: go to blue bin in corner to the left | STEP 4: slice potato in front of tomato in blue bin | STEP 5: go to front of blue bin | STEP 6: place knife in blue bin | STEP 7: go to left side of blue bin | STEP 8: pick up potato slice from blue bin | STEP 9: turn right, go to microwave above stove to the left | STEP 10: open microwave, place potato slice in microwave, close microwave, microwave potato slice, open microwave, pick up potato slice, close microwave", "output": ["STEP 11: turn left, go to blue bin in corner"]} +{"id": "trial_T20190909_101304_822238-0%11", "input": "place microwaved potato slice in blue bin | STEP 1: turn around, go to counter to the left of stove | STEP 2: pick up yellow handle knife from counter | STEP 3: go to blue bin in corner to the left | STEP 4: slice potato in front of tomato in blue bin | STEP 5: go to front of blue bin | STEP 6: place knife in blue bin | STEP 7: go to left side of blue bin | STEP 8: pick up potato slice from blue bin | STEP 9: turn right, go to microwave above stove to the left | STEP 10: open microwave, place potato slice in microwave, close microwave, microwave potato slice, open microwave, pick up potato slice, close microwave | STEP 11: turn left, go to blue bin in corner", "output": ["STEP 12: place potato slice in right side of blue bin"]} +{"id": "trial_T20190909_101304_822238-0%12", "input": "place microwaved potato slice in blue bin | STEP 1: turn around, go to counter to the left of stove | STEP 2: pick up yellow handle knife from counter | STEP 3: go to blue bin in corner to the left | STEP 4: slice potato in front of tomato in blue bin | STEP 5: go to front of blue bin | STEP 6: place knife in blue bin | STEP 7: go to left side of blue bin | STEP 8: pick up potato slice from blue bin | STEP 9: turn right, go to microwave above stove to the left | STEP 10: open microwave, place potato slice in microwave, close microwave, microwave potato slice, open microwave, pick up potato slice, close microwave | STEP 11: turn left, go to blue bin in corner | STEP 12: place potato slice in right side of blue bin", "output": ["END"]} +{"id": "trial_T20190907_190822_091724-2%0", "input": "Put a piece of cooked pepper on the gray table.", "output": ["STEP 1: Cross the kitchen and face the counter on the left."]} +{"id": "trial_T20190907_190822_091724-2%1", "input": "Put a piece of cooked pepper on the gray table. | STEP 1: Cross the kitchen and face the counter on the left.", "output": ["STEP 2: Pick up the knife that's closest to the edge of the counter."]} +{"id": "trial_T20190907_190822_091724-2%2", "input": "Put a piece of cooked pepper on the gray table. | STEP 1: Cross the kitchen and face the counter on the left. | STEP 2: Pick up the knife that's closest to the edge of the counter.", "output": ["STEP 3: Bring the knife with you and go face counter on the left of the stove."]} +{"id": "trial_T20190907_190822_091724-2%3", "input": "Put a piece of cooked pepper on the gray table. | STEP 1: Cross the kitchen and face the counter on the left. | STEP 2: Pick up the knife that's closest to the edge of the counter. | STEP 3: Bring the knife with you and go face counter on the left of the stove.", "output": ["STEP 4: Slice the red pepper sitting to the right of the bread with the knife."]} +{"id": "trial_T20190907_190822_091724-2%4", "input": "Put a piece of cooked pepper on the gray table. | STEP 1: Cross the kitchen and face the counter on the left. | STEP 2: Pick up the knife that's closest to the edge of the counter. | STEP 3: Bring the knife with you and go face counter on the left of the stove. | STEP 4: Slice the red pepper sitting to the right of the bread with the knife.", "output": ["STEP 5: Bring the knife to the small gray table on the far side of the room."]} +{"id": "trial_T20190907_190822_091724-2%5", "input": "Put a piece of cooked pepper on the gray table. | STEP 1: Cross the kitchen and face the counter on the left. | STEP 2: Pick up the knife that's closest to the edge of the counter. | STEP 3: Bring the knife with you and go face counter on the left of the stove. | STEP 4: Slice the red pepper sitting to the right of the bread with the knife. | STEP 5: Bring the knife to the small gray table on the far side of the room.", "output": ["STEP 6: Put the knife down on the gray table."]} +{"id": "trial_T20190907_190822_091724-2%6", "input": "Put a piece of cooked pepper on the gray table. | STEP 1: Cross the kitchen and face the counter on the left. | STEP 2: Pick up the knife that's closest to the edge of the counter. | STEP 3: Bring the knife with you and go face counter on the left of the stove. | STEP 4: Slice the red pepper sitting to the right of the bread with the knife. | STEP 5: Bring the knife to the small gray table on the far side of the room. | STEP 6: Put the knife down on the gray table.", "output": ["STEP 7: Go back over to where you sliced the pepper."]} +{"id": "trial_T20190907_190822_091724-2%7", "input": "Put a piece of cooked pepper on the gray table. | STEP 1: Cross the kitchen and face the counter on the left. | STEP 2: Pick up the knife that's closest to the edge of the counter. | STEP 3: Bring the knife with you and go face counter on the left of the stove. | STEP 4: Slice the red pepper sitting to the right of the bread with the knife. | STEP 5: Bring the knife to the small gray table on the far side of the room. | STEP 6: Put the knife down on the gray table. | STEP 7: Go back over to where you sliced the pepper.", "output": ["STEP 8: Pick up a piece of the pepper from the counter."]} +{"id": "trial_T20190907_190822_091724-2%8", "input": "Put a piece of cooked pepper on the gray table. | STEP 1: Cross the kitchen and face the counter on the left. | STEP 2: Pick up the knife that's closest to the edge of the counter. | STEP 3: Bring the knife with you and go face counter on the left of the stove. | STEP 4: Slice the red pepper sitting to the right of the bread with the knife. | STEP 5: Bring the knife to the small gray table on the far side of the room. | STEP 6: Put the knife down on the gray table. | STEP 7: Go back over to where you sliced the pepper. | STEP 8: Pick up a piece of the pepper from the counter.", "output": ["STEP 9: Bring the pepper with you and move to the right, then look up and face the microwave."]} +{"id": "trial_T20190907_190822_091724-2%9", "input": "Put a piece of cooked pepper on the gray table. | STEP 1: Cross the kitchen and face the counter on the left. | STEP 2: Pick up the knife that's closest to the edge of the counter. | STEP 3: Bring the knife with you and go face counter on the left of the stove. | STEP 4: Slice the red pepper sitting to the right of the bread with the knife. | STEP 5: Bring the knife to the small gray table on the far side of the room. | STEP 6: Put the knife down on the gray table. | STEP 7: Go back over to where you sliced the pepper. | STEP 8: Pick up a piece of the pepper from the counter. | STEP 9: Bring the pepper with you and move to the right, then look up and face the microwave.", "output": ["STEP 10: Put the pepper in the microwave and cook it, then take it out again."]} +{"id": "trial_T20190907_190822_091724-2%10", "input": "Put a piece of cooked pepper on the gray table. | STEP 1: Cross the kitchen and face the counter on the left. | STEP 2: Pick up the knife that's closest to the edge of the counter. | STEP 3: Bring the knife with you and go face counter on the left of the stove. | STEP 4: Slice the red pepper sitting to the right of the bread with the knife. | STEP 5: Bring the knife to the small gray table on the far side of the room. | STEP 6: Put the knife down on the gray table. | STEP 7: Go back over to where you sliced the pepper. | STEP 8: Pick up a piece of the pepper from the counter. | STEP 9: Bring the pepper with you and move to the right, then look up and face the microwave. | STEP 10: Put the pepper in the microwave and cook it, then take it out again.", "output": ["STEP 11: Bring the cooked pepper over to the gray table where you put the knife."]} +{"id": "trial_T20190907_190822_091724-2%11", "input": "Put a piece of cooked pepper on the gray table. | STEP 1: Cross the kitchen and face the counter on the left. | STEP 2: Pick up the knife that's closest to the edge of the counter. | STEP 3: Bring the knife with you and go face counter on the left of the stove. | STEP 4: Slice the red pepper sitting to the right of the bread with the knife. | STEP 5: Bring the knife to the small gray table on the far side of the room. | STEP 6: Put the knife down on the gray table. | STEP 7: Go back over to where you sliced the pepper. | STEP 8: Pick up a piece of the pepper from the counter. | STEP 9: Bring the pepper with you and move to the right, then look up and face the microwave. | STEP 10: Put the pepper in the microwave and cook it, then take it out again. | STEP 11: Bring the cooked pepper over to the gray table where you put the knife.", "output": ["STEP 12: Put the pepper down on the table in front of the knife."]} +{"id": "trial_T20190907_190822_091724-2%12", "input": "Put a piece of cooked pepper on the gray table. | STEP 1: Cross the kitchen and face the counter on the left. | STEP 2: Pick up the knife that's closest to the edge of the counter. | STEP 3: Bring the knife with you and go face counter on the left of the stove. | STEP 4: Slice the red pepper sitting to the right of the bread with the knife. | STEP 5: Bring the knife to the small gray table on the far side of the room. | STEP 6: Put the knife down on the gray table. | STEP 7: Go back over to where you sliced the pepper. | STEP 8: Pick up a piece of the pepper from the counter. | STEP 9: Bring the pepper with you and move to the right, then look up and face the microwave. | STEP 10: Put the pepper in the microwave and cook it, then take it out again. | STEP 11: Bring the cooked pepper over to the gray table where you put the knife. | STEP 12: Put the pepper down on the table in front of the knife.", "output": ["END"]} +{"id": "trial_T20190907_164813_238034-1%0", "input": "Put a cup with a pen on the dresser to the left of the bed.", "output": ["STEP 1: Move to the dresser to the left of the bed"]} +{"id": "trial_T20190907_164813_238034-1%1", "input": "Put a cup with a pen on the dresser to the left of the bed. | STEP 1: Move to the dresser to the left of the bed", "output": ["STEP 2: PIck up a pen from the dresser"]} +{"id": "trial_T20190907_164813_238034-1%2", "input": "Put a cup with a pen on the dresser to the left of the bed. | STEP 1: Move to the dresser to the left of the bed | STEP 2: PIck up a pen from the dresser", "output": ["STEP 3: Move to the desk behind you"]} +{"id": "trial_T20190907_164813_238034-1%3", "input": "Put a cup with a pen on the dresser to the left of the bed. | STEP 1: Move to the dresser to the left of the bed | STEP 2: PIck up a pen from the dresser | STEP 3: Move to the desk behind you", "output": ["STEP 4: Put the pen in a cup on the desk"]} +{"id": "trial_T20190907_164813_238034-1%4", "input": "Put a cup with a pen on the dresser to the left of the bed. | STEP 1: Move to the dresser to the left of the bed | STEP 2: PIck up a pen from the dresser | STEP 3: Move to the desk behind you | STEP 4: Put the pen in a cup on the desk", "output": ["STEP 5: Pick up the cup from the desk"]} +{"id": "trial_T20190907_164813_238034-1%5", "input": "Put a cup with a pen on the dresser to the left of the bed. | STEP 1: Move to the dresser to the left of the bed | STEP 2: PIck up a pen from the dresser | STEP 3: Move to the desk behind you | STEP 4: Put the pen in a cup on the desk | STEP 5: Pick up the cup from the desk", "output": ["STEP 6: Move to the dresser to the right of you"]} +{"id": "trial_T20190907_164813_238034-1%6", "input": "Put a cup with a pen on the dresser to the left of the bed. | STEP 1: Move to the dresser to the left of the bed | STEP 2: PIck up a pen from the dresser | STEP 3: Move to the desk behind you | STEP 4: Put the pen in a cup on the desk | STEP 5: Pick up the cup from the desk | STEP 6: Move to the dresser to the right of you", "output": ["STEP 7: Put the cup on the dresser"]} +{"id": "trial_T20190907_164813_238034-1%7", "input": "Put a cup with a pen on the dresser to the left of the bed. | STEP 1: Move to the dresser to the left of the bed | STEP 2: PIck up a pen from the dresser | STEP 3: Move to the desk behind you | STEP 4: Put the pen in a cup on the desk | STEP 5: Pick up the cup from the desk | STEP 6: Move to the dresser to the right of you | STEP 7: Put the cup on the dresser", "output": ["END"]} +{"id": "trial_T20190907_164813_238034-2%0", "input": "grab the pen from the cabinet, put it in the cup on the table, put the cup on the cabinet", "output": ["STEP 1: turn around to the cabinet"]} +{"id": "trial_T20190907_164813_238034-2%1", "input": "grab the pen from the cabinet, put it in the cup on the table, put the cup on the cabinet | STEP 1: turn around to the cabinet", "output": ["STEP 2: grab the pen on the cabinet"]} +{"id": "trial_T20190907_164813_238034-2%2", "input": "grab the pen from the cabinet, put it in the cup on the table, put the cup on the cabinet | STEP 1: turn around to the cabinet | STEP 2: grab the pen on the cabinet", "output": ["STEP 3: turn around to the table"]} +{"id": "trial_T20190907_164813_238034-2%3", "input": "grab the pen from the cabinet, put it in the cup on the table, put the cup on the cabinet | STEP 1: turn around to the cabinet | STEP 2: grab the pen on the cabinet | STEP 3: turn around to the table", "output": ["STEP 4: put the pen in the cup on the table"]} +{"id": "trial_T20190907_164813_238034-2%4", "input": "grab the pen from the cabinet, put it in the cup on the table, put the cup on the cabinet | STEP 1: turn around to the cabinet | STEP 2: grab the pen on the cabinet | STEP 3: turn around to the table | STEP 4: put the pen in the cup on the table", "output": ["STEP 5: grab the cup with the pencil"]} +{"id": "trial_T20190907_164813_238034-2%5", "input": "grab the pen from the cabinet, put it in the cup on the table, put the cup on the cabinet | STEP 1: turn around to the cabinet | STEP 2: grab the pen on the cabinet | STEP 3: turn around to the table | STEP 4: put the pen in the cup on the table | STEP 5: grab the cup with the pencil", "output": ["STEP 6: turn right, walk to the cabinet"]} +{"id": "trial_T20190907_164813_238034-2%6", "input": "grab the pen from the cabinet, put it in the cup on the table, put the cup on the cabinet | STEP 1: turn around to the cabinet | STEP 2: grab the pen on the cabinet | STEP 3: turn around to the table | STEP 4: put the pen in the cup on the table | STEP 5: grab the cup with the pencil | STEP 6: turn right, walk to the cabinet", "output": ["STEP 7: put the cup on the cabinet"]} +{"id": "trial_T20190907_164813_238034-2%7", "input": "grab the pen from the cabinet, put it in the cup on the table, put the cup on the cabinet | STEP 1: turn around to the cabinet | STEP 2: grab the pen on the cabinet | STEP 3: turn around to the table | STEP 4: put the pen in the cup on the table | STEP 5: grab the cup with the pencil | STEP 6: turn right, walk to the cabinet | STEP 7: put the cup on the cabinet", "output": ["END"]} +{"id": "trial_T20190909_013908_128438-0%0", "input": "Put the keys on the filing cabinet. ", "output": ["STEP 1: Turn to the table on your left . "]} +{"id": "trial_T20190909_013908_128438-0%1", "input": "Put the keys on the filing cabinet. | STEP 1: Turn to the table on your left . ", "output": ["STEP 2: Pick up the keys on the right corner of the table. "]} +{"id": "trial_T20190909_013908_128438-0%2", "input": "Put the keys on the filing cabinet. | STEP 1: Turn to the table on your left . | STEP 2: Pick up the keys on the right corner of the table. ", "output": ["STEP 3: Turn to your left and go to the small filing cabinet, underneath the table, on your right. "]} +{"id": "trial_T20190909_013908_128438-0%3", "input": "Put the keys on the filing cabinet. | STEP 1: Turn to the table on your left . | STEP 2: Pick up the keys on the right corner of the table. | STEP 3: Turn to your left and go to the small filing cabinet, underneath the table, on your right. ", "output": ["STEP 4: Place the keys on the small filing cabinet, under the table. "]} +{"id": "trial_T20190909_013908_128438-0%4", "input": "Put the keys on the filing cabinet. | STEP 1: Turn to the table on your left . | STEP 2: Pick up the keys on the right corner of the table. | STEP 3: Turn to your left and go to the small filing cabinet, underneath the table, on your right. | STEP 4: Place the keys on the small filing cabinet, under the table. ", "output": ["END"]} +{"id": "trial_T20190907_163408_411399-1%0", "input": "Place two smartphones on the bed", "output": ["STEP 1: Turn around and walk to the end of the bed, take a right and walk past the bed and turn right, then take a step, then turn left and walk until you reach the dresser and stop."]} +{"id": "trial_T20190907_163408_411399-1%1", "input": "Place two smartphones on the bed | STEP 1: Turn around and walk to the end of the bed, take a right and walk past the bed and turn right, then take a step, then turn left and walk until you reach the dresser and stop.", "output": ["STEP 2: From the dresser, pick up the smartphone sitting behind the box."]} +{"id": "trial_T20190907_163408_411399-1%2", "input": "Place two smartphones on the bed | STEP 1: Turn around and walk to the end of the bed, take a right and walk past the bed and turn right, then take a step, then turn left and walk until you reach the dresser and stop. | STEP 2: From the dresser, pick up the smartphone sitting behind the box.", "output": ["STEP 3: Turn right and walk five steps, take another right and walk four steps to the bed."]} +{"id": "trial_T20190907_163408_411399-1%3", "input": "Place two smartphones on the bed | STEP 1: Turn around and walk to the end of the bed, take a right and walk past the bed and turn right, then take a step, then turn left and walk until you reach the dresser and stop. | STEP 2: From the dresser, pick up the smartphone sitting behind the box. | STEP 3: Turn right and walk five steps, take another right and walk four steps to the bed.", "output": ["STEP 4: Put the smartphone on the bed, halfway between the left laptop and the edge of the bed, horizontally."]} +{"id": "trial_T20190907_163408_411399-1%4", "input": "Place two smartphones on the bed | STEP 1: Turn around and walk to the end of the bed, take a right and walk past the bed and turn right, then take a step, then turn left and walk until you reach the dresser and stop. | STEP 2: From the dresser, pick up the smartphone sitting behind the box. | STEP 3: Turn right and walk five steps, take another right and walk four steps to the bed. | STEP 4: Put the smartphone on the bed, halfway between the left laptop and the edge of the bed, horizontally.", "output": ["STEP 5: Turn right and walk until you reach the wall and turn left and face the dresser."]} +{"id": "trial_T20190907_163408_411399-1%5", "input": "Place two smartphones on the bed | STEP 1: Turn around and walk to the end of the bed, take a right and walk past the bed and turn right, then take a step, then turn left and walk until you reach the dresser and stop. | STEP 2: From the dresser, pick up the smartphone sitting behind the box. | STEP 3: Turn right and walk five steps, take another right and walk four steps to the bed. | STEP 4: Put the smartphone on the bed, halfway between the left laptop and the edge of the bed, horizontally. | STEP 5: Turn right and walk until you reach the wall and turn left and face the dresser.", "output": ["STEP 6: Pick up the smartphone."]} +{"id": "trial_T20190907_163408_411399-1%6", "input": "Place two smartphones on the bed | STEP 1: Turn around and walk to the end of the bed, take a right and walk past the bed and turn right, then take a step, then turn left and walk until you reach the dresser and stop. | STEP 2: From the dresser, pick up the smartphone sitting behind the box. | STEP 3: Turn right and walk five steps, take another right and walk four steps to the bed. | STEP 4: Put the smartphone on the bed, halfway between the left laptop and the edge of the bed, horizontally. | STEP 5: Turn right and walk until you reach the wall and turn left and face the dresser. | STEP 6: Pick up the smartphone.", "output": ["STEP 7: Turn left and take ten steps and turn right, facing the bed."]} +{"id": "trial_T20190907_163408_411399-1%7", "input": "Place two smartphones on the bed | STEP 1: Turn around and walk to the end of the bed, take a right and walk past the bed and turn right, then take a step, then turn left and walk until you reach the dresser and stop. | STEP 2: From the dresser, pick up the smartphone sitting behind the box. | STEP 3: Turn right and walk five steps, take another right and walk four steps to the bed. | STEP 4: Put the smartphone on the bed, halfway between the left laptop and the edge of the bed, horizontally. | STEP 5: Turn right and walk until you reach the wall and turn left and face the dresser. | STEP 6: Pick up the smartphone. | STEP 7: Turn left and take ten steps and turn right, facing the bed.", "output": ["STEP 8: Place the smartphone on the bed to the right of the first smartphone, horizontally."]} +{"id": "trial_T20190907_163408_411399-1%8", "input": "Place two smartphones on the bed | STEP 1: Turn around and walk to the end of the bed, take a right and walk past the bed and turn right, then take a step, then turn left and walk until you reach the dresser and stop. | STEP 2: From the dresser, pick up the smartphone sitting behind the box. | STEP 3: Turn right and walk five steps, take another right and walk four steps to the bed. | STEP 4: Put the smartphone on the bed, halfway between the left laptop and the edge of the bed, horizontally. | STEP 5: Turn right and walk until you reach the wall and turn left and face the dresser. | STEP 6: Pick up the smartphone. | STEP 7: Turn left and take ten steps and turn right, facing the bed. | STEP 8: Place the smartphone on the bed to the right of the first smartphone, horizontally.", "output": ["END"]} +{"id": "trial_T20190907_163408_411399-2%0", "input": "Put two phones on the bed.", "output": ["STEP 1: Turn around and walk past the bed then turn right and walk to the dresser then take a step to your right."]} +{"id": "trial_T20190907_163408_411399-2%1", "input": "Put two phones on the bed. | STEP 1: Turn around and walk past the bed then turn right and walk to the dresser then take a step to your right.", "output": ["STEP 2: Pick up the blue cell phone."]} +{"id": "trial_T20190907_163408_411399-2%2", "input": "Put two phones on the bed. | STEP 1: Turn around and walk past the bed then turn right and walk to the dresser then take a step to your right. | STEP 2: Pick up the blue cell phone.", "output": ["STEP 3: Turn right and walk to the end of the dresser then turn right and walk to the bed."]} +{"id": "trial_T20190907_163408_411399-2%3", "input": "Put two phones on the bed. | STEP 1: Turn around and walk past the bed then turn right and walk to the dresser then take a step to your right. | STEP 2: Pick up the blue cell phone. | STEP 3: Turn right and walk to the end of the dresser then turn right and walk to the bed.", "output": ["STEP 4: Put the phone on the bed under the left laptop."]} +{"id": "trial_T20190907_163408_411399-2%4", "input": "Put two phones on the bed. | STEP 1: Turn around and walk past the bed then turn right and walk to the dresser then take a step to your right. | STEP 2: Pick up the blue cell phone. | STEP 3: Turn right and walk to the end of the dresser then turn right and walk to the bed. | STEP 4: Put the phone on the bed under the left laptop.", "output": ["STEP 5: Turn right and walk to the wall then turn left."]} +{"id": "trial_T20190907_163408_411399-2%5", "input": "Put two phones on the bed. | STEP 1: Turn around and walk past the bed then turn right and walk to the dresser then take a step to your right. | STEP 2: Pick up the blue cell phone. | STEP 3: Turn right and walk to the end of the dresser then turn right and walk to the bed. | STEP 4: Put the phone on the bed under the left laptop. | STEP 5: Turn right and walk to the wall then turn left.", "output": ["STEP 6: Pick up the cell phone that's in front of you."]} +{"id": "trial_T20190907_163408_411399-2%6", "input": "Put two phones on the bed. | STEP 1: Turn around and walk past the bed then turn right and walk to the dresser then take a step to your right. | STEP 2: Pick up the blue cell phone. | STEP 3: Turn right and walk to the end of the dresser then turn right and walk to the bed. | STEP 4: Put the phone on the bed under the left laptop. | STEP 5: Turn right and walk to the wall then turn left. | STEP 6: Pick up the cell phone that's in front of you.", "output": ["STEP 7: Walk back to where you put the first phone."]} +{"id": "trial_T20190907_163408_411399-2%7", "input": "Put two phones on the bed. | STEP 1: Turn around and walk past the bed then turn right and walk to the dresser then take a step to your right. | STEP 2: Pick up the blue cell phone. | STEP 3: Turn right and walk to the end of the dresser then turn right and walk to the bed. | STEP 4: Put the phone on the bed under the left laptop. | STEP 5: Turn right and walk to the wall then turn left. | STEP 6: Pick up the cell phone that's in front of you. | STEP 7: Walk back to where you put the first phone.", "output": ["STEP 8: Put this phone to the right of the first phone."]} +{"id": "trial_T20190907_163408_411399-2%8", "input": "Put two phones on the bed. | STEP 1: Turn around and walk past the bed then turn right and walk to the dresser then take a step to your right. | STEP 2: Pick up the blue cell phone. | STEP 3: Turn right and walk to the end of the dresser then turn right and walk to the bed. | STEP 4: Put the phone on the bed under the left laptop. | STEP 5: Turn right and walk to the wall then turn left. | STEP 6: Pick up the cell phone that's in front of you. | STEP 7: Walk back to where you put the first phone. | STEP 8: Put this phone to the right of the first phone.", "output": ["END"]} +{"id": "trial_T20190906_222759_238425-1%0", "input": "Put a chilled egg in the trash can in the corner. ", "output": ["STEP 1: Move to the trash can in the corner."]} +{"id": "trial_T20190906_222759_238425-1%1", "input": "Put a chilled egg in the trash can in the corner. | STEP 1: Move to the trash can in the corner.", "output": ["STEP 2: Pick up the egg in the trash can."]} +{"id": "trial_T20190906_222759_238425-1%2", "input": "Put a chilled egg in the trash can in the corner. | STEP 1: Move to the trash can in the corner. | STEP 2: Pick up the egg in the trash can.", "output": ["STEP 3: Bring the egg to the fridge."]} +{"id": "trial_T20190906_222759_238425-1%3", "input": "Put a chilled egg in the trash can in the corner. | STEP 1: Move to the trash can in the corner. | STEP 2: Pick up the egg in the trash can. | STEP 3: Bring the egg to the fridge.", "output": ["STEP 4: Chill the egg in the fridge."]} +{"id": "trial_T20190906_222759_238425-1%4", "input": "Put a chilled egg in the trash can in the corner. | STEP 1: Move to the trash can in the corner. | STEP 2: Pick up the egg in the trash can. | STEP 3: Bring the egg to the fridge. | STEP 4: Chill the egg in the fridge.", "output": ["STEP 5: Bring the chilled egg to the trash can in the corner."]} +{"id": "trial_T20190906_222759_238425-1%5", "input": "Put a chilled egg in the trash can in the corner. | STEP 1: Move to the trash can in the corner. | STEP 2: Pick up the egg in the trash can. | STEP 3: Bring the egg to the fridge. | STEP 4: Chill the egg in the fridge. | STEP 5: Bring the chilled egg to the trash can in the corner.", "output": ["STEP 6: Put the chilled egg in the trash can in the corner. "]} +{"id": "trial_T20190906_222759_238425-1%6", "input": "Put a chilled egg in the trash can in the corner. | STEP 1: Move to the trash can in the corner. | STEP 2: Pick up the egg in the trash can. | STEP 3: Bring the egg to the fridge. | STEP 4: Chill the egg in the fridge. | STEP 5: Bring the chilled egg to the trash can in the corner. | STEP 6: Put the chilled egg in the trash can in the corner. ", "output": ["END"]} +{"id": "trial_T20190909_010403_416394-2%0", "input": "Move two pencils to a cabinet beneath the table.", "output": ["STEP 1: Turn around and cross the room to the white table."]} +{"id": "trial_T20190909_010403_416394-2%1", "input": "Move two pencils to a cabinet beneath the table. | STEP 1: Turn around and cross the room to the white table.", "output": ["STEP 2: Pick up the pencil closest to you from the table."]} +{"id": "trial_T20190909_010403_416394-2%2", "input": "Move two pencils to a cabinet beneath the table. | STEP 1: Turn around and cross the room to the white table. | STEP 2: Pick up the pencil closest to you from the table.", "output": ["STEP 3: Back up a step from the table while carrying the pencil."]} +{"id": "trial_T20190909_010403_416394-2%3", "input": "Move two pencils to a cabinet beneath the table. | STEP 1: Turn around and cross the room to the white table. | STEP 2: Pick up the pencil closest to you from the table. | STEP 3: Back up a step from the table while carrying the pencil.", "output": ["STEP 4: Place the pencil on top of the small cabinet beneath the table."]} +{"id": "trial_T20190909_010403_416394-2%4", "input": "Move two pencils to a cabinet beneath the table. | STEP 1: Turn around and cross the room to the white table. | STEP 2: Pick up the pencil closest to you from the table. | STEP 3: Back up a step from the table while carrying the pencil. | STEP 4: Place the pencil on top of the small cabinet beneath the table.", "output": ["STEP 5: Step closer to the table."]} +{"id": "trial_T20190909_010403_416394-2%5", "input": "Move two pencils to a cabinet beneath the table. | STEP 1: Turn around and cross the room to the white table. | STEP 2: Pick up the pencil closest to you from the table. | STEP 3: Back up a step from the table while carrying the pencil. | STEP 4: Place the pencil on top of the small cabinet beneath the table. | STEP 5: Step closer to the table.", "output": ["STEP 6: Pick up the remaining pencil from the table."]} +{"id": "trial_T20190909_010403_416394-2%6", "input": "Move two pencils to a cabinet beneath the table. | STEP 1: Turn around and cross the room to the white table. | STEP 2: Pick up the pencil closest to you from the table. | STEP 3: Back up a step from the table while carrying the pencil. | STEP 4: Place the pencil on top of the small cabinet beneath the table. | STEP 5: Step closer to the table. | STEP 6: Pick up the remaining pencil from the table.", "output": ["STEP 7: Move a step back from the table again. "]} +{"id": "trial_T20190909_010403_416394-2%7", "input": "Move two pencils to a cabinet beneath the table. | STEP 1: Turn around and cross the room to the white table. | STEP 2: Pick up the pencil closest to you from the table. | STEP 3: Back up a step from the table while carrying the pencil. | STEP 4: Place the pencil on top of the small cabinet beneath the table. | STEP 5: Step closer to the table. | STEP 6: Pick up the remaining pencil from the table. | STEP 7: Move a step back from the table again. ", "output": ["STEP 8: Place the other pencil on top of the cabinet beneath the white table."]} +{"id": "trial_T20190909_010403_416394-2%8", "input": "Move two pencils to a cabinet beneath the table. | STEP 1: Turn around and cross the room to the white table. | STEP 2: Pick up the pencil closest to you from the table. | STEP 3: Back up a step from the table while carrying the pencil. | STEP 4: Place the pencil on top of the small cabinet beneath the table. | STEP 5: Step closer to the table. | STEP 6: Pick up the remaining pencil from the table. | STEP 7: Move a step back from the table again. | STEP 8: Place the other pencil on top of the cabinet beneath the white table.", "output": ["END"]} +{"id": "trial_T20190907_115710_596901-2%0", "input": "Set a cold coffee cup on the island.", "output": ["STEP 1: Go to the island behind the sink."]} +{"id": "trial_T20190907_115710_596901-2%1", "input": "Set a cold coffee cup on the island. | STEP 1: Go to the island behind the sink.", "output": ["STEP 2: Pick up the coffee cup on the island."]} +{"id": "trial_T20190907_115710_596901-2%2", "input": "Set a cold coffee cup on the island. | STEP 1: Go to the island behind the sink. | STEP 2: Pick up the coffee cup on the island.", "output": ["STEP 3: Take the cup to the fridge."]} +{"id": "trial_T20190907_115710_596901-2%3", "input": "Set a cold coffee cup on the island. | STEP 1: Go to the island behind the sink. | STEP 2: Pick up the coffee cup on the island. | STEP 3: Take the cup to the fridge.", "output": ["STEP 4: Chill the cup in the fridge."]} +{"id": "trial_T20190907_115710_596901-2%4", "input": "Set a cold coffee cup on the island. | STEP 1: Go to the island behind the sink. | STEP 2: Pick up the coffee cup on the island. | STEP 3: Take the cup to the fridge. | STEP 4: Chill the cup in the fridge.", "output": ["STEP 5: Turn and go past the fridge on the right to the end of the island."]} +{"id": "trial_T20190907_115710_596901-2%5", "input": "Set a cold coffee cup on the island. | STEP 1: Go to the island behind the sink. | STEP 2: Pick up the coffee cup on the island. | STEP 3: Take the cup to the fridge. | STEP 4: Chill the cup in the fridge. | STEP 5: Turn and go past the fridge on the right to the end of the island.", "output": ["STEP 6: Set the cold coffee cup on the island."]} +{"id": "trial_T20190907_115710_596901-2%6", "input": "Set a cold coffee cup on the island. | STEP 1: Go to the island behind the sink. | STEP 2: Pick up the coffee cup on the island. | STEP 3: Take the cup to the fridge. | STEP 4: Chill the cup in the fridge. | STEP 5: Turn and go past the fridge on the right to the end of the island. | STEP 6: Set the cold coffee cup on the island.", "output": ["END"]} +{"id": "trial_T20190909_082241_779740-1%0", "input": "Wash a kettle and put away in cabinet.", "output": ["STEP 1: Turn right, walk to the front of the stove, turn right to face the stove."]} +{"id": "trial_T20190909_082241_779740-1%1", "input": "Wash a kettle and put away in cabinet. | STEP 1: Turn right, walk to the front of the stove, turn right to face the stove.", "output": ["STEP 2: Pick up the kettle on the right side of the stove."]} +{"id": "trial_T20190909_082241_779740-1%2", "input": "Wash a kettle and put away in cabinet. | STEP 1: Turn right, walk to the front of the stove, turn right to face the stove. | STEP 2: Pick up the kettle on the right side of the stove.", "output": ["STEP 3: Turn left, walk forward and then turn left to face the sink."]} +{"id": "trial_T20190909_082241_779740-1%3", "input": "Wash a kettle and put away in cabinet. | STEP 1: Turn right, walk to the front of the stove, turn right to face the stove. | STEP 2: Pick up the kettle on the right side of the stove. | STEP 3: Turn left, walk forward and then turn left to face the sink.", "output": ["STEP 4: Place the kettle in the sink, turn on the faucet for a few seconds, then turn off the water, pick up the kettle."]} +{"id": "trial_T20190909_082241_779740-1%4", "input": "Wash a kettle and put away in cabinet. | STEP 1: Turn right, walk to the front of the stove, turn right to face the stove. | STEP 2: Pick up the kettle on the right side of the stove. | STEP 3: Turn left, walk forward and then turn left to face the sink. | STEP 4: Place the kettle in the sink, turn on the faucet for a few seconds, then turn off the water, pick up the kettle.", "output": ["STEP 5: Turn left and step forward, turn left to face the kitchen counter with a apple and eggs."]} +{"id": "trial_T20190909_082241_779740-1%5", "input": "Wash a kettle and put away in cabinet. | STEP 1: Turn right, walk to the front of the stove, turn right to face the stove. | STEP 2: Pick up the kettle on the right side of the stove. | STEP 3: Turn left, walk forward and then turn left to face the sink. | STEP 4: Place the kettle in the sink, turn on the faucet for a few seconds, then turn off the water, pick up the kettle. | STEP 5: Turn left and step forward, turn left to face the kitchen counter with a apple and eggs.", "output": ["STEP 6: Open the bottom cabinet door , place the kettle inside, close the door."]} +{"id": "trial_T20190909_082241_779740-1%6", "input": "Wash a kettle and put away in cabinet. | STEP 1: Turn right, walk to the front of the stove, turn right to face the stove. | STEP 2: Pick up the kettle on the right side of the stove. | STEP 3: Turn left, walk forward and then turn left to face the sink. | STEP 4: Place the kettle in the sink, turn on the faucet for a few seconds, then turn off the water, pick up the kettle. | STEP 5: Turn left and step forward, turn left to face the kitchen counter with a apple and eggs. | STEP 6: Open the bottom cabinet door , place the kettle inside, close the door.", "output": ["END"]} +{"id": "trial_T20190907_041300_658121-0%0", "input": "Place a cleaned glass cup on the top right shelf inside the fridge.", "output": ["STEP 1: Walk towards the counter behind you and look up at the cabinet above the tomato."]} +{"id": "trial_T20190907_041300_658121-0%1", "input": "Place a cleaned glass cup on the top right shelf inside the fridge. | STEP 1: Walk towards the counter behind you and look up at the cabinet above the tomato.", "output": ["STEP 2: Take out the glass cup from the cabinet."]} +{"id": "trial_T20190907_041300_658121-0%2", "input": "Place a cleaned glass cup on the top right shelf inside the fridge. | STEP 1: Walk towards the counter behind you and look up at the cabinet above the tomato. | STEP 2: Take out the glass cup from the cabinet.", "output": ["STEP 3: Take a step to the right towards the sink."]} +{"id": "trial_T20190907_041300_658121-0%3", "input": "Place a cleaned glass cup on the top right shelf inside the fridge. | STEP 1: Walk towards the counter behind you and look up at the cabinet above the tomato. | STEP 2: Take out the glass cup from the cabinet. | STEP 3: Take a step to the right towards the sink.", "output": ["STEP 4: Place the cup in the sink, wash it, and pick it back up."]} +{"id": "trial_T20190907_041300_658121-0%4", "input": "Place a cleaned glass cup on the top right shelf inside the fridge. | STEP 1: Walk towards the counter behind you and look up at the cabinet above the tomato. | STEP 2: Take out the glass cup from the cabinet. | STEP 3: Take a step to the right towards the sink. | STEP 4: Place the cup in the sink, wash it, and pick it back up.", "output": ["STEP 5: Turn left and walk towards the fridge to your right."]} +{"id": "trial_T20190907_041300_658121-0%5", "input": "Place a cleaned glass cup on the top right shelf inside the fridge. | STEP 1: Walk towards the counter behind you and look up at the cabinet above the tomato. | STEP 2: Take out the glass cup from the cabinet. | STEP 3: Take a step to the right towards the sink. | STEP 4: Place the cup in the sink, wash it, and pick it back up. | STEP 5: Turn left and walk towards the fridge to your right.", "output": ["STEP 6: Place the cup on the top right shelf in the fridge."]} +{"id": "trial_T20190907_041300_658121-0%6", "input": "Place a cleaned glass cup on the top right shelf inside the fridge. | STEP 1: Walk towards the counter behind you and look up at the cabinet above the tomato. | STEP 2: Take out the glass cup from the cabinet. | STEP 3: Take a step to the right towards the sink. | STEP 4: Place the cup in the sink, wash it, and pick it back up. | STEP 5: Turn left and walk towards the fridge to your right. | STEP 6: Place the cup on the top right shelf in the fridge.", "output": ["END"]} +{"id": "trial_T20190909_004135_086364-0%0", "input": "To move a pen to the top of the drawers. ", "output": ["STEP 1: Turn right at the window and walk to the desk. "]} +{"id": "trial_T20190909_004135_086364-0%1", "input": "To move a pen to the top of the drawers. | STEP 1: Turn right at the window and walk to the desk. ", "output": ["STEP 2: Pick up the pen to the left of the lamp. "]} +{"id": "trial_T20190909_004135_086364-0%2", "input": "To move a pen to the top of the drawers. | STEP 1: Turn right at the window and walk to the desk. | STEP 2: Pick up the pen to the left of the lamp. ", "output": ["STEP 3: Move over to the left side of the desk and face the drawers below the desk. "]} +{"id": "trial_T20190909_004135_086364-0%3", "input": "To move a pen to the top of the drawers. | STEP 1: Turn right at the window and walk to the desk. | STEP 2: Pick up the pen to the left of the lamp. | STEP 3: Move over to the left side of the desk and face the drawers below the desk. ", "output": ["STEP 4: Put the pen down on the top of the drawers below the desk. "]} +{"id": "trial_T20190909_004135_086364-0%4", "input": "To move a pen to the top of the drawers. | STEP 1: Turn right at the window and walk to the desk. | STEP 2: Pick up the pen to the left of the lamp. | STEP 3: Move over to the left side of the desk and face the drawers below the desk. | STEP 4: Put the pen down on the top of the drawers below the desk. ", "output": ["END"]} +{"id": "trial_T20190909_004135_086364-2%0", "input": "move the pen from the desk to a table", "output": ["STEP 1: turn right, walk to the table"]} +{"id": "trial_T20190909_004135_086364-2%1", "input": "move the pen from the desk to a table | STEP 1: turn right, walk to the table", "output": ["STEP 2: pick up the pen that is on the desk"]} +{"id": "trial_T20190909_004135_086364-2%2", "input": "move the pen from the desk to a table | STEP 1: turn right, walk to the table | STEP 2: pick up the pen that is on the desk", "output": ["STEP 3: take a few steps to the left"]} +{"id": "trial_T20190909_004135_086364-2%3", "input": "move the pen from the desk to a table | STEP 1: turn right, walk to the table | STEP 2: pick up the pen that is on the desk | STEP 3: take a few steps to the left", "output": ["STEP 4: put the pen on top of the small table under the desk"]} +{"id": "trial_T20190909_004135_086364-2%4", "input": "move the pen from the desk to a table | STEP 1: turn right, walk to the table | STEP 2: pick up the pen that is on the desk | STEP 3: take a few steps to the left | STEP 4: put the pen on top of the small table under the desk", "output": ["END"]} +{"id": "trial_T20190907_234340_048681-0%0", "input": "Put a cup with a knife in it on the table", "output": ["STEP 1: go to the counter to your left where the coffee maker and cup sit"]} +{"id": "trial_T20190907_234340_048681-0%1", "input": "Put a cup with a knife in it on the table | STEP 1: go to the counter to your left where the coffee maker and cup sit", "output": ["STEP 2: pick up the knife that is to the right of the cup"]} +{"id": "trial_T20190907_234340_048681-0%2", "input": "Put a cup with a knife in it on the table | STEP 1: go to the counter to your left where the coffee maker and cup sit | STEP 2: pick up the knife that is to the right of the cup", "output": ["STEP 3: put the knife int the cup"]} +{"id": "trial_T20190907_234340_048681-0%3", "input": "Put a cup with a knife in it on the table | STEP 1: go to the counter to your left where the coffee maker and cup sit | STEP 2: pick up the knife that is to the right of the cup | STEP 3: put the knife int the cup", "output": ["STEP 4: pick up the cup with the knife in it\n"]} +{"id": "trial_T20190907_234340_048681-0%4", "input": "Put a cup with a knife in it on the table | STEP 1: go to the counter to your left where the coffee maker and cup sit | STEP 2: pick up the knife that is to the right of the cup | STEP 3: put the knife int the cup | STEP 4: pick up the cup with the knife in it\n", "output": ["STEP 5: carry the knife and cup across the room to the right corner "]} +{"id": "trial_T20190907_234340_048681-0%5", "input": "Put a cup with a knife in it on the table | STEP 1: go to the counter to your left where the coffee maker and cup sit | STEP 2: pick up the knife that is to the right of the cup | STEP 3: put the knife int the cup | STEP 4: pick up the cup with the knife in it\n | STEP 5: carry the knife and cup across the room to the right corner ", "output": ["STEP 6: place the cup with the knife still in it on the table "]} +{"id": "trial_T20190907_234340_048681-0%6", "input": "Put a cup with a knife in it on the table | STEP 1: go to the counter to your left where the coffee maker and cup sit | STEP 2: pick up the knife that is to the right of the cup | STEP 3: put the knife int the cup | STEP 4: pick up the cup with the knife in it\n | STEP 5: carry the knife and cup across the room to the right corner | STEP 6: place the cup with the knife still in it on the table ", "output": ["END"]} +{"id": "trial_T20190906_191748_443751-1%0", "input": "Put the heated mug in the cabinet above the microwave. ", "output": ["STEP 1: Turn to the cabinet on the right. "]} +{"id": "trial_T20190906_191748_443751-1%1", "input": "Put the heated mug in the cabinet above the microwave. | STEP 1: Turn to the cabinet on the right. ", "output": ["STEP 2: Open up the bottom cabinet and pick up the mug in there. "]} +{"id": "trial_T20190906_191748_443751-1%2", "input": "Put the heated mug in the cabinet above the microwave. | STEP 1: Turn to the cabinet on the right. | STEP 2: Open up the bottom cabinet and pick up the mug in there. ", "output": ["STEP 3: Bring the mug to the microwave."]} +{"id": "trial_T20190906_191748_443751-1%3", "input": "Put the heated mug in the cabinet above the microwave. | STEP 1: Turn to the cabinet on the right. | STEP 2: Open up the bottom cabinet and pick up the mug in there. | STEP 3: Bring the mug to the microwave.", "output": ["STEP 4: Heat the mug in the microwave for a few seconds. "]} +{"id": "trial_T20190906_191748_443751-1%4", "input": "Put the heated mug in the cabinet above the microwave. | STEP 1: Turn to the cabinet on the right. | STEP 2: Open up the bottom cabinet and pick up the mug in there. | STEP 3: Bring the mug to the microwave. | STEP 4: Heat the mug in the microwave for a few seconds. ", "output": ["STEP 5: Take the mug out of the microwave."]} +{"id": "trial_T20190906_191748_443751-1%5", "input": "Put the heated mug in the cabinet above the microwave. | STEP 1: Turn to the cabinet on the right. | STEP 2: Open up the bottom cabinet and pick up the mug in there. | STEP 3: Bring the mug to the microwave. | STEP 4: Heat the mug in the microwave for a few seconds. | STEP 5: Take the mug out of the microwave.", "output": ["STEP 6: Open the cabinet above the microwave and put the mug in there. "]} +{"id": "trial_T20190906_191748_443751-1%6", "input": "Put the heated mug in the cabinet above the microwave. | STEP 1: Turn to the cabinet on the right. | STEP 2: Open up the bottom cabinet and pick up the mug in there. | STEP 3: Bring the mug to the microwave. | STEP 4: Heat the mug in the microwave for a few seconds. | STEP 5: Take the mug out of the microwave. | STEP 6: Open the cabinet above the microwave and put the mug in there. ", "output": ["END"]} +{"id": "trial_T20190908_074940_060014-2%0", "input": "Place a rinsed knife on a table.", "output": ["STEP 1: Turn around and walk to the counter to the right of the stove."]} +{"id": "trial_T20190908_074940_060014-2%1", "input": "Place a rinsed knife on a table. | STEP 1: Turn around and walk to the counter to the right of the stove.", "output": ["STEP 2: Pick up the knife at the far back area of the counter to the left of the apple."]} +{"id": "trial_T20190908_074940_060014-2%2", "input": "Place a rinsed knife on a table. | STEP 1: Turn around and walk to the counter to the right of the stove. | STEP 2: Pick up the knife at the far back area of the counter to the left of the apple.", "output": ["STEP 3: Turn around, take a right and walk to the sink on the left."]} +{"id": "trial_T20190908_074940_060014-2%3", "input": "Place a rinsed knife on a table. | STEP 1: Turn around and walk to the counter to the right of the stove. | STEP 2: Pick up the knife at the far back area of the counter to the left of the apple. | STEP 3: Turn around, take a right and walk to the sink on the left.", "output": ["STEP 4: Put the knife inside the sink, rinse it for a few seconds and pick it back up."]} +{"id": "trial_T20190908_074940_060014-2%4", "input": "Place a rinsed knife on a table. | STEP 1: Turn around and walk to the counter to the right of the stove. | STEP 2: Pick up the knife at the far back area of the counter to the left of the apple. | STEP 3: Turn around, take a right and walk to the sink on the left. | STEP 4: Put the knife inside the sink, rinse it for a few seconds and pick it back up.", "output": ["STEP 5: Turn right and hang a left at the wall to reach the gray table."]} +{"id": "trial_T20190908_074940_060014-2%5", "input": "Place a rinsed knife on a table. | STEP 1: Turn around and walk to the counter to the right of the stove. | STEP 2: Pick up the knife at the far back area of the counter to the left of the apple. | STEP 3: Turn around, take a right and walk to the sink on the left. | STEP 4: Put the knife inside the sink, rinse it for a few seconds and pick it back up. | STEP 5: Turn right and hang a left at the wall to reach the gray table.", "output": ["STEP 6: Put the rinsed knife on the table in front of the tomato."]} +{"id": "trial_T20190908_074940_060014-2%6", "input": "Place a rinsed knife on a table. | STEP 1: Turn around and walk to the counter to the right of the stove. | STEP 2: Pick up the knife at the far back area of the counter to the left of the apple. | STEP 3: Turn around, take a right and walk to the sink on the left. | STEP 4: Put the knife inside the sink, rinse it for a few seconds and pick it back up. | STEP 5: Turn right and hang a left at the wall to reach the gray table. | STEP 6: Put the rinsed knife on the table in front of the tomato.", "output": ["END"]} +{"id": "trial_T20190918_222553_830681-0%0", "input": "Cook a cut potato in the microwave, put the potato on the counter.", "output": ["STEP 1: Turn around and face the counter with the blue plate on it."]} +{"id": "trial_T20190918_222553_830681-0%1", "input": "Cook a cut potato in the microwave, put the potato on the counter. | STEP 1: Turn around and face the counter with the blue plate on it.", "output": ["STEP 2: Pick up the knife on the right side of the plate."]} +{"id": "trial_T20190918_222553_830681-0%2", "input": "Cook a cut potato in the microwave, put the potato on the counter. | STEP 1: Turn around and face the counter with the blue plate on it. | STEP 2: Pick up the knife on the right side of the plate.", "output": ["STEP 3: Turn around and walk past the stove on your right, turn right and walk to the blue trash can."]} +{"id": "trial_T20190918_222553_830681-0%3", "input": "Cook a cut potato in the microwave, put the potato on the counter. | STEP 1: Turn around and face the counter with the blue plate on it. | STEP 2: Pick up the knife on the right side of the plate. | STEP 3: Turn around and walk past the stove on your right, turn right and walk to the blue trash can.", "output": ["STEP 4: Slice the potato inside the trash can."]} +{"id": "trial_T20190918_222553_830681-0%4", "input": "Cook a cut potato in the microwave, put the potato on the counter. | STEP 1: Turn around and face the counter with the blue plate on it. | STEP 2: Pick up the knife on the right side of the plate. | STEP 3: Turn around and walk past the stove on your right, turn right and walk to the blue trash can. | STEP 4: Slice the potato inside the trash can.", "output": ["STEP 5: Turn around and walk past the counter turn left and stop at the counter to the right of the stove with the lettuce on it."]} +{"id": "trial_T20190918_222553_830681-0%5", "input": "Cook a cut potato in the microwave, put the potato on the counter. | STEP 1: Turn around and face the counter with the blue plate on it. | STEP 2: Pick up the knife on the right side of the plate. | STEP 3: Turn around and walk past the stove on your right, turn right and walk to the blue trash can. | STEP 4: Slice the potato inside the trash can. | STEP 5: Turn around and walk past the counter turn left and stop at the counter to the right of the stove with the lettuce on it.", "output": ["STEP 6: Put the knife on the counter."]} +{"id": "trial_T20190918_222553_830681-0%6", "input": "Cook a cut potato in the microwave, put the potato on the counter. | STEP 1: Turn around and face the counter with the blue plate on it. | STEP 2: Pick up the knife on the right side of the plate. | STEP 3: Turn around and walk past the stove on your right, turn right and walk to the blue trash can. | STEP 4: Slice the potato inside the trash can. | STEP 5: Turn around and walk past the counter turn left and stop at the counter to the right of the stove with the lettuce on it. | STEP 6: Put the knife on the counter.", "output": ["STEP 7: Turn left and walk past the stove turn right to the blue trash can."]} +{"id": "trial_T20190918_222553_830681-0%7", "input": "Cook a cut potato in the microwave, put the potato on the counter. | STEP 1: Turn around and face the counter with the blue plate on it. | STEP 2: Pick up the knife on the right side of the plate. | STEP 3: Turn around and walk past the stove on your right, turn right and walk to the blue trash can. | STEP 4: Slice the potato inside the trash can. | STEP 5: Turn around and walk past the counter turn left and stop at the counter to the right of the stove with the lettuce on it. | STEP 6: Put the knife on the counter. | STEP 7: Turn left and walk past the stove turn right to the blue trash can.", "output": ["STEP 8: Take a potato slice from the trash can."]} +{"id": "trial_T20190918_222553_830681-0%8", "input": "Cook a cut potato in the microwave, put the potato on the counter. | STEP 1: Turn around and face the counter with the blue plate on it. | STEP 2: Pick up the knife on the right side of the plate. | STEP 3: Turn around and walk past the stove on your right, turn right and walk to the blue trash can. | STEP 4: Slice the potato inside the trash can. | STEP 5: Turn around and walk past the counter turn left and stop at the counter to the right of the stove with the lettuce on it. | STEP 6: Put the knife on the counter. | STEP 7: Turn left and walk past the stove turn right to the blue trash can. | STEP 8: Take a potato slice from the trash can.", "output": ["STEP 9: Turn around and walk to the stove on your left."]} +{"id": "trial_T20190918_222553_830681-0%9", "input": "Cook a cut potato in the microwave, put the potato on the counter. | STEP 1: Turn around and face the counter with the blue plate on it. | STEP 2: Pick up the knife on the right side of the plate. | STEP 3: Turn around and walk past the stove on your right, turn right and walk to the blue trash can. | STEP 4: Slice the potato inside the trash can. | STEP 5: Turn around and walk past the counter turn left and stop at the counter to the right of the stove with the lettuce on it. | STEP 6: Put the knife on the counter. | STEP 7: Turn left and walk past the stove turn right to the blue trash can. | STEP 8: Take a potato slice from the trash can. | STEP 9: Turn around and walk to the stove on your left.", "output": ["STEP 10: Cook the potato in the microwave above the stove then remove the potato from the microwave."]} +{"id": "trial_T20190918_222553_830681-0%10", "input": "Cook a cut potato in the microwave, put the potato on the counter. | STEP 1: Turn around and face the counter with the blue plate on it. | STEP 2: Pick up the knife on the right side of the plate. | STEP 3: Turn around and walk past the stove on your right, turn right and walk to the blue trash can. | STEP 4: Slice the potato inside the trash can. | STEP 5: Turn around and walk past the counter turn left and stop at the counter to the right of the stove with the lettuce on it. | STEP 6: Put the knife on the counter. | STEP 7: Turn left and walk past the stove turn right to the blue trash can. | STEP 8: Take a potato slice from the trash can. | STEP 9: Turn around and walk to the stove on your left. | STEP 10: Cook the potato in the microwave above the stove then remove the potato from the microwave.", "output": ["STEP 11: Turn right and walk to the the counter to the right of the stove."]} +{"id": "trial_T20190918_222553_830681-0%11", "input": "Cook a cut potato in the microwave, put the potato on the counter. | STEP 1: Turn around and face the counter with the blue plate on it. | STEP 2: Pick up the knife on the right side of the plate. | STEP 3: Turn around and walk past the stove on your right, turn right and walk to the blue trash can. | STEP 4: Slice the potato inside the trash can. | STEP 5: Turn around and walk past the counter turn left and stop at the counter to the right of the stove with the lettuce on it. | STEP 6: Put the knife on the counter. | STEP 7: Turn left and walk past the stove turn right to the blue trash can. | STEP 8: Take a potato slice from the trash can. | STEP 9: Turn around and walk to the stove on your left. | STEP 10: Cook the potato in the microwave above the stove then remove the potato from the microwave. | STEP 11: Turn right and walk to the the counter to the right of the stove.", "output": ["STEP 12: Place the potato slice on the counter near the lettuce."]} +{"id": "trial_T20190918_222553_830681-0%12", "input": "Cook a cut potato in the microwave, put the potato on the counter. | STEP 1: Turn around and face the counter with the blue plate on it. | STEP 2: Pick up the knife on the right side of the plate. | STEP 3: Turn around and walk past the stove on your right, turn right and walk to the blue trash can. | STEP 4: Slice the potato inside the trash can. | STEP 5: Turn around and walk past the counter turn left and stop at the counter to the right of the stove with the lettuce on it. | STEP 6: Put the knife on the counter. | STEP 7: Turn left and walk past the stove turn right to the blue trash can. | STEP 8: Take a potato slice from the trash can. | STEP 9: Turn around and walk to the stove on your left. | STEP 10: Cook the potato in the microwave above the stove then remove the potato from the microwave. | STEP 11: Turn right and walk to the the counter to the right of the stove. | STEP 12: Place the potato slice on the counter near the lettuce.", "output": ["END"]} +{"id": "trial_T20190918_222553_830681-2%0", "input": "Place a slice of cooked potato near the lettuce on the counter.", "output": ["STEP 1: Turn around, go to the blue plate on the counter, and turn left."]} +{"id": "trial_T20190918_222553_830681-2%1", "input": "Place a slice of cooked potato near the lettuce on the counter. | STEP 1: Turn around, go to the blue plate on the counter, and turn left.", "output": ["STEP 2: Pick up the silver knife from the counter."]} +{"id": "trial_T20190918_222553_830681-2%2", "input": "Place a slice of cooked potato near the lettuce on the counter. | STEP 1: Turn around, go to the blue plate on the counter, and turn left. | STEP 2: Pick up the silver knife from the counter.", "output": ["STEP 3: Turn around, go to the tomato on the far counter, turn left, go to the window, turn right, and go to the recycling can."]} +{"id": "trial_T20190918_222553_830681-2%3", "input": "Place a slice of cooked potato near the lettuce on the counter. | STEP 1: Turn around, go to the blue plate on the counter, and turn left. | STEP 2: Pick up the silver knife from the counter. | STEP 3: Turn around, go to the tomato on the far counter, turn left, go to the window, turn right, and go to the recycling can.", "output": ["STEP 4: Slice the potato in the recycling can."]} +{"id": "trial_T20190918_222553_830681-2%4", "input": "Place a slice of cooked potato near the lettuce on the counter. | STEP 1: Turn around, go to the blue plate on the counter, and turn left. | STEP 2: Pick up the silver knife from the counter. | STEP 3: Turn around, go to the tomato on the far counter, turn left, go to the window, turn right, and go to the recycling can. | STEP 4: Slice the potato in the recycling can.", "output": ["STEP 5: Turn around, turn left, go to the lettuce on the counter, and turn left."]} +{"id": "trial_T20190918_222553_830681-2%5", "input": "Place a slice of cooked potato near the lettuce on the counter. | STEP 1: Turn around, go to the blue plate on the counter, and turn left. | STEP 2: Pick up the silver knife from the counter. | STEP 3: Turn around, go to the tomato on the far counter, turn left, go to the window, turn right, and go to the recycling can. | STEP 4: Slice the potato in the recycling can. | STEP 5: Turn around, turn left, go to the lettuce on the counter, and turn left.", "output": ["STEP 6: Put the knife on the counter near the lettuce."]} +{"id": "trial_T20190918_222553_830681-2%6", "input": "Place a slice of cooked potato near the lettuce on the counter. | STEP 1: Turn around, go to the blue plate on the counter, and turn left. | STEP 2: Pick up the silver knife from the counter. | STEP 3: Turn around, go to the tomato on the far counter, turn left, go to the window, turn right, and go to the recycling can. | STEP 4: Slice the potato in the recycling can. | STEP 5: Turn around, turn left, go to the lettuce on the counter, and turn left. | STEP 6: Put the knife on the counter near the lettuce.", "output": ["STEP 7: Turn left, go to the window, turn right, and go to the recycling bin."]} +{"id": "trial_T20190918_222553_830681-2%7", "input": "Place a slice of cooked potato near the lettuce on the counter. | STEP 1: Turn around, go to the blue plate on the counter, and turn left. | STEP 2: Pick up the silver knife from the counter. | STEP 3: Turn around, go to the tomato on the far counter, turn left, go to the window, turn right, and go to the recycling can. | STEP 4: Slice the potato in the recycling can. | STEP 5: Turn around, turn left, go to the lettuce on the counter, and turn left. | STEP 6: Put the knife on the counter near the lettuce. | STEP 7: Turn left, go to the window, turn right, and go to the recycling bin.", "output": ["STEP 8: Take a slice of potato from the recycling bin."]} +{"id": "trial_T20190918_222553_830681-2%8", "input": "Place a slice of cooked potato near the lettuce on the counter. | STEP 1: Turn around, go to the blue plate on the counter, and turn left. | STEP 2: Pick up the silver knife from the counter. | STEP 3: Turn around, go to the tomato on the far counter, turn left, go to the window, turn right, and go to the recycling can. | STEP 4: Slice the potato in the recycling can. | STEP 5: Turn around, turn left, go to the lettuce on the counter, and turn left. | STEP 6: Put the knife on the counter near the lettuce. | STEP 7: Turn left, go to the window, turn right, and go to the recycling bin. | STEP 8: Take a slice of potato from the recycling bin.", "output": ["STEP 9: Turn around, turn left, go to the microwave above the oven, and turn left."]} +{"id": "trial_T20190918_222553_830681-2%9", "input": "Place a slice of cooked potato near the lettuce on the counter. | STEP 1: Turn around, go to the blue plate on the counter, and turn left. | STEP 2: Pick up the silver knife from the counter. | STEP 3: Turn around, go to the tomato on the far counter, turn left, go to the window, turn right, and go to the recycling can. | STEP 4: Slice the potato in the recycling can. | STEP 5: Turn around, turn left, go to the lettuce on the counter, and turn left. | STEP 6: Put the knife on the counter near the lettuce. | STEP 7: Turn left, go to the window, turn right, and go to the recycling bin. | STEP 8: Take a slice of potato from the recycling bin. | STEP 9: Turn around, turn left, go to the microwave above the oven, and turn left.", "output": ["STEP 10: Open the microwave, put the potato in the microwave, close the microwave, run the microwave for two seconds, open the microwave, take the potato from the microwave, and close the microwave."]} +{"id": "trial_T20190918_222553_830681-2%10", "input": "Place a slice of cooked potato near the lettuce on the counter. | STEP 1: Turn around, go to the blue plate on the counter, and turn left. | STEP 2: Pick up the silver knife from the counter. | STEP 3: Turn around, go to the tomato on the far counter, turn left, go to the window, turn right, and go to the recycling can. | STEP 4: Slice the potato in the recycling can. | STEP 5: Turn around, turn left, go to the lettuce on the counter, and turn left. | STEP 6: Put the knife on the counter near the lettuce. | STEP 7: Turn left, go to the window, turn right, and go to the recycling bin. | STEP 8: Take a slice of potato from the recycling bin. | STEP 9: Turn around, turn left, go to the microwave above the oven, and turn left. | STEP 10: Open the microwave, put the potato in the microwave, close the microwave, run the microwave for two seconds, open the microwave, take the potato from the microwave, and close the microwave.", "output": ["STEP 11: Turn right, go to the lettuce on the counter, and turn left."]} +{"id": "trial_T20190918_222553_830681-2%11", "input": "Place a slice of cooked potato near the lettuce on the counter. | STEP 1: Turn around, go to the blue plate on the counter, and turn left. | STEP 2: Pick up the silver knife from the counter. | STEP 3: Turn around, go to the tomato on the far counter, turn left, go to the window, turn right, and go to the recycling can. | STEP 4: Slice the potato in the recycling can. | STEP 5: Turn around, turn left, go to the lettuce on the counter, and turn left. | STEP 6: Put the knife on the counter near the lettuce. | STEP 7: Turn left, go to the window, turn right, and go to the recycling bin. | STEP 8: Take a slice of potato from the recycling bin. | STEP 9: Turn around, turn left, go to the microwave above the oven, and turn left. | STEP 10: Open the microwave, put the potato in the microwave, close the microwave, run the microwave for two seconds, open the microwave, take the potato from the microwave, and close the microwave. | STEP 11: Turn right, go to the lettuce on the counter, and turn left.", "output": ["STEP 12: Put the potato on the counter near the lettuce."]} +{"id": "trial_T20190918_222553_830681-2%12", "input": "Place a slice of cooked potato near the lettuce on the counter. | STEP 1: Turn around, go to the blue plate on the counter, and turn left. | STEP 2: Pick up the silver knife from the counter. | STEP 3: Turn around, go to the tomato on the far counter, turn left, go to the window, turn right, and go to the recycling can. | STEP 4: Slice the potato in the recycling can. | STEP 5: Turn around, turn left, go to the lettuce on the counter, and turn left. | STEP 6: Put the knife on the counter near the lettuce. | STEP 7: Turn left, go to the window, turn right, and go to the recycling bin. | STEP 8: Take a slice of potato from the recycling bin. | STEP 9: Turn around, turn left, go to the microwave above the oven, and turn left. | STEP 10: Open the microwave, put the potato in the microwave, close the microwave, run the microwave for two seconds, open the microwave, take the potato from the microwave, and close the microwave. | STEP 11: Turn right, go to the lettuce on the counter, and turn left. | STEP 12: Put the potato on the counter near the lettuce.", "output": ["END"]} +{"id": "trial_T20190909_044412_092826-1%0", "input": "Retrieve lotion from trash can and put on ledge with two tissue boxes", "output": ["STEP 1: Turn around, walk to the sink"]} +{"id": "trial_T20190909_044412_092826-1%1", "input": "Retrieve lotion from trash can and put on ledge with two tissue boxes | STEP 1: Turn around, walk to the sink", "output": ["STEP 2: Pick up the lotion from the trash can"]} +{"id": "trial_T20190909_044412_092826-1%2", "input": "Retrieve lotion from trash can and put on ledge with two tissue boxes | STEP 1: Turn around, walk to the sink | STEP 2: Pick up the lotion from the trash can", "output": ["STEP 3: Turn around, walk to the shelf"]} +{"id": "trial_T20190909_044412_092826-1%3", "input": "Retrieve lotion from trash can and put on ledge with two tissue boxes | STEP 1: Turn around, walk to the sink | STEP 2: Pick up the lotion from the trash can | STEP 3: Turn around, walk to the shelf", "output": ["STEP 4: Put the lotion on the ledge between the tissue boxes"]} +{"id": "trial_T20190909_044412_092826-1%4", "input": "Retrieve lotion from trash can and put on ledge with two tissue boxes | STEP 1: Turn around, walk to the sink | STEP 2: Pick up the lotion from the trash can | STEP 3: Turn around, walk to the shelf | STEP 4: Put the lotion on the ledge between the tissue boxes", "output": ["END"]} +{"id": "trial_T20190907_102345_652342-2%0", "input": "Place clean lettuce on the table.", "output": ["STEP 1: Turn right and face the counter with the knife to your left. "]} +{"id": "trial_T20190907_102345_652342-2%1", "input": "Place clean lettuce on the table. | STEP 1: Turn right and face the counter with the knife to your left. ", "output": ["STEP 2: Pick up the knife from the counter."]} +{"id": "trial_T20190907_102345_652342-2%2", "input": "Place clean lettuce on the table. | STEP 1: Turn right and face the counter with the knife to your left. | STEP 2: Pick up the knife from the counter.", "output": ["STEP 3: Turn around and face the lettuce by the coffee-maker on the counter."]} +{"id": "trial_T20190907_102345_652342-2%3", "input": "Place clean lettuce on the table. | STEP 1: Turn right and face the counter with the knife to your left. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn around and face the lettuce by the coffee-maker on the counter.", "output": ["STEP 4: Slice the lettuce on the counter."]} +{"id": "trial_T20190907_102345_652342-2%4", "input": "Place clean lettuce on the table. | STEP 1: Turn right and face the counter with the knife to your left. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn around and face the lettuce by the coffee-maker on the counter. | STEP 4: Slice the lettuce on the counter.", "output": ["STEP 5: Turn right and face the sink on your left."]} +{"id": "trial_T20190907_102345_652342-2%5", "input": "Place clean lettuce on the table. | STEP 1: Turn right and face the counter with the knife to your left. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn around and face the lettuce by the coffee-maker on the counter. | STEP 4: Slice the lettuce on the counter. | STEP 5: Turn right and face the sink on your left.", "output": ["STEP 6: Put the knife in the sink in front of you."]} +{"id": "trial_T20190907_102345_652342-2%6", "input": "Place clean lettuce on the table. | STEP 1: Turn right and face the counter with the knife to your left. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn around and face the lettuce by the coffee-maker on the counter. | STEP 4: Slice the lettuce on the counter. | STEP 5: Turn right and face the sink on your left. | STEP 6: Put the knife in the sink in front of you.", "output": ["STEP 7: Turn left and face the lettuce on the counter to your right."]} +{"id": "trial_T20190907_102345_652342-2%7", "input": "Place clean lettuce on the table. | STEP 1: Turn right and face the counter with the knife to your left. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn around and face the lettuce by the coffee-maker on the counter. | STEP 4: Slice the lettuce on the counter. | STEP 5: Turn right and face the sink on your left. | STEP 6: Put the knife in the sink in front of you. | STEP 7: Turn left and face the lettuce on the counter to your right.", "output": ["STEP 8: Pick up a lettuce slice from the counter."]} +{"id": "trial_T20190907_102345_652342-2%8", "input": "Place clean lettuce on the table. | STEP 1: Turn right and face the counter with the knife to your left. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn around and face the lettuce by the coffee-maker on the counter. | STEP 4: Slice the lettuce on the counter. | STEP 5: Turn right and face the sink on your left. | STEP 6: Put the knife in the sink in front of you. | STEP 7: Turn left and face the lettuce on the counter to your right. | STEP 8: Pick up a lettuce slice from the counter.", "output": ["STEP 9: Turn right and face the sink on your left."]} +{"id": "trial_T20190907_102345_652342-2%9", "input": "Place clean lettuce on the table. | STEP 1: Turn right and face the counter with the knife to your left. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn around and face the lettuce by the coffee-maker on the counter. | STEP 4: Slice the lettuce on the counter. | STEP 5: Turn right and face the sink on your left. | STEP 6: Put the knife in the sink in front of you. | STEP 7: Turn left and face the lettuce on the counter to your right. | STEP 8: Pick up a lettuce slice from the counter. | STEP 9: Turn right and face the sink on your left.", "output": ["STEP 10: Wash the lettuce in the sink and take it out."]} +{"id": "trial_T20190907_102345_652342-2%10", "input": "Place clean lettuce on the table. | STEP 1: Turn right and face the counter with the knife to your left. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn around and face the lettuce by the coffee-maker on the counter. | STEP 4: Slice the lettuce on the counter. | STEP 5: Turn right and face the sink on your left. | STEP 6: Put the knife in the sink in front of you. | STEP 7: Turn left and face the lettuce on the counter to your right. | STEP 8: Pick up a lettuce slice from the counter. | STEP 9: Turn right and face the sink on your left. | STEP 10: Wash the lettuce in the sink and take it out.", "output": ["STEP 11: Turn right, then left and head towards the round grey table in front of you."]} +{"id": "trial_T20190907_102345_652342-2%11", "input": "Place clean lettuce on the table. | STEP 1: Turn right and face the counter with the knife to your left. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn around and face the lettuce by the coffee-maker on the counter. | STEP 4: Slice the lettuce on the counter. | STEP 5: Turn right and face the sink on your left. | STEP 6: Put the knife in the sink in front of you. | STEP 7: Turn left and face the lettuce on the counter to your right. | STEP 8: Pick up a lettuce slice from the counter. | STEP 9: Turn right and face the sink on your left. | STEP 10: Wash the lettuce in the sink and take it out. | STEP 11: Turn right, then left and head towards the round grey table in front of you.", "output": ["STEP 12: Put the lettuce slice on the table."]} +{"id": "trial_T20190907_102345_652342-2%12", "input": "Place clean lettuce on the table. | STEP 1: Turn right and face the counter with the knife to your left. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn around and face the lettuce by the coffee-maker on the counter. | STEP 4: Slice the lettuce on the counter. | STEP 5: Turn right and face the sink on your left. | STEP 6: Put the knife in the sink in front of you. | STEP 7: Turn left and face the lettuce on the counter to your right. | STEP 8: Pick up a lettuce slice from the counter. | STEP 9: Turn right and face the sink on your left. | STEP 10: Wash the lettuce in the sink and take it out. | STEP 11: Turn right, then left and head towards the round grey table in front of you. | STEP 12: Put the lettuce slice on the table.", "output": ["END"]} +{"id": "trial_T20190907_102345_652342-3%0", "input": "Place a slice of washed lettuce on the round, kitchen table.", "output": ["STEP 1: Turn right, walk to the wall, and then turn left to face the kitchen counter."]} +{"id": "trial_T20190907_102345_652342-3%1", "input": "Place a slice of washed lettuce on the round, kitchen table. | STEP 1: Turn right, walk to the wall, and then turn left to face the kitchen counter.", "output": ["STEP 2: Grab the gold knife on the kitchen counter."]} +{"id": "trial_T20190907_102345_652342-3%2", "input": "Place a slice of washed lettuce on the round, kitchen table. | STEP 1: Turn right, walk to the wall, and then turn left to face the kitchen counter. | STEP 2: Grab the gold knife on the kitchen counter.", "output": ["STEP 3: Turn left, walk to the black stove, and then turn left again and walk towards the lettuce on the counter."]} +{"id": "trial_T20190907_102345_652342-3%3", "input": "Place a slice of washed lettuce on the round, kitchen table. | STEP 1: Turn right, walk to the wall, and then turn left to face the kitchen counter. | STEP 2: Grab the gold knife on the kitchen counter. | STEP 3: Turn left, walk to the black stove, and then turn left again and walk towards the lettuce on the counter.", "output": ["STEP 4: Cut the lettuce on the kitchen counter."]} +{"id": "trial_T20190907_102345_652342-3%4", "input": "Place a slice of washed lettuce on the round, kitchen table. | STEP 1: Turn right, walk to the wall, and then turn left to face the kitchen counter. | STEP 2: Grab the gold knife on the kitchen counter. | STEP 3: Turn left, walk to the black stove, and then turn left again and walk towards the lettuce on the counter. | STEP 4: Cut the lettuce on the kitchen counter.", "output": ["STEP 5: Walk to the kitchen sink on your right."]} +{"id": "trial_T20190907_102345_652342-3%5", "input": "Place a slice of washed lettuce on the round, kitchen table. | STEP 1: Turn right, walk to the wall, and then turn left to face the kitchen counter. | STEP 2: Grab the gold knife on the kitchen counter. | STEP 3: Turn left, walk to the black stove, and then turn left again and walk towards the lettuce on the counter. | STEP 4: Cut the lettuce on the kitchen counter. | STEP 5: Walk to the kitchen sink on your right.", "output": ["STEP 6: Place the knife in the sink."]} +{"id": "trial_T20190907_102345_652342-3%6", "input": "Place a slice of washed lettuce on the round, kitchen table. | STEP 1: Turn right, walk to the wall, and then turn left to face the kitchen counter. | STEP 2: Grab the gold knife on the kitchen counter. | STEP 3: Turn left, walk to the black stove, and then turn left again and walk towards the lettuce on the counter. | STEP 4: Cut the lettuce on the kitchen counter. | STEP 5: Walk to the kitchen sink on your right. | STEP 6: Place the knife in the sink.", "output": ["STEP 7: Turn left and walk back to the lettuce on the kitchen counter to your left."]} +{"id": "trial_T20190907_102345_652342-3%7", "input": "Place a slice of washed lettuce on the round, kitchen table. | STEP 1: Turn right, walk to the wall, and then turn left to face the kitchen counter. | STEP 2: Grab the gold knife on the kitchen counter. | STEP 3: Turn left, walk to the black stove, and then turn left again and walk towards the lettuce on the counter. | STEP 4: Cut the lettuce on the kitchen counter. | STEP 5: Walk to the kitchen sink on your right. | STEP 6: Place the knife in the sink. | STEP 7: Turn left and walk back to the lettuce on the kitchen counter to your left.", "output": ["STEP 8: Grab a slice of lettuce."]} +{"id": "trial_T20190907_102345_652342-3%8", "input": "Place a slice of washed lettuce on the round, kitchen table. | STEP 1: Turn right, walk to the wall, and then turn left to face the kitchen counter. | STEP 2: Grab the gold knife on the kitchen counter. | STEP 3: Turn left, walk to the black stove, and then turn left again and walk towards the lettuce on the counter. | STEP 4: Cut the lettuce on the kitchen counter. | STEP 5: Walk to the kitchen sink on your right. | STEP 6: Place the knife in the sink. | STEP 7: Turn left and walk back to the lettuce on the kitchen counter to your left. | STEP 8: Grab a slice of lettuce.", "output": ["STEP 9: Walk back to the kitchen sink on your right."]} +{"id": "trial_T20190907_102345_652342-3%9", "input": "Place a slice of washed lettuce on the round, kitchen table. | STEP 1: Turn right, walk to the wall, and then turn left to face the kitchen counter. | STEP 2: Grab the gold knife on the kitchen counter. | STEP 3: Turn left, walk to the black stove, and then turn left again and walk towards the lettuce on the counter. | STEP 4: Cut the lettuce on the kitchen counter. | STEP 5: Walk to the kitchen sink on your right. | STEP 6: Place the knife in the sink. | STEP 7: Turn left and walk back to the lettuce on the kitchen counter to your left. | STEP 8: Grab a slice of lettuce. | STEP 9: Walk back to the kitchen sink on your right.", "output": ["STEP 10: Wash the lettuce in the sink."]} +{"id": "trial_T20190907_102345_652342-3%10", "input": "Place a slice of washed lettuce on the round, kitchen table. | STEP 1: Turn right, walk to the wall, and then turn left to face the kitchen counter. | STEP 2: Grab the gold knife on the kitchen counter. | STEP 3: Turn left, walk to the black stove, and then turn left again and walk towards the lettuce on the counter. | STEP 4: Cut the lettuce on the kitchen counter. | STEP 5: Walk to the kitchen sink on your right. | STEP 6: Place the knife in the sink. | STEP 7: Turn left and walk back to the lettuce on the kitchen counter to your left. | STEP 8: Grab a slice of lettuce. | STEP 9: Walk back to the kitchen sink on your right. | STEP 10: Wash the lettuce in the sink.", "output": ["STEP 11: Turn right, walk to the window, turn left, and walk to the round table."]} +{"id": "trial_T20190907_102345_652342-3%11", "input": "Place a slice of washed lettuce on the round, kitchen table. | STEP 1: Turn right, walk to the wall, and then turn left to face the kitchen counter. | STEP 2: Grab the gold knife on the kitchen counter. | STEP 3: Turn left, walk to the black stove, and then turn left again and walk towards the lettuce on the counter. | STEP 4: Cut the lettuce on the kitchen counter. | STEP 5: Walk to the kitchen sink on your right. | STEP 6: Place the knife in the sink. | STEP 7: Turn left and walk back to the lettuce on the kitchen counter to your left. | STEP 8: Grab a slice of lettuce. | STEP 9: Walk back to the kitchen sink on your right. | STEP 10: Wash the lettuce in the sink. | STEP 11: Turn right, walk to the window, turn left, and walk to the round table.", "output": ["STEP 12: Place the slice of lettuce on the round table."]} +{"id": "trial_T20190907_102345_652342-3%12", "input": "Place a slice of washed lettuce on the round, kitchen table. | STEP 1: Turn right, walk to the wall, and then turn left to face the kitchen counter. | STEP 2: Grab the gold knife on the kitchen counter. | STEP 3: Turn left, walk to the black stove, and then turn left again and walk towards the lettuce on the counter. | STEP 4: Cut the lettuce on the kitchen counter. | STEP 5: Walk to the kitchen sink on your right. | STEP 6: Place the knife in the sink. | STEP 7: Turn left and walk back to the lettuce on the kitchen counter to your left. | STEP 8: Grab a slice of lettuce. | STEP 9: Walk back to the kitchen sink on your right. | STEP 10: Wash the lettuce in the sink. | STEP 11: Turn right, walk to the window, turn left, and walk to the round table. | STEP 12: Place the slice of lettuce on the round table.", "output": ["END"]} +{"id": "trial_T20190907_102345_652342-4%0", "input": "Move a slice of washed lettuce to the kitchen table.", "output": ["STEP 1: Move to stand facing the counter directly across from the fridge."]} +{"id": "trial_T20190907_102345_652342-4%1", "input": "Move a slice of washed lettuce to the kitchen table. | STEP 1: Move to stand facing the counter directly across from the fridge.", "output": ["STEP 2: Pick up the sharp knife from the counter behind the bread."]} +{"id": "trial_T20190907_102345_652342-4%2", "input": "Move a slice of washed lettuce to the kitchen table. | STEP 1: Move to stand facing the counter directly across from the fridge. | STEP 2: Pick up the sharp knife from the counter behind the bread.", "output": ["STEP 3: Turn and carry the knife to the counter behind you with the coffee maker."]} +{"id": "trial_T20190907_102345_652342-4%3", "input": "Move a slice of washed lettuce to the kitchen table. | STEP 1: Move to stand facing the counter directly across from the fridge. | STEP 2: Pick up the sharp knife from the counter behind the bread. | STEP 3: Turn and carry the knife to the counter behind you with the coffee maker.", "output": ["STEP 4: Use the knife to slice the head of lettuce on the counter."]} +{"id": "trial_T20190907_102345_652342-4%4", "input": "Move a slice of washed lettuce to the kitchen table. | STEP 1: Move to stand facing the counter directly across from the fridge. | STEP 2: Pick up the sharp knife from the counter behind the bread. | STEP 3: Turn and carry the knife to the counter behind you with the coffee maker. | STEP 4: Use the knife to slice the head of lettuce on the counter.", "output": ["STEP 5: Carry the knife to the kitchen sink."]} +{"id": "trial_T20190907_102345_652342-4%5", "input": "Move a slice of washed lettuce to the kitchen table. | STEP 1: Move to stand facing the counter directly across from the fridge. | STEP 2: Pick up the sharp knife from the counter behind the bread. | STEP 3: Turn and carry the knife to the counter behind you with the coffee maker. | STEP 4: Use the knife to slice the head of lettuce on the counter. | STEP 5: Carry the knife to the kitchen sink.", "output": ["STEP 6: Place the knife in the sink."]} +{"id": "trial_T20190907_102345_652342-4%6", "input": "Move a slice of washed lettuce to the kitchen table. | STEP 1: Move to stand facing the counter directly across from the fridge. | STEP 2: Pick up the sharp knife from the counter behind the bread. | STEP 3: Turn and carry the knife to the counter behind you with the coffee maker. | STEP 4: Use the knife to slice the head of lettuce on the counter. | STEP 5: Carry the knife to the kitchen sink. | STEP 6: Place the knife in the sink.", "output": ["STEP 7: Turn and move back to the counter to the sliced head of lettuce."]} +{"id": "trial_T20190907_102345_652342-4%7", "input": "Move a slice of washed lettuce to the kitchen table. | STEP 1: Move to stand facing the counter directly across from the fridge. | STEP 2: Pick up the sharp knife from the counter behind the bread. | STEP 3: Turn and carry the knife to the counter behind you with the coffee maker. | STEP 4: Use the knife to slice the head of lettuce on the counter. | STEP 5: Carry the knife to the kitchen sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn and move back to the counter to the sliced head of lettuce.", "output": ["STEP 8: Pick up a slice of lettuce."]} +{"id": "trial_T20190907_102345_652342-4%8", "input": "Move a slice of washed lettuce to the kitchen table. | STEP 1: Move to stand facing the counter directly across from the fridge. | STEP 2: Pick up the sharp knife from the counter behind the bread. | STEP 3: Turn and carry the knife to the counter behind you with the coffee maker. | STEP 4: Use the knife to slice the head of lettuce on the counter. | STEP 5: Carry the knife to the kitchen sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn and move back to the counter to the sliced head of lettuce. | STEP 8: Pick up a slice of lettuce.", "output": ["STEP 9: Carry the slice of lettuce to the kitchen sink."]} +{"id": "trial_T20190907_102345_652342-4%9", "input": "Move a slice of washed lettuce to the kitchen table. | STEP 1: Move to stand facing the counter directly across from the fridge. | STEP 2: Pick up the sharp knife from the counter behind the bread. | STEP 3: Turn and carry the knife to the counter behind you with the coffee maker. | STEP 4: Use the knife to slice the head of lettuce on the counter. | STEP 5: Carry the knife to the kitchen sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn and move back to the counter to the sliced head of lettuce. | STEP 8: Pick up a slice of lettuce. | STEP 9: Carry the slice of lettuce to the kitchen sink.", "output": ["STEP 10: Place the slice of lettuce in the sink, turn on the water, and then remove the lettuce once washed."]} +{"id": "trial_T20190907_102345_652342-4%10", "input": "Move a slice of washed lettuce to the kitchen table. | STEP 1: Move to stand facing the counter directly across from the fridge. | STEP 2: Pick up the sharp knife from the counter behind the bread. | STEP 3: Turn and carry the knife to the counter behind you with the coffee maker. | STEP 4: Use the knife to slice the head of lettuce on the counter. | STEP 5: Carry the knife to the kitchen sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn and move back to the counter to the sliced head of lettuce. | STEP 8: Pick up a slice of lettuce. | STEP 9: Carry the slice of lettuce to the kitchen sink. | STEP 10: Place the slice of lettuce in the sink, turn on the water, and then remove the lettuce once washed.", "output": ["STEP 11: Carry the lettuce to the small kitchen table in the corner."]} +{"id": "trial_T20190907_102345_652342-4%11", "input": "Move a slice of washed lettuce to the kitchen table. | STEP 1: Move to stand facing the counter directly across from the fridge. | STEP 2: Pick up the sharp knife from the counter behind the bread. | STEP 3: Turn and carry the knife to the counter behind you with the coffee maker. | STEP 4: Use the knife to slice the head of lettuce on the counter. | STEP 5: Carry the knife to the kitchen sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn and move back to the counter to the sliced head of lettuce. | STEP 8: Pick up a slice of lettuce. | STEP 9: Carry the slice of lettuce to the kitchen sink. | STEP 10: Place the slice of lettuce in the sink, turn on the water, and then remove the lettuce once washed. | STEP 11: Carry the lettuce to the small kitchen table in the corner.", "output": ["STEP 12: Place the slice of lettuce on the table."]} +{"id": "trial_T20190907_102345_652342-4%12", "input": "Move a slice of washed lettuce to the kitchen table. | STEP 1: Move to stand facing the counter directly across from the fridge. | STEP 2: Pick up the sharp knife from the counter behind the bread. | STEP 3: Turn and carry the knife to the counter behind you with the coffee maker. | STEP 4: Use the knife to slice the head of lettuce on the counter. | STEP 5: Carry the knife to the kitchen sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn and move back to the counter to the sliced head of lettuce. | STEP 8: Pick up a slice of lettuce. | STEP 9: Carry the slice of lettuce to the kitchen sink. | STEP 10: Place the slice of lettuce in the sink, turn on the water, and then remove the lettuce once washed. | STEP 11: Carry the lettuce to the small kitchen table in the corner. | STEP 12: Place the slice of lettuce on the table.", "output": ["END"]} +{"id": "trial_T20190907_102345_652342-5%0", "input": "Place a rinsed piece of lettuce on the table with a gray tablecloth.", "output": ["STEP 1: Turn right and walk to the yellow knife on the counter across from the fridge."]} +{"id": "trial_T20190907_102345_652342-5%1", "input": "Place a rinsed piece of lettuce on the table with a gray tablecloth. | STEP 1: Turn right and walk to the yellow knife on the counter across from the fridge.", "output": ["STEP 2: Pick up the yellow knife behind the bread on the counter."]} +{"id": "trial_T20190907_102345_652342-5%2", "input": "Place a rinsed piece of lettuce on the table with a gray tablecloth. | STEP 1: Turn right and walk to the yellow knife on the counter across from the fridge. | STEP 2: Pick up the yellow knife behind the bread on the counter.", "output": ["STEP 3: Turn around and walk to the lettuce to the right of the coffee machine."]} +{"id": "trial_T20190907_102345_652342-5%3", "input": "Place a rinsed piece of lettuce on the table with a gray tablecloth. | STEP 1: Turn right and walk to the yellow knife on the counter across from the fridge. | STEP 2: Pick up the yellow knife behind the bread on the counter. | STEP 3: Turn around and walk to the lettuce to the right of the coffee machine.", "output": ["STEP 4: Cut up the lettuce on the counter."]} +{"id": "trial_T20190907_102345_652342-5%4", "input": "Place a rinsed piece of lettuce on the table with a gray tablecloth. | STEP 1: Turn right and walk to the yellow knife on the counter across from the fridge. | STEP 2: Pick up the yellow knife behind the bread on the counter. | STEP 3: Turn around and walk to the lettuce to the right of the coffee machine. | STEP 4: Cut up the lettuce on the counter.", "output": ["STEP 5: Turn right and walk to the sink."]} +{"id": "trial_T20190907_102345_652342-5%5", "input": "Place a rinsed piece of lettuce on the table with a gray tablecloth. | STEP 1: Turn right and walk to the yellow knife on the counter across from the fridge. | STEP 2: Pick up the yellow knife behind the bread on the counter. | STEP 3: Turn around and walk to the lettuce to the right of the coffee machine. | STEP 4: Cut up the lettuce on the counter. | STEP 5: Turn right and walk to the sink.", "output": ["STEP 6: Place the knife in the sink."]} +{"id": "trial_T20190907_102345_652342-5%6", "input": "Place a rinsed piece of lettuce on the table with a gray tablecloth. | STEP 1: Turn right and walk to the yellow knife on the counter across from the fridge. | STEP 2: Pick up the yellow knife behind the bread on the counter. | STEP 3: Turn around and walk to the lettuce to the right of the coffee machine. | STEP 4: Cut up the lettuce on the counter. | STEP 5: Turn right and walk to the sink. | STEP 6: Place the knife in the sink.", "output": ["STEP 7: Turn left and walk to the lettuce on the counter."]} +{"id": "trial_T20190907_102345_652342-5%7", "input": "Place a rinsed piece of lettuce on the table with a gray tablecloth. | STEP 1: Turn right and walk to the yellow knife on the counter across from the fridge. | STEP 2: Pick up the yellow knife behind the bread on the counter. | STEP 3: Turn around and walk to the lettuce to the right of the coffee machine. | STEP 4: Cut up the lettuce on the counter. | STEP 5: Turn right and walk to the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn left and walk to the lettuce on the counter.", "output": ["STEP 8: Pick up a piece of lettuce from the counter."]} +{"id": "trial_T20190907_102345_652342-5%8", "input": "Place a rinsed piece of lettuce on the table with a gray tablecloth. | STEP 1: Turn right and walk to the yellow knife on the counter across from the fridge. | STEP 2: Pick up the yellow knife behind the bread on the counter. | STEP 3: Turn around and walk to the lettuce to the right of the coffee machine. | STEP 4: Cut up the lettuce on the counter. | STEP 5: Turn right and walk to the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn left and walk to the lettuce on the counter. | STEP 8: Pick up a piece of lettuce from the counter.", "output": ["STEP 9: Turn around and walk to the sink."]} +{"id": "trial_T20190907_102345_652342-5%9", "input": "Place a rinsed piece of lettuce on the table with a gray tablecloth. | STEP 1: Turn right and walk to the yellow knife on the counter across from the fridge. | STEP 2: Pick up the yellow knife behind the bread on the counter. | STEP 3: Turn around and walk to the lettuce to the right of the coffee machine. | STEP 4: Cut up the lettuce on the counter. | STEP 5: Turn right and walk to the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn left and walk to the lettuce on the counter. | STEP 8: Pick up a piece of lettuce from the counter. | STEP 9: Turn around and walk to the sink.", "output": ["STEP 10: Rinse the piece of lettuce in the sink and then pick up the piece of lettuce from the sink."]} +{"id": "trial_T20190907_102345_652342-5%10", "input": "Place a rinsed piece of lettuce on the table with a gray tablecloth. | STEP 1: Turn right and walk to the yellow knife on the counter across from the fridge. | STEP 2: Pick up the yellow knife behind the bread on the counter. | STEP 3: Turn around and walk to the lettuce to the right of the coffee machine. | STEP 4: Cut up the lettuce on the counter. | STEP 5: Turn right and walk to the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn left and walk to the lettuce on the counter. | STEP 8: Pick up a piece of lettuce from the counter. | STEP 9: Turn around and walk to the sink. | STEP 10: Rinse the piece of lettuce in the sink and then pick up the piece of lettuce from the sink.", "output": ["STEP 11: Walk to the table with the gray tablecloth."]} +{"id": "trial_T20190907_102345_652342-5%11", "input": "Place a rinsed piece of lettuce on the table with a gray tablecloth. | STEP 1: Turn right and walk to the yellow knife on the counter across from the fridge. | STEP 2: Pick up the yellow knife behind the bread on the counter. | STEP 3: Turn around and walk to the lettuce to the right of the coffee machine. | STEP 4: Cut up the lettuce on the counter. | STEP 5: Turn right and walk to the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn left and walk to the lettuce on the counter. | STEP 8: Pick up a piece of lettuce from the counter. | STEP 9: Turn around and walk to the sink. | STEP 10: Rinse the piece of lettuce in the sink and then pick up the piece of lettuce from the sink. | STEP 11: Walk to the table with the gray tablecloth.", "output": ["STEP 12: Place the piece of lettuce on the table."]} +{"id": "trial_T20190907_102345_652342-5%12", "input": "Place a rinsed piece of lettuce on the table with a gray tablecloth. | STEP 1: Turn right and walk to the yellow knife on the counter across from the fridge. | STEP 2: Pick up the yellow knife behind the bread on the counter. | STEP 3: Turn around and walk to the lettuce to the right of the coffee machine. | STEP 4: Cut up the lettuce on the counter. | STEP 5: Turn right and walk to the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn left and walk to the lettuce on the counter. | STEP 8: Pick up a piece of lettuce from the counter. | STEP 9: Turn around and walk to the sink. | STEP 10: Rinse the piece of lettuce in the sink and then pick up the piece of lettuce from the sink. | STEP 11: Walk to the table with the gray tablecloth. | STEP 12: Place the piece of lettuce on the table.", "output": ["END"]} +{"id": "trial_T20190909_114632_367634-0%0", "input": "turn on a lamp while holding the disk", "output": ["STEP 1: move around to the cupboard"]} +{"id": "trial_T20190909_114632_367634-0%1", "input": "turn on a lamp while holding the disk | STEP 1: move around to the cupboard", "output": ["STEP 2: pick up the disk on the cupboard"]} +{"id": "trial_T20190909_114632_367634-0%2", "input": "turn on a lamp while holding the disk | STEP 1: move around to the cupboard | STEP 2: pick up the disk on the cupboard", "output": ["STEP 3: turn around and head to the table"]} +{"id": "trial_T20190909_114632_367634-0%3", "input": "turn on a lamp while holding the disk | STEP 1: move around to the cupboard | STEP 2: pick up the disk on the cupboard | STEP 3: turn around and head to the table", "output": ["STEP 4: turn on the lamp on the table"]} +{"id": "trial_T20190909_114632_367634-0%4", "input": "turn on a lamp while holding the disk | STEP 1: move around to the cupboard | STEP 2: pick up the disk on the cupboard | STEP 3: turn around and head to the table | STEP 4: turn on the lamp on the table", "output": ["END"]} +{"id": "trial_T20190909_114632_367634-2%0", "input": "look at a disk under the lamp light", "output": ["STEP 1: go to the dresser"]} +{"id": "trial_T20190909_114632_367634-2%1", "input": "look at a disk under the lamp light | STEP 1: go to the dresser", "output": ["STEP 2: pick up the disk from the dresser"]} +{"id": "trial_T20190909_114632_367634-2%2", "input": "look at a disk under the lamp light | STEP 1: go to the dresser | STEP 2: pick up the disk from the dresser", "output": ["STEP 3: take the disk to the lamp"]} +{"id": "trial_T20190909_114632_367634-2%3", "input": "look at a disk under the lamp light | STEP 1: go to the dresser | STEP 2: pick up the disk from the dresser | STEP 3: take the disk to the lamp", "output": ["STEP 4: turn on the lamp"]} +{"id": "trial_T20190909_114632_367634-2%4", "input": "look at a disk under the lamp light | STEP 1: go to the dresser | STEP 2: pick up the disk from the dresser | STEP 3: take the disk to the lamp | STEP 4: turn on the lamp", "output": ["END"]} +{"id": "trial_T20190906_190752_727429-1%0", "input": "Grab the plate on the end table, turn on the lamp", "output": ["STEP 1: Turn around, walk to the end, turn right, walk to the corner by the end table"]} +{"id": "trial_T20190906_190752_727429-1%1", "input": "Grab the plate on the end table, turn on the lamp | STEP 1: Turn around, walk to the end, turn right, walk to the corner by the end table", "output": ["STEP 2: Grab the grey plate on the end table"]} +{"id": "trial_T20190906_190752_727429-1%2", "input": "Grab the plate on the end table, turn on the lamp | STEP 1: Turn around, walk to the end, turn right, walk to the corner by the end table | STEP 2: Grab the grey plate on the end table", "output": ["STEP 3: Turn right and turn left, facing the lamp on the end table"]} +{"id": "trial_T20190906_190752_727429-1%3", "input": "Grab the plate on the end table, turn on the lamp | STEP 1: Turn around, walk to the end, turn right, walk to the corner by the end table | STEP 2: Grab the grey plate on the end table | STEP 3: Turn right and turn left, facing the lamp on the end table", "output": ["STEP 4: Turn on the lamp"]} +{"id": "trial_T20190906_190752_727429-1%4", "input": "Grab the plate on the end table, turn on the lamp | STEP 1: Turn around, walk to the end, turn right, walk to the corner by the end table | STEP 2: Grab the grey plate on the end table | STEP 3: Turn right and turn left, facing the lamp on the end table | STEP 4: Turn on the lamp", "output": ["END"]} +{"id": "trial_T20190906_190752_727429-2%0", "input": "Examine the bowl under the light of the lamp", "output": ["STEP 1: Turn around and walk across the room to the side table by the sofa"]} +{"id": "trial_T20190906_190752_727429-2%1", "input": "Examine the bowl under the light of the lamp | STEP 1: Turn around and walk across the room to the side table by the sofa", "output": ["STEP 2: Pick up the grey bowl from the table"]} +{"id": "trial_T20190906_190752_727429-2%2", "input": "Examine the bowl under the light of the lamp | STEP 1: Turn around and walk across the room to the side table by the sofa | STEP 2: Pick up the grey bowl from the table", "output": ["STEP 3: Face toward the lamp on the same side table"]} +{"id": "trial_T20190906_190752_727429-2%3", "input": "Examine the bowl under the light of the lamp | STEP 1: Turn around and walk across the room to the side table by the sofa | STEP 2: Pick up the grey bowl from the table | STEP 3: Face toward the lamp on the same side table", "output": ["STEP 4: Turn on the lamp"]} +{"id": "trial_T20190906_190752_727429-2%4", "input": "Examine the bowl under the light of the lamp | STEP 1: Turn around and walk across the room to the side table by the sofa | STEP 2: Pick up the grey bowl from the table | STEP 3: Face toward the lamp on the same side table | STEP 4: Turn on the lamp", "output": ["END"]} +{"id": "trial_T20190908_191442_574931-0%0", "input": "Put a washed bar of soap in the cupboard under the sink", "output": ["STEP 1: Head to the wall then turn left and go to the sink"]} +{"id": "trial_T20190908_191442_574931-0%1", "input": "Put a washed bar of soap in the cupboard under the sink | STEP 1: Head to the wall then turn left and go to the sink", "output": ["STEP 2: Get the bar of soap from the cupboard on the right under the sink"]} +{"id": "trial_T20190908_191442_574931-0%2", "input": "Put a washed bar of soap in the cupboard under the sink | STEP 1: Head to the wall then turn left and go to the sink | STEP 2: Get the bar of soap from the cupboard on the right under the sink", "output": ["STEP 3: Get closer to the sink"]} +{"id": "trial_T20190908_191442_574931-0%3", "input": "Put a washed bar of soap in the cupboard under the sink | STEP 1: Head to the wall then turn left and go to the sink | STEP 2: Get the bar of soap from the cupboard on the right under the sink | STEP 3: Get closer to the sink", "output": ["STEP 4: Put the bar of soap in the sink and turn on the water, then turn off the water and pick up the soap"]} +{"id": "trial_T20190908_191442_574931-0%4", "input": "Put a washed bar of soap in the cupboard under the sink | STEP 1: Head to the wall then turn left and go to the sink | STEP 2: Get the bar of soap from the cupboard on the right under the sink | STEP 3: Get closer to the sink | STEP 4: Put the bar of soap in the sink and turn on the water, then turn off the water and pick up the soap", "output": ["STEP 5: Turn around and go to the wall, then turn back around facing the sink"]} +{"id": "trial_T20190908_191442_574931-0%5", "input": "Put a washed bar of soap in the cupboard under the sink | STEP 1: Head to the wall then turn left and go to the sink | STEP 2: Get the bar of soap from the cupboard on the right under the sink | STEP 3: Get closer to the sink | STEP 4: Put the bar of soap in the sink and turn on the water, then turn off the water and pick up the soap | STEP 5: Turn around and go to the wall, then turn back around facing the sink", "output": ["STEP 6: Put the soap in the cupboard on the right under the sink"]} +{"id": "trial_T20190908_191442_574931-0%6", "input": "Put a washed bar of soap in the cupboard under the sink | STEP 1: Head to the wall then turn left and go to the sink | STEP 2: Get the bar of soap from the cupboard on the right under the sink | STEP 3: Get closer to the sink | STEP 4: Put the bar of soap in the sink and turn on the water, then turn off the water and pick up the soap | STEP 5: Turn around and go to the wall, then turn back around facing the sink | STEP 6: Put the soap in the cupboard on the right under the sink", "output": ["END"]} +{"id": "trial_T20190908_191442_574931-2%0", "input": "Place a rinsed bar of soap in a cabinet.", "output": ["STEP 1: Walk ahead to the wall, then turn left to the right sink."]} +{"id": "trial_T20190908_191442_574931-2%1", "input": "Place a rinsed bar of soap in a cabinet. | STEP 1: Walk ahead to the wall, then turn left to the right sink.", "output": ["STEP 2: Take the soap out of the bottom right cabinet."]} +{"id": "trial_T20190908_191442_574931-2%2", "input": "Place a rinsed bar of soap in a cabinet. | STEP 1: Walk ahead to the wall, then turn left to the right sink. | STEP 2: Take the soap out of the bottom right cabinet.", "output": ["STEP 3: Look up at the sink."]} +{"id": "trial_T20190908_191442_574931-2%3", "input": "Place a rinsed bar of soap in a cabinet. | STEP 1: Walk ahead to the wall, then turn left to the right sink. | STEP 2: Take the soap out of the bottom right cabinet. | STEP 3: Look up at the sink.", "output": ["STEP 4: Wash the soap in the sink."]} +{"id": "trial_T20190908_191442_574931-2%4", "input": "Place a rinsed bar of soap in a cabinet. | STEP 1: Walk ahead to the wall, then turn left to the right sink. | STEP 2: Take the soap out of the bottom right cabinet. | STEP 3: Look up at the sink. | STEP 4: Wash the soap in the sink.", "output": ["STEP 5: Look down at the cabinets."]} +{"id": "trial_T20190908_191442_574931-2%5", "input": "Place a rinsed bar of soap in a cabinet. | STEP 1: Walk ahead to the wall, then turn left to the right sink. | STEP 2: Take the soap out of the bottom right cabinet. | STEP 3: Look up at the sink. | STEP 4: Wash the soap in the sink. | STEP 5: Look down at the cabinets.", "output": ["STEP 6: Place the soap in the right bottom cabinet in front of the blue bottle."]} +{"id": "trial_T20190908_191442_574931-2%6", "input": "Place a rinsed bar of soap in a cabinet. | STEP 1: Walk ahead to the wall, then turn left to the right sink. | STEP 2: Take the soap out of the bottom right cabinet. | STEP 3: Look up at the sink. | STEP 4: Wash the soap in the sink. | STEP 5: Look down at the cabinets. | STEP 6: Place the soap in the right bottom cabinet in front of the blue bottle.", "output": ["END"]} +{"id": "trial_T20190908_114400_475494-2%0", "input": "To move two bars of soap to the center of the tub.", "output": ["STEP 1: Turn right and walk across the room to face the tub."]} +{"id": "trial_T20190908_114400_475494-2%1", "input": "To move two bars of soap to the center of the tub. | STEP 1: Turn right and walk across the room to face the tub.", "output": ["STEP 2: Pick up the bar of soap in the tub."]} +{"id": "trial_T20190908_114400_475494-2%2", "input": "To move two bars of soap to the center of the tub. | STEP 1: Turn right and walk across the room to face the tub. | STEP 2: Pick up the bar of soap in the tub.", "output": ["STEP 3: Take a step to the left and look down to face the left end of the tub."]} +{"id": "trial_T20190908_114400_475494-2%3", "input": "To move two bars of soap to the center of the tub. | STEP 1: Turn right and walk across the room to face the tub. | STEP 2: Pick up the bar of soap in the tub. | STEP 3: Take a step to the left and look down to face the left end of the tub.", "output": ["STEP 4: Place the bar of soap to the left of where it was originally."]} +{"id": "trial_T20190908_114400_475494-2%4", "input": "To move two bars of soap to the center of the tub. | STEP 1: Turn right and walk across the room to face the tub. | STEP 2: Pick up the bar of soap in the tub. | STEP 3: Take a step to the left and look down to face the left end of the tub. | STEP 4: Place the bar of soap to the left of where it was originally.", "output": ["STEP 5: Turn left and walk forward to face the soap on the top shelf."]} +{"id": "trial_T20190908_114400_475494-2%5", "input": "To move two bars of soap to the center of the tub. | STEP 1: Turn right and walk across the room to face the tub. | STEP 2: Pick up the bar of soap in the tub. | STEP 3: Take a step to the left and look down to face the left end of the tub. | STEP 4: Place the bar of soap to the left of where it was originally. | STEP 5: Turn left and walk forward to face the soap on the top shelf.", "output": ["STEP 6: Pick up the soap on the top shelf."]} +{"id": "trial_T20190908_114400_475494-2%6", "input": "To move two bars of soap to the center of the tub. | STEP 1: Turn right and walk across the room to face the tub. | STEP 2: Pick up the bar of soap in the tub. | STEP 3: Take a step to the left and look down to face the left end of the tub. | STEP 4: Place the bar of soap to the left of where it was originally. | STEP 5: Turn left and walk forward to face the soap on the top shelf. | STEP 6: Pick up the soap on the top shelf.", "output": ["STEP 7: Turn to the right to face the tub."]} +{"id": "trial_T20190908_114400_475494-2%7", "input": "To move two bars of soap to the center of the tub. | STEP 1: Turn right and walk across the room to face the tub. | STEP 2: Pick up the bar of soap in the tub. | STEP 3: Take a step to the left and look down to face the left end of the tub. | STEP 4: Place the bar of soap to the left of where it was originally. | STEP 5: Turn left and walk forward to face the soap on the top shelf. | STEP 6: Pick up the soap on the top shelf. | STEP 7: Turn to the right to face the tub.", "output": ["STEP 8: Place the bar of soap beside the first bar of soap."]} +{"id": "trial_T20190908_114400_475494-2%8", "input": "To move two bars of soap to the center of the tub. | STEP 1: Turn right and walk across the room to face the tub. | STEP 2: Pick up the bar of soap in the tub. | STEP 3: Take a step to the left and look down to face the left end of the tub. | STEP 4: Place the bar of soap to the left of where it was originally. | STEP 5: Turn left and walk forward to face the soap on the top shelf. | STEP 6: Pick up the soap on the top shelf. | STEP 7: Turn to the right to face the tub. | STEP 8: Place the bar of soap beside the first bar of soap.", "output": ["END"]} +{"id": "trial_T20190908_020409_994514-2%0", "input": "Place a pot filled with water on the stove.", "output": ["STEP 1: Turn around and walk to the oven."]} +{"id": "trial_T20190908_020409_994514-2%1", "input": "Place a pot filled with water on the stove. | STEP 1: Turn around and walk to the oven.", "output": ["STEP 2: Pick up the pot from the oven."]} +{"id": "trial_T20190908_020409_994514-2%2", "input": "Place a pot filled with water on the stove. | STEP 1: Turn around and walk to the oven. | STEP 2: Pick up the pot from the oven.", "output": ["STEP 3: Turn around and walk to the sink."]} +{"id": "trial_T20190908_020409_994514-2%3", "input": "Place a pot filled with water on the stove. | STEP 1: Turn around and walk to the oven. | STEP 2: Pick up the pot from the oven. | STEP 3: Turn around and walk to the sink.", "output": ["STEP 4: Place the pot in the sink and turn the faucet on and off before removing the water-filled pot."]} +{"id": "trial_T20190908_020409_994514-2%4", "input": "Place a pot filled with water on the stove. | STEP 1: Turn around and walk to the oven. | STEP 2: Pick up the pot from the oven. | STEP 3: Turn around and walk to the sink. | STEP 4: Place the pot in the sink and turn the faucet on and off before removing the water-filled pot.", "output": ["STEP 5: Turn around and walk to the oven."]} +{"id": "trial_T20190908_020409_994514-2%5", "input": "Place a pot filled with water on the stove. | STEP 1: Turn around and walk to the oven. | STEP 2: Pick up the pot from the oven. | STEP 3: Turn around and walk to the sink. | STEP 4: Place the pot in the sink and turn the faucet on and off before removing the water-filled pot. | STEP 5: Turn around and walk to the oven.", "output": ["STEP 6: Place the pot on the stove"]} +{"id": "trial_T20190908_020409_994514-2%6", "input": "Place a pot filled with water on the stove. | STEP 1: Turn around and walk to the oven. | STEP 2: Pick up the pot from the oven. | STEP 3: Turn around and walk to the sink. | STEP 4: Place the pot in the sink and turn the faucet on and off before removing the water-filled pot. | STEP 5: Turn around and walk to the oven. | STEP 6: Place the pot on the stove", "output": ["END"]} +{"id": "trial_T20190910_141106_541538-2%0", "input": "Put the two spray bottle on the toilet tank", "output": ["STEP 1: Turn to your right then face the top shelf rack"]} +{"id": "trial_T20190910_141106_541538-2%1", "input": "Put the two spray bottle on the toilet tank | STEP 1: Turn to your right then face the top shelf rack", "output": ["STEP 2: Pick up the spray bottle on the shelf rack "]} +{"id": "trial_T20190910_141106_541538-2%2", "input": "Put the two spray bottle on the toilet tank | STEP 1: Turn to your right then face the top shelf rack | STEP 2: Pick up the spray bottle on the shelf rack ", "output": ["STEP 3: Turn left then head to the right side of the toilet"]} +{"id": "trial_T20190910_141106_541538-2%3", "input": "Put the two spray bottle on the toilet tank | STEP 1: Turn to your right then face the top shelf rack | STEP 2: Pick up the spray bottle on the shelf rack | STEP 3: Turn left then head to the right side of the toilet", "output": ["STEP 4: Put the spray bottle on the tank"]} +{"id": "trial_T20190910_141106_541538-2%4", "input": "Put the two spray bottle on the toilet tank | STEP 1: Turn to your right then face the top shelf rack | STEP 2: Pick up the spray bottle on the shelf rack | STEP 3: Turn left then head to the right side of the toilet | STEP 4: Put the spray bottle on the tank", "output": ["STEP 5: Turn left then head back to the shelf"]} +{"id": "trial_T20190910_141106_541538-2%5", "input": "Put the two spray bottle on the toilet tank | STEP 1: Turn to your right then face the top shelf rack | STEP 2: Pick up the spray bottle on the shelf rack | STEP 3: Turn left then head to the right side of the toilet | STEP 4: Put the spray bottle on the tank | STEP 5: Turn left then head back to the shelf", "output": ["STEP 6: Pick up the spray bottle on the bottom shelf"]} +{"id": "trial_T20190910_141106_541538-2%6", "input": "Put the two spray bottle on the toilet tank | STEP 1: Turn to your right then face the top shelf rack | STEP 2: Pick up the spray bottle on the shelf rack | STEP 3: Turn left then head to the right side of the toilet | STEP 4: Put the spray bottle on the tank | STEP 5: Turn left then head back to the shelf | STEP 6: Pick up the spray bottle on the bottom shelf", "output": ["STEP 7: Turn left then head back to the right side of the toilet"]} +{"id": "trial_T20190910_141106_541538-2%7", "input": "Put the two spray bottle on the toilet tank | STEP 1: Turn to your right then face the top shelf rack | STEP 2: Pick up the spray bottle on the shelf rack | STEP 3: Turn left then head to the right side of the toilet | STEP 4: Put the spray bottle on the tank | STEP 5: Turn left then head back to the shelf | STEP 6: Pick up the spray bottle on the bottom shelf | STEP 7: Turn left then head back to the right side of the toilet", "output": ["STEP 8: Put the spray bottle beside the other spray bottle on the tank"]} +{"id": "trial_T20190910_141106_541538-2%8", "input": "Put the two spray bottle on the toilet tank | STEP 1: Turn to your right then face the top shelf rack | STEP 2: Pick up the spray bottle on the shelf rack | STEP 3: Turn left then head to the right side of the toilet | STEP 4: Put the spray bottle on the tank | STEP 5: Turn left then head back to the shelf | STEP 6: Pick up the spray bottle on the bottom shelf | STEP 7: Turn left then head back to the right side of the toilet | STEP 8: Put the spray bottle beside the other spray bottle on the tank", "output": ["END"]} +{"id": "trial_T20190908_075642_169313-1%0", "input": "grab the credit card on the end table, turn on the floor lamp", "output": ["STEP 1: walk straight to the chair, turn left, walk to the end table"]} +{"id": "trial_T20190908_075642_169313-1%1", "input": "grab the credit card on the end table, turn on the floor lamp | STEP 1: walk straight to the chair, turn left, walk to the end table", "output": ["STEP 2: grab the credit card on the table"]} +{"id": "trial_T20190908_075642_169313-1%2", "input": "grab the credit card on the end table, turn on the floor lamp | STEP 1: walk straight to the chair, turn left, walk to the end table | STEP 2: grab the credit card on the table", "output": ["STEP 3: turn right, walk behind the chairs to the floor lamp "]} +{"id": "trial_T20190908_075642_169313-1%3", "input": "grab the credit card on the end table, turn on the floor lamp | STEP 1: walk straight to the chair, turn left, walk to the end table | STEP 2: grab the credit card on the table | STEP 3: turn right, walk behind the chairs to the floor lamp ", "output": ["STEP 4: turn on the floor lamp"]} +{"id": "trial_T20190908_075642_169313-1%4", "input": "grab the credit card on the end table, turn on the floor lamp | STEP 1: walk straight to the chair, turn left, walk to the end table | STEP 2: grab the credit card on the table | STEP 3: turn right, walk behind the chairs to the floor lamp | STEP 4: turn on the floor lamp", "output": ["END"]} +{"id": "trial_T20190908_151002_619060-1%0", "input": "Move a bar of clean soap to a cabinet.", "output": ["STEP 1: Turn right, walk to the counter, turn left, then turn right again to face the side of the countertop. "]} +{"id": "trial_T20190908_151002_619060-1%1", "input": "Move a bar of clean soap to a cabinet. | STEP 1: Turn right, walk to the counter, turn left, then turn right again to face the side of the countertop. ", "output": ["STEP 2: Pick up the bar of soap that is on the bathroom counter. "]} +{"id": "trial_T20190908_151002_619060-1%2", "input": "Move a bar of clean soap to a cabinet. | STEP 1: Turn right, walk to the counter, turn left, then turn right again to face the side of the countertop. | STEP 2: Pick up the bar of soap that is on the bathroom counter. ", "output": ["STEP 3: Turn right, walk a step or two, turn left, walk to the end of the counter, then face the bathroom counter. "]} +{"id": "trial_T20190908_151002_619060-1%3", "input": "Move a bar of clean soap to a cabinet. | STEP 1: Turn right, walk to the counter, turn left, then turn right again to face the side of the countertop. | STEP 2: Pick up the bar of soap that is on the bathroom counter. | STEP 3: Turn right, walk a step or two, turn left, walk to the end of the counter, then face the bathroom counter. ", "output": ["STEP 4: Rinse off the soap in the sink."]} +{"id": "trial_T20190908_151002_619060-1%4", "input": "Move a bar of clean soap to a cabinet. | STEP 1: Turn right, walk to the counter, turn left, then turn right again to face the side of the countertop. | STEP 2: Pick up the bar of soap that is on the bathroom counter. | STEP 3: Turn right, walk a step or two, turn left, walk to the end of the counter, then face the bathroom counter. | STEP 4: Rinse off the soap in the sink.", "output": ["STEP 5: Move away from the bathroom counter."]} +{"id": "trial_T20190908_151002_619060-1%5", "input": "Move a bar of clean soap to a cabinet. | STEP 1: Turn right, walk to the counter, turn left, then turn right again to face the side of the countertop. | STEP 2: Pick up the bar of soap that is on the bathroom counter. | STEP 3: Turn right, walk a step or two, turn left, walk to the end of the counter, then face the bathroom counter. | STEP 4: Rinse off the soap in the sink. | STEP 5: Move away from the bathroom counter.", "output": ["STEP 6: Place the bar of soap in the right hand cabinet under the right bathroom sink."]} +{"id": "trial_T20190908_151002_619060-1%6", "input": "Move a bar of clean soap to a cabinet. | STEP 1: Turn right, walk to the counter, turn left, then turn right again to face the side of the countertop. | STEP 2: Pick up the bar of soap that is on the bathroom counter. | STEP 3: Turn right, walk a step or two, turn left, walk to the end of the counter, then face the bathroom counter. | STEP 4: Rinse off the soap in the sink. | STEP 5: Move away from the bathroom counter. | STEP 6: Place the bar of soap in the right hand cabinet under the right bathroom sink.", "output": ["END"]} +{"id": "trial_T20190908_151002_619060-2%0", "input": "Place a rinsed bar of soap in a cabinet.", "output": ["STEP 1: Turn right and walk to the left side of the vanity with the sink."]} +{"id": "trial_T20190908_151002_619060-2%1", "input": "Place a rinsed bar of soap in a cabinet. | STEP 1: Turn right and walk to the left side of the vanity with the sink.", "output": ["STEP 2: Pick up the bar of soap from the corner of the vanity counter."]} +{"id": "trial_T20190908_151002_619060-2%2", "input": "Place a rinsed bar of soap in a cabinet. | STEP 1: Turn right and walk to the left side of the vanity with the sink. | STEP 2: Pick up the bar of soap from the corner of the vanity counter.", "output": ["STEP 3: Turn right, hang a left at the toilet and walk to the right sink of the vanity."]} +{"id": "trial_T20190908_151002_619060-2%3", "input": "Place a rinsed bar of soap in a cabinet. | STEP 1: Turn right and walk to the left side of the vanity with the sink. | STEP 2: Pick up the bar of soap from the corner of the vanity counter. | STEP 3: Turn right, hang a left at the toilet and walk to the right sink of the vanity.", "output": ["STEP 4: Put the bar of soap inside the sink, rinse it and pick it back up."]} +{"id": "trial_T20190908_151002_619060-2%4", "input": "Place a rinsed bar of soap in a cabinet. | STEP 1: Turn right and walk to the left side of the vanity with the sink. | STEP 2: Pick up the bar of soap from the corner of the vanity counter. | STEP 3: Turn right, hang a left at the toilet and walk to the right sink of the vanity. | STEP 4: Put the bar of soap inside the sink, rinse it and pick it back up.", "output": ["STEP 5: Turn around, walk to the wall and turn around to face the cabinets under the vanity."]} +{"id": "trial_T20190908_151002_619060-2%5", "input": "Place a rinsed bar of soap in a cabinet. | STEP 1: Turn right and walk to the left side of the vanity with the sink. | STEP 2: Pick up the bar of soap from the corner of the vanity counter. | STEP 3: Turn right, hang a left at the toilet and walk to the right sink of the vanity. | STEP 4: Put the bar of soap inside the sink, rinse it and pick it back up. | STEP 5: Turn around, walk to the wall and turn around to face the cabinets under the vanity.", "output": ["STEP 6: Open the lower right cabinet under the vanity, put the bar of soap inside and close the door."]} +{"id": "trial_T20190908_151002_619060-2%6", "input": "Place a rinsed bar of soap in a cabinet. | STEP 1: Turn right and walk to the left side of the vanity with the sink. | STEP 2: Pick up the bar of soap from the corner of the vanity counter. | STEP 3: Turn right, hang a left at the toilet and walk to the right sink of the vanity. | STEP 4: Put the bar of soap inside the sink, rinse it and pick it back up. | STEP 5: Turn around, walk to the wall and turn around to face the cabinets under the vanity. | STEP 6: Open the lower right cabinet under the vanity, put the bar of soap inside and close the door.", "output": ["END"]} +{"id": "trial_T20190909_075611_325782-0%0", "input": "Put a box of tissues on the lid of the toilet tank.", "output": ["STEP 1: Make a left to walk to the wall across from the toilet."]} +{"id": "trial_T20190909_075611_325782-0%1", "input": "Put a box of tissues on the lid of the toilet tank. | STEP 1: Make a left to walk to the wall across from the toilet.", "output": ["STEP 2: Pick up the box of tissues on the right."]} +{"id": "trial_T20190909_075611_325782-0%2", "input": "Put a box of tissues on the lid of the toilet tank. | STEP 1: Make a left to walk to the wall across from the toilet. | STEP 2: Pick up the box of tissues on the right.", "output": ["STEP 3: Turn around to walk towards the toilet."]} +{"id": "trial_T20190909_075611_325782-0%3", "input": "Put a box of tissues on the lid of the toilet tank. | STEP 1: Make a left to walk to the wall across from the toilet. | STEP 2: Pick up the box of tissues on the right. | STEP 3: Turn around to walk towards the toilet.", "output": ["STEP 4: Put the box of tissues down on the lid of the toilet tank."]} +{"id": "trial_T20190909_075611_325782-0%4", "input": "Put a box of tissues on the lid of the toilet tank. | STEP 1: Make a left to walk to the wall across from the toilet. | STEP 2: Pick up the box of tissues on the right. | STEP 3: Turn around to walk towards the toilet. | STEP 4: Put the box of tissues down on the lid of the toilet tank.", "output": ["END"]} +{"id": "trial_T20190909_075611_325782-1%0", "input": "Put a box of tissue on the back of the toilet. ", "output": ["STEP 1: Turn around and go to the shelf's on the wall, to the left of the bath tub, across the room. "]} +{"id": "trial_T20190909_075611_325782-1%1", "input": "Put a box of tissue on the back of the toilet. | STEP 1: Turn around and go to the shelf's on the wall, to the left of the bath tub, across the room. ", "output": ["STEP 2: Pick up the box of tissue on the right. "]} +{"id": "trial_T20190909_075611_325782-1%2", "input": "Put a box of tissue on the back of the toilet. | STEP 1: Turn around and go to the shelf's on the wall, to the left of the bath tub, across the room. | STEP 2: Pick up the box of tissue on the right. ", "output": ["STEP 3: Turn around and go to the toilet across the room, in the right corner. "]} +{"id": "trial_T20190909_075611_325782-1%3", "input": "Put a box of tissue on the back of the toilet. | STEP 1: Turn around and go to the shelf's on the wall, to the left of the bath tub, across the room. | STEP 2: Pick up the box of tissue on the right. | STEP 3: Turn around and go to the toilet across the room, in the right corner. ", "output": ["STEP 4: Place the box of tissue on the back, right side of the toilet. "]} +{"id": "trial_T20190909_075611_325782-1%4", "input": "Put a box of tissue on the back of the toilet. | STEP 1: Turn around and go to the shelf's on the wall, to the left of the bath tub, across the room. | STEP 2: Pick up the box of tissue on the right. | STEP 3: Turn around and go to the toilet across the room, in the right corner. | STEP 4: Place the box of tissue on the back, right side of the toilet. ", "output": ["END"]} +{"id": "trial_T20190907_004154_930879-1%0", "input": "Put the heated tomato on the counter next to the stove. ", "output": ["STEP 1: Move to the counter right of the stove. "]} +{"id": "trial_T20190907_004154_930879-1%1", "input": "Put the heated tomato on the counter next to the stove. | STEP 1: Move to the counter right of the stove. ", "output": ["STEP 2: Pick up the tomato from the counter."]} +{"id": "trial_T20190907_004154_930879-1%2", "input": "Put the heated tomato on the counter next to the stove. | STEP 1: Move to the counter right of the stove. | STEP 2: Pick up the tomato from the counter.", "output": ["STEP 3: Bring the tomato to the microwave."]} +{"id": "trial_T20190907_004154_930879-1%3", "input": "Put the heated tomato on the counter next to the stove. | STEP 1: Move to the counter right of the stove. | STEP 2: Pick up the tomato from the counter. | STEP 3: Bring the tomato to the microwave.", "output": ["STEP 4: Heat the tomato in the microwave. "]} +{"id": "trial_T20190907_004154_930879-1%4", "input": "Put the heated tomato on the counter next to the stove. | STEP 1: Move to the counter right of the stove. | STEP 2: Pick up the tomato from the counter. | STEP 3: Bring the tomato to the microwave. | STEP 4: Heat the tomato in the microwave. ", "output": ["STEP 5: Bring the tomato to the counter right of the stove. "]} +{"id": "trial_T20190907_004154_930879-1%5", "input": "Put the heated tomato on the counter next to the stove. | STEP 1: Move to the counter right of the stove. | STEP 2: Pick up the tomato from the counter. | STEP 3: Bring the tomato to the microwave. | STEP 4: Heat the tomato in the microwave. | STEP 5: Bring the tomato to the counter right of the stove. ", "output": ["STEP 6: Put the tomato on the counter right of the stove. "]} +{"id": "trial_T20190907_004154_930879-1%6", "input": "Put the heated tomato on the counter next to the stove. | STEP 1: Move to the counter right of the stove. | STEP 2: Pick up the tomato from the counter. | STEP 3: Bring the tomato to the microwave. | STEP 4: Heat the tomato in the microwave. | STEP 5: Bring the tomato to the counter right of the stove. | STEP 6: Put the tomato on the counter right of the stove. ", "output": ["END"]} +{"id": "trial_T20190919_014308_279954-1%0", "input": "Put a slice of washed tomato in the microwave. ", "output": ["STEP 1: Turn around and move to the counter space to the right of the stove."]} +{"id": "trial_T20190919_014308_279954-1%1", "input": "Put a slice of washed tomato in the microwave. | STEP 1: Turn around and move to the counter space to the right of the stove.", "output": ["STEP 2: Pick up the tomato from the counter."]} +{"id": "trial_T20190919_014308_279954-1%2", "input": "Put a slice of washed tomato in the microwave. | STEP 1: Turn around and move to the counter space to the right of the stove. | STEP 2: Pick up the tomato from the counter.", "output": ["STEP 3: Carry the tomato a step to the left, still facing the counter."]} +{"id": "trial_T20190919_014308_279954-1%3", "input": "Put a slice of washed tomato in the microwave. | STEP 1: Turn around and move to the counter space to the right of the stove. | STEP 2: Pick up the tomato from the counter. | STEP 3: Carry the tomato a step to the left, still facing the counter.", "output": ["STEP 4: Place the tomato on the counter."]} +{"id": "trial_T20190919_014308_279954-1%4", "input": "Put a slice of washed tomato in the microwave. | STEP 1: Turn around and move to the counter space to the right of the stove. | STEP 2: Pick up the tomato from the counter. | STEP 3: Carry the tomato a step to the left, still facing the counter. | STEP 4: Place the tomato on the counter.", "output": ["STEP 5: Pick up the sharp knife with the yellow handle from the counter."]} +{"id": "trial_T20190919_014308_279954-1%5", "input": "Put a slice of washed tomato in the microwave. | STEP 1: Turn around and move to the counter space to the right of the stove. | STEP 2: Pick up the tomato from the counter. | STEP 3: Carry the tomato a step to the left, still facing the counter. | STEP 4: Place the tomato on the counter. | STEP 5: Pick up the sharp knife with the yellow handle from the counter.", "output": ["STEP 6: Use the knife to slice the tomato."]} +{"id": "trial_T20190919_014308_279954-1%6", "input": "Put a slice of washed tomato in the microwave. | STEP 1: Turn around and move to the counter space to the right of the stove. | STEP 2: Pick up the tomato from the counter. | STEP 3: Carry the tomato a step to the left, still facing the counter. | STEP 4: Place the tomato on the counter. | STEP 5: Pick up the sharp knife with the yellow handle from the counter. | STEP 6: Use the knife to slice the tomato.", "output": ["STEP 7: Place the knife on the counter to the left of the tomato."]} +{"id": "trial_T20190919_014308_279954-1%7", "input": "Put a slice of washed tomato in the microwave. | STEP 1: Turn around and move to the counter space to the right of the stove. | STEP 2: Pick up the tomato from the counter. | STEP 3: Carry the tomato a step to the left, still facing the counter. | STEP 4: Place the tomato on the counter. | STEP 5: Pick up the sharp knife with the yellow handle from the counter. | STEP 6: Use the knife to slice the tomato. | STEP 7: Place the knife on the counter to the left of the tomato.", "output": ["STEP 8: Pick up a slice of tomato from the counter."]} +{"id": "trial_T20190919_014308_279954-1%8", "input": "Put a slice of washed tomato in the microwave. | STEP 1: Turn around and move to the counter space to the right of the stove. | STEP 2: Pick up the tomato from the counter. | STEP 3: Carry the tomato a step to the left, still facing the counter. | STEP 4: Place the tomato on the counter. | STEP 5: Pick up the sharp knife with the yellow handle from the counter. | STEP 6: Use the knife to slice the tomato. | STEP 7: Place the knife on the counter to the left of the tomato. | STEP 8: Pick up a slice of tomato from the counter.", "output": ["STEP 9: Turn left to carry the tomato slice towards the fridge, but then turn left to face the sinks just before the fridge."]} +{"id": "trial_T20190919_014308_279954-1%9", "input": "Put a slice of washed tomato in the microwave. | STEP 1: Turn around and move to the counter space to the right of the stove. | STEP 2: Pick up the tomato from the counter. | STEP 3: Carry the tomato a step to the left, still facing the counter. | STEP 4: Place the tomato on the counter. | STEP 5: Pick up the sharp knife with the yellow handle from the counter. | STEP 6: Use the knife to slice the tomato. | STEP 7: Place the knife on the counter to the left of the tomato. | STEP 8: Pick up a slice of tomato from the counter. | STEP 9: Turn left to carry the tomato slice towards the fridge, but then turn left to face the sinks just before the fridge.", "output": ["STEP 10: Place the tomato slice in the right sink, turn on the water, and then move once rinsed."]} +{"id": "trial_T20190919_014308_279954-1%10", "input": "Put a slice of washed tomato in the microwave. | STEP 1: Turn around and move to the counter space to the right of the stove. | STEP 2: Pick up the tomato from the counter. | STEP 3: Carry the tomato a step to the left, still facing the counter. | STEP 4: Place the tomato on the counter. | STEP 5: Pick up the sharp knife with the yellow handle from the counter. | STEP 6: Use the knife to slice the tomato. | STEP 7: Place the knife on the counter to the left of the tomato. | STEP 8: Pick up a slice of tomato from the counter. | STEP 9: Turn left to carry the tomato slice towards the fridge, but then turn left to face the sinks just before the fridge. | STEP 10: Place the tomato slice in the right sink, turn on the water, and then move once rinsed.", "output": ["STEP 11: Turn left and carry the tomato slice to the wall, then turn your body left to face the microwave."]} +{"id": "trial_T20190919_014308_279954-1%11", "input": "Put a slice of washed tomato in the microwave. | STEP 1: Turn around and move to the counter space to the right of the stove. | STEP 2: Pick up the tomato from the counter. | STEP 3: Carry the tomato a step to the left, still facing the counter. | STEP 4: Place the tomato on the counter. | STEP 5: Pick up the sharp knife with the yellow handle from the counter. | STEP 6: Use the knife to slice the tomato. | STEP 7: Place the knife on the counter to the left of the tomato. | STEP 8: Pick up a slice of tomato from the counter. | STEP 9: Turn left to carry the tomato slice towards the fridge, but then turn left to face the sinks just before the fridge. | STEP 10: Place the tomato slice in the right sink, turn on the water, and then move once rinsed. | STEP 11: Turn left and carry the tomato slice to the wall, then turn your body left to face the microwave.", "output": ["STEP 12: Place the tomato slice in the microwave."]} +{"id": "trial_T20190919_014308_279954-1%12", "input": "Put a slice of washed tomato in the microwave. | STEP 1: Turn around and move to the counter space to the right of the stove. | STEP 2: Pick up the tomato from the counter. | STEP 3: Carry the tomato a step to the left, still facing the counter. | STEP 4: Place the tomato on the counter. | STEP 5: Pick up the sharp knife with the yellow handle from the counter. | STEP 6: Use the knife to slice the tomato. | STEP 7: Place the knife on the counter to the left of the tomato. | STEP 8: Pick up a slice of tomato from the counter. | STEP 9: Turn left to carry the tomato slice towards the fridge, but then turn left to face the sinks just before the fridge. | STEP 10: Place the tomato slice in the right sink, turn on the water, and then move once rinsed. | STEP 11: Turn left and carry the tomato slice to the wall, then turn your body left to face the microwave. | STEP 12: Place the tomato slice in the microwave.", "output": ["END"]} +{"id": "trial_T20190919_014308_279954-2%0", "input": "Slice a tomato, wash it, and place in microwave to be heated.", "output": ["STEP 1: Turn around, take a step forward, turn left and take a step toward the table, turn right and walk toward the counter with the toaster."]} +{"id": "trial_T20190919_014308_279954-2%1", "input": "Slice a tomato, wash it, and place in microwave to be heated. | STEP 1: Turn around, take a step forward, turn left and take a step toward the table, turn right and walk toward the counter with the toaster.", "output": ["STEP 2: Pick up the tomato."]} +{"id": "trial_T20190919_014308_279954-2%2", "input": "Slice a tomato, wash it, and place in microwave to be heated. | STEP 1: Turn around, take a step forward, turn left and take a step toward the table, turn right and walk toward the counter with the toaster. | STEP 2: Pick up the tomato.", "output": ["STEP 3: Take a step to the left in front of the spoon and knife."]} +{"id": "trial_T20190919_014308_279954-2%3", "input": "Slice a tomato, wash it, and place in microwave to be heated. | STEP 1: Turn around, take a step forward, turn left and take a step toward the table, turn right and walk toward the counter with the toaster. | STEP 2: Pick up the tomato. | STEP 3: Take a step to the left in front of the spoon and knife.", "output": ["STEP 4: Put down the tomato in between the knife and the spoon."]} +{"id": "trial_T20190919_014308_279954-2%4", "input": "Slice a tomato, wash it, and place in microwave to be heated. | STEP 1: Turn around, take a step forward, turn left and take a step toward the table, turn right and walk toward the counter with the toaster. | STEP 2: Pick up the tomato. | STEP 3: Take a step to the left in front of the spoon and knife. | STEP 4: Put down the tomato in between the knife and the spoon.", "output": ["STEP 5: Pick up the knife."]} +{"id": "trial_T20190919_014308_279954-2%5", "input": "Slice a tomato, wash it, and place in microwave to be heated. | STEP 1: Turn around, take a step forward, turn left and take a step toward the table, turn right and walk toward the counter with the toaster. | STEP 2: Pick up the tomato. | STEP 3: Take a step to the left in front of the spoon and knife. | STEP 4: Put down the tomato in between the knife and the spoon. | STEP 5: Pick up the knife.", "output": ["STEP 6: Slice the tomato."]} +{"id": "trial_T20190919_014308_279954-2%6", "input": "Slice a tomato, wash it, and place in microwave to be heated. | STEP 1: Turn around, take a step forward, turn left and take a step toward the table, turn right and walk toward the counter with the toaster. | STEP 2: Pick up the tomato. | STEP 3: Take a step to the left in front of the spoon and knife. | STEP 4: Put down the tomato in between the knife and the spoon. | STEP 5: Pick up the knife. | STEP 6: Slice the tomato.", "output": ["STEP 7: Put the knife down next to the spoon."]} +{"id": "trial_T20190919_014308_279954-2%7", "input": "Slice a tomato, wash it, and place in microwave to be heated. | STEP 1: Turn around, take a step forward, turn left and take a step toward the table, turn right and walk toward the counter with the toaster. | STEP 2: Pick up the tomato. | STEP 3: Take a step to the left in front of the spoon and knife. | STEP 4: Put down the tomato in between the knife and the spoon. | STEP 5: Pick up the knife. | STEP 6: Slice the tomato. | STEP 7: Put the knife down next to the spoon.", "output": ["STEP 8: Pick up the tomato."]} +{"id": "trial_T20190919_014308_279954-2%8", "input": "Slice a tomato, wash it, and place in microwave to be heated. | STEP 1: Turn around, take a step forward, turn left and take a step toward the table, turn right and walk toward the counter with the toaster. | STEP 2: Pick up the tomato. | STEP 3: Take a step to the left in front of the spoon and knife. | STEP 4: Put down the tomato in between the knife and the spoon. | STEP 5: Pick up the knife. | STEP 6: Slice the tomato. | STEP 7: Put the knife down next to the spoon. | STEP 8: Pick up the tomato.", "output": ["STEP 9: Turn left and walk to the sink. Turn right an face the sink."]} +{"id": "trial_T20190919_014308_279954-2%9", "input": "Slice a tomato, wash it, and place in microwave to be heated. | STEP 1: Turn around, take a step forward, turn left and take a step toward the table, turn right and walk toward the counter with the toaster. | STEP 2: Pick up the tomato. | STEP 3: Take a step to the left in front of the spoon and knife. | STEP 4: Put down the tomato in between the knife and the spoon. | STEP 5: Pick up the knife. | STEP 6: Slice the tomato. | STEP 7: Put the knife down next to the spoon. | STEP 8: Pick up the tomato. | STEP 9: Turn left and walk to the sink. Turn right an face the sink.", "output": ["STEP 10: Put the tomato slice down in the right sink. Wash the tomato slice by turning the water on. After the water drains, pick up the tomato slice."]} +{"id": "trial_T20190919_014308_279954-2%10", "input": "Slice a tomato, wash it, and place in microwave to be heated. | STEP 1: Turn around, take a step forward, turn left and take a step toward the table, turn right and walk toward the counter with the toaster. | STEP 2: Pick up the tomato. | STEP 3: Take a step to the left in front of the spoon and knife. | STEP 4: Put down the tomato in between the knife and the spoon. | STEP 5: Pick up the knife. | STEP 6: Slice the tomato. | STEP 7: Put the knife down next to the spoon. | STEP 8: Pick up the tomato. | STEP 9: Turn left and walk to the sink. Turn right an face the sink. | STEP 10: Put the tomato slice down in the right sink. Wash the tomato slice by turning the water on. After the water drains, pick up the tomato slice.", "output": ["STEP 11: Turn left and walk to the wall. At the wall, turn left and face the oven. Look up at the microwave."]} +{"id": "trial_T20190919_014308_279954-2%11", "input": "Slice a tomato, wash it, and place in microwave to be heated. | STEP 1: Turn around, take a step forward, turn left and take a step toward the table, turn right and walk toward the counter with the toaster. | STEP 2: Pick up the tomato. | STEP 3: Take a step to the left in front of the spoon and knife. | STEP 4: Put down the tomato in between the knife and the spoon. | STEP 5: Pick up the knife. | STEP 6: Slice the tomato. | STEP 7: Put the knife down next to the spoon. | STEP 8: Pick up the tomato. | STEP 9: Turn left and walk to the sink. Turn right an face the sink. | STEP 10: Put the tomato slice down in the right sink. Wash the tomato slice by turning the water on. After the water drains, pick up the tomato slice. | STEP 11: Turn left and walk to the wall. At the wall, turn left and face the oven. Look up at the microwave.", "output": ["STEP 12: Put tomato slice in the microwave to the right of the apple. Close the door."]} +{"id": "trial_T20190919_014308_279954-2%12", "input": "Slice a tomato, wash it, and place in microwave to be heated. | STEP 1: Turn around, take a step forward, turn left and take a step toward the table, turn right and walk toward the counter with the toaster. | STEP 2: Pick up the tomato. | STEP 3: Take a step to the left in front of the spoon and knife. | STEP 4: Put down the tomato in between the knife and the spoon. | STEP 5: Pick up the knife. | STEP 6: Slice the tomato. | STEP 7: Put the knife down next to the spoon. | STEP 8: Pick up the tomato. | STEP 9: Turn left and walk to the sink. Turn right an face the sink. | STEP 10: Put the tomato slice down in the right sink. Wash the tomato slice by turning the water on. After the water drains, pick up the tomato slice. | STEP 11: Turn left and walk to the wall. At the wall, turn left and face the oven. Look up at the microwave. | STEP 12: Put tomato slice in the microwave to the right of the apple. Close the door.", "output": ["END"]} +{"id": "trial_T20190909_012756_976137-2%0", "input": "Put a microwaved egg on the counter by the stove.", "output": ["STEP 1: Turn and go to the counter by the stove."]} +{"id": "trial_T20190909_012756_976137-2%1", "input": "Put a microwaved egg on the counter by the stove. | STEP 1: Turn and go to the counter by the stove.", "output": ["STEP 2: Pick up an egg on the counter by the stove."]} +{"id": "trial_T20190909_012756_976137-2%2", "input": "Put a microwaved egg on the counter by the stove. | STEP 1: Turn and go to the counter by the stove. | STEP 2: Pick up an egg on the counter by the stove.", "output": ["STEP 3: Turn and go to the microwave."]} +{"id": "trial_T20190909_012756_976137-2%3", "input": "Put a microwaved egg on the counter by the stove. | STEP 1: Turn and go to the counter by the stove. | STEP 2: Pick up an egg on the counter by the stove. | STEP 3: Turn and go to the microwave.", "output": ["STEP 4: Heat the egg in the microwave. "]} +{"id": "trial_T20190909_012756_976137-2%4", "input": "Put a microwaved egg on the counter by the stove. | STEP 1: Turn and go to the counter by the stove. | STEP 2: Pick up an egg on the counter by the stove. | STEP 3: Turn and go to the microwave. | STEP 4: Heat the egg in the microwave. ", "output": ["STEP 5: Turn and go to the counter by the stove."]} +{"id": "trial_T20190909_012756_976137-2%5", "input": "Put a microwaved egg on the counter by the stove. | STEP 1: Turn and go to the counter by the stove. | STEP 2: Pick up an egg on the counter by the stove. | STEP 3: Turn and go to the microwave. | STEP 4: Heat the egg in the microwave. | STEP 5: Turn and go to the counter by the stove.", "output": ["STEP 6: Put the egg on the counter by the stove."]} +{"id": "trial_T20190909_012756_976137-2%6", "input": "Put a microwaved egg on the counter by the stove. | STEP 1: Turn and go to the counter by the stove. | STEP 2: Pick up an egg on the counter by the stove. | STEP 3: Turn and go to the microwave. | STEP 4: Heat the egg in the microwave. | STEP 5: Turn and go to the counter by the stove. | STEP 6: Put the egg on the counter by the stove.", "output": ["END"]} +{"id": "trial_T20190906_212011_892959-1%0", "input": "Place the container with the watch in it onto the table.", "output": ["STEP 1: Turn right and face the TV on the table."]} +{"id": "trial_T20190906_212011_892959-1%1", "input": "Place the container with the watch in it onto the table. | STEP 1: Turn right and face the TV on the table.", "output": ["STEP 2: Grab the watch from the table."]} +{"id": "trial_T20190906_212011_892959-1%2", "input": "Place the container with the watch in it onto the table. | STEP 1: Turn right and face the TV on the table. | STEP 2: Grab the watch from the table.", "output": ["STEP 3: Turn around and head to the shelves on the right."]} +{"id": "trial_T20190906_212011_892959-1%3", "input": "Place the container with the watch in it onto the table. | STEP 1: Turn right and face the TV on the table. | STEP 2: Grab the watch from the table. | STEP 3: Turn around and head to the shelves on the right.", "output": ["STEP 4: Place the watch in the grey container on the middle shelf."]} +{"id": "trial_T20190906_212011_892959-1%4", "input": "Place the container with the watch in it onto the table. | STEP 1: Turn right and face the TV on the table. | STEP 2: Grab the watch from the table. | STEP 3: Turn around and head to the shelves on the right. | STEP 4: Place the watch in the grey container on the middle shelf.", "output": ["STEP 5: Grab the container that has the watch in it."]} +{"id": "trial_T20190906_212011_892959-1%5", "input": "Place the container with the watch in it onto the table. | STEP 1: Turn right and face the TV on the table. | STEP 2: Grab the watch from the table. | STEP 3: Turn around and head to the shelves on the right. | STEP 4: Place the watch in the grey container on the middle shelf. | STEP 5: Grab the container that has the watch in it.", "output": ["STEP 6: Turn around and head to the table in the middle of the room."]} +{"id": "trial_T20190906_212011_892959-1%6", "input": "Place the container with the watch in it onto the table. | STEP 1: Turn right and face the TV on the table. | STEP 2: Grab the watch from the table. | STEP 3: Turn around and head to the shelves on the right. | STEP 4: Place the watch in the grey container on the middle shelf. | STEP 5: Grab the container that has the watch in it. | STEP 6: Turn around and head to the table in the middle of the room.", "output": ["STEP 7: Place the container on the table."]} +{"id": "trial_T20190906_212011_892959-1%7", "input": "Place the container with the watch in it onto the table. | STEP 1: Turn right and face the TV on the table. | STEP 2: Grab the watch from the table. | STEP 3: Turn around and head to the shelves on the right. | STEP 4: Place the watch in the grey container on the middle shelf. | STEP 5: Grab the container that has the watch in it. | STEP 6: Turn around and head to the table in the middle of the room. | STEP 7: Place the container on the table.", "output": ["END"]} +{"id": "trial_T20190908_194103_462677-0%0", "input": "put a cooked apple on a kitchen counter top", "output": ["STEP 1: walk through the kitchen to face the small grey dining table"]} +{"id": "trial_T20190908_194103_462677-0%1", "input": "put a cooked apple on a kitchen counter top | STEP 1: walk through the kitchen to face the small grey dining table", "output": ["STEP 2: pick up the red apple on the left from the table"]} +{"id": "trial_T20190908_194103_462677-0%2", "input": "put a cooked apple on a kitchen counter top | STEP 1: walk through the kitchen to face the small grey dining table | STEP 2: pick up the red apple on the left from the table", "output": ["STEP 3: walk to face the stove and microwave"]} +{"id": "trial_T20190908_194103_462677-0%3", "input": "put a cooked apple on a kitchen counter top | STEP 1: walk through the kitchen to face the small grey dining table | STEP 2: pick up the red apple on the left from the table | STEP 3: walk to face the stove and microwave", "output": ["STEP 4: cook the apple in the microwave, pick up the apple from the microwave"]} +{"id": "trial_T20190908_194103_462677-0%4", "input": "put a cooked apple on a kitchen counter top | STEP 1: walk through the kitchen to face the small grey dining table | STEP 2: pick up the red apple on the left from the table | STEP 3: walk to face the stove and microwave | STEP 4: cook the apple in the microwave, pick up the apple from the microwave", "output": ["STEP 5: turn around to face the coffee maker"]} +{"id": "trial_T20190908_194103_462677-0%5", "input": "put a cooked apple on a kitchen counter top | STEP 1: walk through the kitchen to face the small grey dining table | STEP 2: pick up the red apple on the left from the table | STEP 3: walk to face the stove and microwave | STEP 4: cook the apple in the microwave, pick up the apple from the microwave | STEP 5: turn around to face the coffee maker", "output": ["STEP 6: put the apple on the counter in front of the coffee maker"]} +{"id": "trial_T20190908_194103_462677-0%6", "input": "put a cooked apple on a kitchen counter top | STEP 1: walk through the kitchen to face the small grey dining table | STEP 2: pick up the red apple on the left from the table | STEP 3: walk to face the stove and microwave | STEP 4: cook the apple in the microwave, pick up the apple from the microwave | STEP 5: turn around to face the coffee maker | STEP 6: put the apple on the counter in front of the coffee maker", "output": ["END"]} +{"id": "trial_T20190908_194103_462677-2%0", "input": "Heat an apple in the microwave. ", "output": ["STEP 1: Turn around and walk to the left and go forward to the table. "]} +{"id": "trial_T20190908_194103_462677-2%1", "input": "Heat an apple in the microwave. | STEP 1: Turn around and walk to the left and go forward to the table. ", "output": ["STEP 2: Pick up the apple from the table. "]} +{"id": "trial_T20190908_194103_462677-2%2", "input": "Heat an apple in the microwave. | STEP 1: Turn around and walk to the left and go forward to the table. | STEP 2: Pick up the apple from the table. ", "output": ["STEP 3: Turn around completely and go to the left. Go forward. Turn to the left and face the microwave. "]} +{"id": "trial_T20190908_194103_462677-2%3", "input": "Heat an apple in the microwave. | STEP 1: Turn around and walk to the left and go forward to the table. | STEP 2: Pick up the apple from the table. | STEP 3: Turn around completely and go to the left. Go forward. Turn to the left and face the microwave. ", "output": ["STEP 4: Place the apple inside the microwave and heat the apple. Take out the apple. "]} +{"id": "trial_T20190908_194103_462677-2%4", "input": "Heat an apple in the microwave. | STEP 1: Turn around and walk to the left and go forward to the table. | STEP 2: Pick up the apple from the table. | STEP 3: Turn around completely and go to the left. Go forward. Turn to the left and face the microwave. | STEP 4: Place the apple inside the microwave and heat the apple. Take out the apple. ", "output": ["STEP 5: Turn around and walk to the other counter. "]} +{"id": "trial_T20190908_194103_462677-2%5", "input": "Heat an apple in the microwave. | STEP 1: Turn around and walk to the left and go forward to the table. | STEP 2: Pick up the apple from the table. | STEP 3: Turn around completely and go to the left. Go forward. Turn to the left and face the microwave. | STEP 4: Place the apple inside the microwave and heat the apple. Take out the apple. | STEP 5: Turn around and walk to the other counter. ", "output": ["STEP 6: Place the apple on the counter. "]} +{"id": "trial_T20190908_194103_462677-2%6", "input": "Heat an apple in the microwave. | STEP 1: Turn around and walk to the left and go forward to the table. | STEP 2: Pick up the apple from the table. | STEP 3: Turn around completely and go to the left. Go forward. Turn to the left and face the microwave. | STEP 4: Place the apple inside the microwave and heat the apple. Take out the apple. | STEP 5: Turn around and walk to the other counter. | STEP 6: Place the apple on the counter. ", "output": ["END"]} +{"id": "trial_T20190908_115547_009679-1%0", "input": "Take out the seasoning and place it on the counter.", "output": ["STEP 1: Turn around and head to the counter to your left"]} +{"id": "trial_T20190908_115547_009679-1%1", "input": "Take out the seasoning and place it on the counter. | STEP 1: Turn around and head to the counter to your left", "output": ["STEP 2: Open the cabinet and pick up the seasoning in it"]} +{"id": "trial_T20190908_115547_009679-1%2", "input": "Take out the seasoning and place it on the counter. | STEP 1: Turn around and head to the counter to your left | STEP 2: Open the cabinet and pick up the seasoning in it", "output": ["STEP 3: Go to the end of the brown counter next to the knife"]} +{"id": "trial_T20190908_115547_009679-1%3", "input": "Take out the seasoning and place it on the counter. | STEP 1: Turn around and head to the counter to your left | STEP 2: Open the cabinet and pick up the seasoning in it | STEP 3: Go to the end of the brown counter next to the knife", "output": ["STEP 4: Put the seasoning down by the knife"]} +{"id": "trial_T20190908_115547_009679-1%4", "input": "Take out the seasoning and place it on the counter. | STEP 1: Turn around and head to the counter to your left | STEP 2: Open the cabinet and pick up the seasoning in it | STEP 3: Go to the end of the brown counter next to the knife | STEP 4: Put the seasoning down by the knife", "output": ["STEP 5: Turn around and walk to the end of the white cabinets "]} +{"id": "trial_T20190908_115547_009679-1%5", "input": "Take out the seasoning and place it on the counter. | STEP 1: Turn around and head to the counter to your left | STEP 2: Open the cabinet and pick up the seasoning in it | STEP 3: Go to the end of the brown counter next to the knife | STEP 4: Put the seasoning down by the knife | STEP 5: Turn around and walk to the end of the white cabinets ", "output": ["STEP 6: Open the bottom white cabinet on the bottom"]} +{"id": "trial_T20190908_115547_009679-1%6", "input": "Take out the seasoning and place it on the counter. | STEP 1: Turn around and head to the counter to your left | STEP 2: Open the cabinet and pick up the seasoning in it | STEP 3: Go to the end of the brown counter next to the knife | STEP 4: Put the seasoning down by the knife | STEP 5: Turn around and walk to the end of the white cabinets | STEP 6: Open the bottom white cabinet on the bottom", "output": ["STEP 7: Turn around and walk to the end of the brown cabinet to your left"]} +{"id": "trial_T20190908_115547_009679-1%7", "input": "Take out the seasoning and place it on the counter. | STEP 1: Turn around and head to the counter to your left | STEP 2: Open the cabinet and pick up the seasoning in it | STEP 3: Go to the end of the brown counter next to the knife | STEP 4: Put the seasoning down by the knife | STEP 5: Turn around and walk to the end of the white cabinets | STEP 6: Open the bottom white cabinet on the bottom | STEP 7: Turn around and walk to the end of the brown cabinet to your left", "output": ["STEP 8: Put the seasoning down next to the other seasoning"]} +{"id": "trial_T20190908_115547_009679-1%8", "input": "Take out the seasoning and place it on the counter. | STEP 1: Turn around and head to the counter to your left | STEP 2: Open the cabinet and pick up the seasoning in it | STEP 3: Go to the end of the brown counter next to the knife | STEP 4: Put the seasoning down by the knife | STEP 5: Turn around and walk to the end of the white cabinets | STEP 6: Open the bottom white cabinet on the bottom | STEP 7: Turn around and walk to the end of the brown cabinet to your left | STEP 8: Put the seasoning down next to the other seasoning", "output": ["END"]} +{"id": "trial_T20190910_080020_894539-1%0", "input": "Put two credit cards on a brown table", "output": ["STEP 1: Turn left, turn left, walk straight to the brown desk"]} +{"id": "trial_T20190910_080020_894539-1%1", "input": "Put two credit cards on a brown table | STEP 1: Turn left, turn left, walk straight to the brown desk", "output": ["STEP 2: Pick up the credit card on top of the desk"]} +{"id": "trial_T20190910_080020_894539-1%2", "input": "Put two credit cards on a brown table | STEP 1: Turn left, turn left, walk straight to the brown desk | STEP 2: Pick up the credit card on top of the desk", "output": ["STEP 3: Turn left, turn left, walk straight, turn right, walk straight to the brown table with a laptop on top"]} +{"id": "trial_T20190910_080020_894539-1%3", "input": "Put two credit cards on a brown table | STEP 1: Turn left, turn left, walk straight to the brown desk | STEP 2: Pick up the credit card on top of the desk | STEP 3: Turn left, turn left, walk straight, turn right, walk straight to the brown table with a laptop on top", "output": ["STEP 4: Put the credit card on top of the table"]} +{"id": "trial_T20190910_080020_894539-1%4", "input": "Put two credit cards on a brown table | STEP 1: Turn left, turn left, walk straight to the brown desk | STEP 2: Pick up the credit card on top of the desk | STEP 3: Turn left, turn left, walk straight, turn right, walk straight to the brown table with a laptop on top | STEP 4: Put the credit card on top of the table", "output": ["STEP 5: Turn right, walk straight, turn right to the brown sofa"]} +{"id": "trial_T20190910_080020_894539-1%5", "input": "Put two credit cards on a brown table | STEP 1: Turn left, turn left, walk straight to the brown desk | STEP 2: Pick up the credit card on top of the desk | STEP 3: Turn left, turn left, walk straight, turn right, walk straight to the brown table with a laptop on top | STEP 4: Put the credit card on top of the table | STEP 5: Turn right, walk straight, turn right to the brown sofa", "output": ["STEP 6: Pick up the credit card on top of the sofa"]} +{"id": "trial_T20190910_080020_894539-1%6", "input": "Put two credit cards on a brown table | STEP 1: Turn left, turn left, walk straight to the brown desk | STEP 2: Pick up the credit card on top of the desk | STEP 3: Turn left, turn left, walk straight, turn right, walk straight to the brown table with a laptop on top | STEP 4: Put the credit card on top of the table | STEP 5: Turn right, walk straight, turn right to the brown sofa | STEP 6: Pick up the credit card on top of the sofa", "output": ["STEP 7: Turn right, walk straight, turn right to the brown table"]} +{"id": "trial_T20190910_080020_894539-1%7", "input": "Put two credit cards on a brown table | STEP 1: Turn left, turn left, walk straight to the brown desk | STEP 2: Pick up the credit card on top of the desk | STEP 3: Turn left, turn left, walk straight, turn right, walk straight to the brown table with a laptop on top | STEP 4: Put the credit card on top of the table | STEP 5: Turn right, walk straight, turn right to the brown sofa | STEP 6: Pick up the credit card on top of the sofa | STEP 7: Turn right, walk straight, turn right to the brown table", "output": ["STEP 8: Put the credit card on top of the table"]} +{"id": "trial_T20190910_080020_894539-1%8", "input": "Put two credit cards on a brown table | STEP 1: Turn left, turn left, walk straight to the brown desk | STEP 2: Pick up the credit card on top of the desk | STEP 3: Turn left, turn left, walk straight, turn right, walk straight to the brown table with a laptop on top | STEP 4: Put the credit card on top of the table | STEP 5: Turn right, walk straight, turn right to the brown sofa | STEP 6: Pick up the credit card on top of the sofa | STEP 7: Turn right, walk straight, turn right to the brown table | STEP 8: Put the credit card on top of the table", "output": ["END"]} +{"id": "trial_T20190907_234738_410608-0%0", "input": "Place the clean mug in to the coffee maker.", "output": ["STEP 1: Turn around, go straight, turn right before the refrigerator to face the coffee machine."]} +{"id": "trial_T20190907_234738_410608-0%1", "input": "Place the clean mug in to the coffee maker. | STEP 1: Turn around, go straight, turn right before the refrigerator to face the coffee machine.", "output": ["STEP 2: Pick up the white coffee mug from off of the coffee maker."]} +{"id": "trial_T20190907_234738_410608-0%2", "input": "Place the clean mug in to the coffee maker. | STEP 1: Turn around, go straight, turn right before the refrigerator to face the coffee machine. | STEP 2: Pick up the white coffee mug from off of the coffee maker.", "output": ["STEP 3: Move to the right to face the sink."]} +{"id": "trial_T20190907_234738_410608-0%3", "input": "Place the clean mug in to the coffee maker. | STEP 1: Turn around, go straight, turn right before the refrigerator to face the coffee machine. | STEP 2: Pick up the white coffee mug from off of the coffee maker. | STEP 3: Move to the right to face the sink.", "output": ["STEP 4: Place the mug in the sink, turn on the water, and pick up the mug."]} +{"id": "trial_T20190907_234738_410608-0%4", "input": "Place the clean mug in to the coffee maker. | STEP 1: Turn around, go straight, turn right before the refrigerator to face the coffee machine. | STEP 2: Pick up the white coffee mug from off of the coffee maker. | STEP 3: Move to the right to face the sink. | STEP 4: Place the mug in the sink, turn on the water, and pick up the mug.", "output": ["STEP 5: Move to the left to face the coffee maker again."]} +{"id": "trial_T20190907_234738_410608-0%5", "input": "Place the clean mug in to the coffee maker. | STEP 1: Turn around, go straight, turn right before the refrigerator to face the coffee machine. | STEP 2: Pick up the white coffee mug from off of the coffee maker. | STEP 3: Move to the right to face the sink. | STEP 4: Place the mug in the sink, turn on the water, and pick up the mug. | STEP 5: Move to the left to face the coffee maker again.", "output": ["STEP 6: Place the mug in to the coffee maker."]} +{"id": "trial_T20190907_234738_410608-0%6", "input": "Place the clean mug in to the coffee maker. | STEP 1: Turn around, go straight, turn right before the refrigerator to face the coffee machine. | STEP 2: Pick up the white coffee mug from off of the coffee maker. | STEP 3: Move to the right to face the sink. | STEP 4: Place the mug in the sink, turn on the water, and pick up the mug. | STEP 5: Move to the left to face the coffee maker again. | STEP 6: Place the mug in to the coffee maker.", "output": ["END"]} +{"id": "trial_T20190907_153115_708877-2%0", "input": "Hold a set of keys while turning on a lamp", "output": ["STEP 1: Move across the room to the round wooden table where the keys are"]} +{"id": "trial_T20190907_153115_708877-2%1", "input": "Hold a set of keys while turning on a lamp | STEP 1: Move across the room to the round wooden table where the keys are", "output": ["STEP 2: Pick up the keys that are sitting on top of the table"]} +{"id": "trial_T20190907_153115_708877-2%2", "input": "Hold a set of keys while turning on a lamp | STEP 1: Move across the room to the round wooden table where the keys are | STEP 2: Pick up the keys that are sitting on top of the table", "output": ["STEP 3: Carry the keys to the floor lamp that is to the right of the white door"]} +{"id": "trial_T20190907_153115_708877-2%3", "input": "Hold a set of keys while turning on a lamp | STEP 1: Move across the room to the round wooden table where the keys are | STEP 2: Pick up the keys that are sitting on top of the table | STEP 3: Carry the keys to the floor lamp that is to the right of the white door", "output": ["STEP 4: Turn on the lamp while holding the keys"]} +{"id": "trial_T20190907_153115_708877-2%4", "input": "Hold a set of keys while turning on a lamp | STEP 1: Move across the room to the round wooden table where the keys are | STEP 2: Pick up the keys that are sitting on top of the table | STEP 3: Carry the keys to the floor lamp that is to the right of the white door | STEP 4: Turn on the lamp while holding the keys", "output": ["END"]} +{"id": "trial_T20190909_042645_813970-0%0", "input": "examine a blue lid with the lamp", "output": ["STEP 1: turn right to face the shelves"]} +{"id": "trial_T20190909_042645_813970-0%1", "input": "examine a blue lid with the lamp | STEP 1: turn right to face the shelves", "output": ["STEP 2: pick up the blue lid that is on the shelf"]} +{"id": "trial_T20190909_042645_813970-0%2", "input": "examine a blue lid with the lamp | STEP 1: turn right to face the shelves | STEP 2: pick up the blue lid that is on the shelf", "output": ["STEP 3: turn right, walk forward, turn right, walk across room, turn left to face small table"]} +{"id": "trial_T20190909_042645_813970-0%3", "input": "examine a blue lid with the lamp | STEP 1: turn right to face the shelves | STEP 2: pick up the blue lid that is on the shelf | STEP 3: turn right, walk forward, turn right, walk across room, turn left to face small table", "output": ["STEP 4: turn on the lamp"]} +{"id": "trial_T20190909_042645_813970-0%4", "input": "examine a blue lid with the lamp | STEP 1: turn right to face the shelves | STEP 2: pick up the blue lid that is on the shelf | STEP 3: turn right, walk forward, turn right, walk across room, turn left to face small table | STEP 4: turn on the lamp", "output": ["END"]} +{"id": "trial_T20190909_042645_813970-2%0", "input": "Look at the blue bottle under the light.", "output": ["STEP 1: Turn right to the front of the black shelf. "]} +{"id": "trial_T20190909_042645_813970-2%1", "input": "Look at the blue bottle under the light. | STEP 1: Turn right to the front of the black shelf. ", "output": ["STEP 2: Pick up the blue bottle on the second shelf from the bottle. "]} +{"id": "trial_T20190909_042645_813970-2%2", "input": "Look at the blue bottle under the light. | STEP 1: Turn right to the front of the black shelf. | STEP 2: Pick up the blue bottle on the second shelf from the bottle. ", "output": ["STEP 3: Turn around and go past the sofa to the brown round end table with a lamp on top. "]} +{"id": "trial_T20190909_042645_813970-2%3", "input": "Look at the blue bottle under the light. | STEP 1: Turn right to the front of the black shelf. | STEP 2: Pick up the blue bottle on the second shelf from the bottle. | STEP 3: Turn around and go past the sofa to the brown round end table with a lamp on top. ", "output": ["STEP 4: Turn on the lamp on the table."]} +{"id": "trial_T20190909_042645_813970-2%4", "input": "Look at the blue bottle under the light. | STEP 1: Turn right to the front of the black shelf. | STEP 2: Pick up the blue bottle on the second shelf from the bottle. | STEP 3: Turn around and go past the sofa to the brown round end table with a lamp on top. | STEP 4: Turn on the lamp on the table.", "output": ["END"]} +{"id": "trial_T20190919_044347_724820-0%0", "input": "Get the salt shakers to put on the counter.", "output": ["STEP 1: Turn right to face the counter and look down."]} +{"id": "trial_T20190919_044347_724820-0%1", "input": "Get the salt shakers to put on the counter. | STEP 1: Turn right to face the counter and look down.", "output": ["STEP 2: Open the cabinet and pick up the salt shaker on the right then close the cabinet."]} +{"id": "trial_T20190919_044347_724820-0%2", "input": "Get the salt shakers to put on the counter. | STEP 1: Turn right to face the counter and look down. | STEP 2: Open the cabinet and pick up the salt shaker on the right then close the cabinet.", "output": ["STEP 3: Look up then turn right and take two steps, then turn to the left to face the counter."]} +{"id": "trial_T20190919_044347_724820-0%3", "input": "Get the salt shakers to put on the counter. | STEP 1: Turn right to face the counter and look down. | STEP 2: Open the cabinet and pick up the salt shaker on the right then close the cabinet. | STEP 3: Look up then turn right and take two steps, then turn to the left to face the counter.", "output": ["STEP 4: Put the salt shaker on the counter to the right of the stove."]} +{"id": "trial_T20190919_044347_724820-0%4", "input": "Get the salt shakers to put on the counter. | STEP 1: Turn right to face the counter and look down. | STEP 2: Open the cabinet and pick up the salt shaker on the right then close the cabinet. | STEP 3: Look up then turn right and take two steps, then turn to the left to face the counter. | STEP 4: Put the salt shaker on the counter to the right of the stove.", "output": ["STEP 5: Turn left and take two steps, then turn to the right and look down."]} +{"id": "trial_T20190919_044347_724820-0%5", "input": "Get the salt shakers to put on the counter. | STEP 1: Turn right to face the counter and look down. | STEP 2: Open the cabinet and pick up the salt shaker on the right then close the cabinet. | STEP 3: Look up then turn right and take two steps, then turn to the left to face the counter. | STEP 4: Put the salt shaker on the counter to the right of the stove. | STEP 5: Turn left and take two steps, then turn to the right and look down.", "output": ["STEP 6: Open the cabinet and pick up the salt shaker that is inside. "]} +{"id": "trial_T20190919_044347_724820-0%6", "input": "Get the salt shakers to put on the counter. | STEP 1: Turn right to face the counter and look down. | STEP 2: Open the cabinet and pick up the salt shaker on the right then close the cabinet. | STEP 3: Look up then turn right and take two steps, then turn to the left to face the counter. | STEP 4: Put the salt shaker on the counter to the right of the stove. | STEP 5: Turn left and take two steps, then turn to the right and look down. | STEP 6: Open the cabinet and pick up the salt shaker that is inside. ", "output": ["STEP 7: Look up then turn right and take two steps, then turn to the left to face the counter."]} +{"id": "trial_T20190919_044347_724820-0%7", "input": "Get the salt shakers to put on the counter. | STEP 1: Turn right to face the counter and look down. | STEP 2: Open the cabinet and pick up the salt shaker on the right then close the cabinet. | STEP 3: Look up then turn right and take two steps, then turn to the left to face the counter. | STEP 4: Put the salt shaker on the counter to the right of the stove. | STEP 5: Turn left and take two steps, then turn to the right and look down. | STEP 6: Open the cabinet and pick up the salt shaker that is inside. | STEP 7: Look up then turn right and take two steps, then turn to the left to face the counter.", "output": ["STEP 8: Put the salt shaker down on the right side of the counter."]} +{"id": "trial_T20190919_044347_724820-0%8", "input": "Get the salt shakers to put on the counter. | STEP 1: Turn right to face the counter and look down. | STEP 2: Open the cabinet and pick up the salt shaker on the right then close the cabinet. | STEP 3: Look up then turn right and take two steps, then turn to the left to face the counter. | STEP 4: Put the salt shaker on the counter to the right of the stove. | STEP 5: Turn left and take two steps, then turn to the right and look down. | STEP 6: Open the cabinet and pick up the salt shaker that is inside. | STEP 7: Look up then turn right and take two steps, then turn to the left to face the counter. | STEP 8: Put the salt shaker down on the right side of the counter.", "output": ["END"]} +{"id": "trial_T20190919_044347_724820-2%0", "input": "put two salt shakers on a counter", "output": ["STEP 1: turn to face the stove and counter top to the left of the stove"]} +{"id": "trial_T20190919_044347_724820-2%1", "input": "put two salt shakers on a counter | STEP 1: turn to face the stove and counter top to the left of the stove", "output": ["STEP 2: open the left cabinet door below the counter, pick up the left salt shaker, close the door"]} +{"id": "trial_T20190919_044347_724820-2%2", "input": "put two salt shakers on a counter | STEP 1: turn to face the stove and counter top to the left of the stove | STEP 2: open the left cabinet door below the counter, pick up the left salt shaker, close the door", "output": ["STEP 3: walk right to the counter on the right of the stove"]} +{"id": "trial_T20190919_044347_724820-2%3", "input": "put two salt shakers on a counter | STEP 1: turn to face the stove and counter top to the left of the stove | STEP 2: open the left cabinet door below the counter, pick up the left salt shaker, close the door | STEP 3: walk right to the counter on the right of the stove", "output": ["STEP 4: put the salt shaker on the counter"]} +{"id": "trial_T20190919_044347_724820-2%4", "input": "put two salt shakers on a counter | STEP 1: turn to face the stove and counter top to the left of the stove | STEP 2: open the left cabinet door below the counter, pick up the left salt shaker, close the door | STEP 3: walk right to the counter on the right of the stove | STEP 4: put the salt shaker on the counter", "output": ["STEP 5: turn left, walk to face the stove and counter top to the left of the stove"]} +{"id": "trial_T20190919_044347_724820-2%5", "input": "put two salt shakers on a counter | STEP 1: turn to face the stove and counter top to the left of the stove | STEP 2: open the left cabinet door below the counter, pick up the left salt shaker, close the door | STEP 3: walk right to the counter on the right of the stove | STEP 4: put the salt shaker on the counter | STEP 5: turn left, walk to face the stove and counter top to the left of the stove", "output": ["STEP 6: open the left cabinet door below the counter, pick up the salt shaker, close the door"]} +{"id": "trial_T20190919_044347_724820-2%6", "input": "put two salt shakers on a counter | STEP 1: turn to face the stove and counter top to the left of the stove | STEP 2: open the left cabinet door below the counter, pick up the left salt shaker, close the door | STEP 3: walk right to the counter on the right of the stove | STEP 4: put the salt shaker on the counter | STEP 5: turn left, walk to face the stove and counter top to the left of the stove | STEP 6: open the left cabinet door below the counter, pick up the salt shaker, close the door", "output": ["STEP 7: walk right to the counter on the right of the stove"]} +{"id": "trial_T20190919_044347_724820-2%7", "input": "put two salt shakers on a counter | STEP 1: turn to face the stove and counter top to the left of the stove | STEP 2: open the left cabinet door below the counter, pick up the left salt shaker, close the door | STEP 3: walk right to the counter on the right of the stove | STEP 4: put the salt shaker on the counter | STEP 5: turn left, walk to face the stove and counter top to the left of the stove | STEP 6: open the left cabinet door below the counter, pick up the salt shaker, close the door | STEP 7: walk right to the counter on the right of the stove", "output": ["STEP 8: put the salt shaker on the right of the counter"]} +{"id": "trial_T20190919_044347_724820-2%8", "input": "put two salt shakers on a counter | STEP 1: turn to face the stove and counter top to the left of the stove | STEP 2: open the left cabinet door below the counter, pick up the left salt shaker, close the door | STEP 3: walk right to the counter on the right of the stove | STEP 4: put the salt shaker on the counter | STEP 5: turn left, walk to face the stove and counter top to the left of the stove | STEP 6: open the left cabinet door below the counter, pick up the salt shaker, close the door | STEP 7: walk right to the counter on the right of the stove | STEP 8: put the salt shaker on the right of the counter", "output": ["END"]} +{"id": "trial_T20190908_121824_636387-1%0", "input": "Chill a piece of diced lettuce, put it back on the counter in front of a tomato.", "output": ["STEP 1: Turn left and walk toward the end of the counter, then turn left to face it."]} +{"id": "trial_T20190908_121824_636387-1%1", "input": "Chill a piece of diced lettuce, put it back on the counter in front of a tomato. | STEP 1: Turn left and walk toward the end of the counter, then turn left to face it.", "output": ["STEP 2: Pick up the knife from the counter."]} +{"id": "trial_T20190908_121824_636387-1%2", "input": "Chill a piece of diced lettuce, put it back on the counter in front of a tomato. | STEP 1: Turn left and walk toward the end of the counter, then turn left to face it. | STEP 2: Pick up the knife from the counter.", "output": ["STEP 3: Look up and face the piece of lettuce by the pot."]} +{"id": "trial_T20190908_121824_636387-1%3", "input": "Chill a piece of diced lettuce, put it back on the counter in front of a tomato. | STEP 1: Turn left and walk toward the end of the counter, then turn left to face it. | STEP 2: Pick up the knife from the counter. | STEP 3: Look up and face the piece of lettuce by the pot.", "output": ["STEP 4: Dice up the lettuce with the knife."]} +{"id": "trial_T20190908_121824_636387-1%4", "input": "Chill a piece of diced lettuce, put it back on the counter in front of a tomato. | STEP 1: Turn left and walk toward the end of the counter, then turn left to face it. | STEP 2: Pick up the knife from the counter. | STEP 3: Look up and face the piece of lettuce by the pot. | STEP 4: Dice up the lettuce with the knife.", "output": ["STEP 5: Turn around, walk one step forward then turn back around to face the counter."]} +{"id": "trial_T20190908_121824_636387-1%5", "input": "Chill a piece of diced lettuce, put it back on the counter in front of a tomato. | STEP 1: Turn left and walk toward the end of the counter, then turn left to face it. | STEP 2: Pick up the knife from the counter. | STEP 3: Look up and face the piece of lettuce by the pot. | STEP 4: Dice up the lettuce with the knife. | STEP 5: Turn around, walk one step forward then turn back around to face the counter.", "output": ["STEP 6: Put the knife down on the counter in the same spot it was before."]} +{"id": "trial_T20190908_121824_636387-1%6", "input": "Chill a piece of diced lettuce, put it back on the counter in front of a tomato. | STEP 1: Turn left and walk toward the end of the counter, then turn left to face it. | STEP 2: Pick up the knife from the counter. | STEP 3: Look up and face the piece of lettuce by the pot. | STEP 4: Dice up the lettuce with the knife. | STEP 5: Turn around, walk one step forward then turn back around to face the counter. | STEP 6: Put the knife down on the counter in the same spot it was before.", "output": ["STEP 7: Walk one step forward to the counter."]} +{"id": "trial_T20190908_121824_636387-1%7", "input": "Chill a piece of diced lettuce, put it back on the counter in front of a tomato. | STEP 1: Turn left and walk toward the end of the counter, then turn left to face it. | STEP 2: Pick up the knife from the counter. | STEP 3: Look up and face the piece of lettuce by the pot. | STEP 4: Dice up the lettuce with the knife. | STEP 5: Turn around, walk one step forward then turn back around to face the counter. | STEP 6: Put the knife down on the counter in the same spot it was before. | STEP 7: Walk one step forward to the counter.", "output": ["STEP 8: Pick up the closest piece of diced lettuce."]} +{"id": "trial_T20190908_121824_636387-1%8", "input": "Chill a piece of diced lettuce, put it back on the counter in front of a tomato. | STEP 1: Turn left and walk toward the end of the counter, then turn left to face it. | STEP 2: Pick up the knife from the counter. | STEP 3: Look up and face the piece of lettuce by the pot. | STEP 4: Dice up the lettuce with the knife. | STEP 5: Turn around, walk one step forward then turn back around to face the counter. | STEP 6: Put the knife down on the counter in the same spot it was before. | STEP 7: Walk one step forward to the counter. | STEP 8: Pick up the closest piece of diced lettuce.", "output": ["STEP 9: Turn left, walk two steps forward then turn right and to face the black refrigerator."]} +{"id": "trial_T20190908_121824_636387-1%9", "input": "Chill a piece of diced lettuce, put it back on the counter in front of a tomato. | STEP 1: Turn left and walk toward the end of the counter, then turn left to face it. | STEP 2: Pick up the knife from the counter. | STEP 3: Look up and face the piece of lettuce by the pot. | STEP 4: Dice up the lettuce with the knife. | STEP 5: Turn around, walk one step forward then turn back around to face the counter. | STEP 6: Put the knife down on the counter in the same spot it was before. | STEP 7: Walk one step forward to the counter. | STEP 8: Pick up the closest piece of diced lettuce. | STEP 9: Turn left, walk two steps forward then turn right and to face the black refrigerator.", "output": ["STEP 10: Open the fridge, put the lettuce inside and close. The open the fridge, take the slice out and close it."]} +{"id": "trial_T20190908_121824_636387-1%10", "input": "Chill a piece of diced lettuce, put it back on the counter in front of a tomato. | STEP 1: Turn left and walk toward the end of the counter, then turn left to face it. | STEP 2: Pick up the knife from the counter. | STEP 3: Look up and face the piece of lettuce by the pot. | STEP 4: Dice up the lettuce with the knife. | STEP 5: Turn around, walk one step forward then turn back around to face the counter. | STEP 6: Put the knife down on the counter in the same spot it was before. | STEP 7: Walk one step forward to the counter. | STEP 8: Pick up the closest piece of diced lettuce. | STEP 9: Turn left, walk two steps forward then turn right and to face the black refrigerator. | STEP 10: Open the fridge, put the lettuce inside and close. The open the fridge, take the slice out and close it.", "output": ["STEP 11: Turn right, walk two steps forward and turn right to face the counter."]} +{"id": "trial_T20190908_121824_636387-1%11", "input": "Chill a piece of diced lettuce, put it back on the counter in front of a tomato. | STEP 1: Turn left and walk toward the end of the counter, then turn left to face it. | STEP 2: Pick up the knife from the counter. | STEP 3: Look up and face the piece of lettuce by the pot. | STEP 4: Dice up the lettuce with the knife. | STEP 5: Turn around, walk one step forward then turn back around to face the counter. | STEP 6: Put the knife down on the counter in the same spot it was before. | STEP 7: Walk one step forward to the counter. | STEP 8: Pick up the closest piece of diced lettuce. | STEP 9: Turn left, walk two steps forward then turn right and to face the black refrigerator. | STEP 10: Open the fridge, put the lettuce inside and close. The open the fridge, take the slice out and close it. | STEP 11: Turn right, walk two steps forward and turn right to face the counter.", "output": ["STEP 12: Put the lettuce slice so it is resting on the front of the tomato."]} +{"id": "trial_T20190908_121824_636387-1%12", "input": "Chill a piece of diced lettuce, put it back on the counter in front of a tomato. | STEP 1: Turn left and walk toward the end of the counter, then turn left to face it. | STEP 2: Pick up the knife from the counter. | STEP 3: Look up and face the piece of lettuce by the pot. | STEP 4: Dice up the lettuce with the knife. | STEP 5: Turn around, walk one step forward then turn back around to face the counter. | STEP 6: Put the knife down on the counter in the same spot it was before. | STEP 7: Walk one step forward to the counter. | STEP 8: Pick up the closest piece of diced lettuce. | STEP 9: Turn left, walk two steps forward then turn right and to face the black refrigerator. | STEP 10: Open the fridge, put the lettuce inside and close. The open the fridge, take the slice out and close it. | STEP 11: Turn right, walk two steps forward and turn right to face the counter. | STEP 12: Put the lettuce slice so it is resting on the front of the tomato.", "output": ["END"]} +{"id": "trial_T20190908_081004_973395-0%0", "input": "Place a warm slice of bread on the counter. ", "output": ["STEP 1: Turn to the left and walk over to the stove top. "]} +{"id": "trial_T20190908_081004_973395-0%1", "input": "Place a warm slice of bread on the counter. | STEP 1: Turn to the left and walk over to the stove top. ", "output": ["STEP 2: Grab the yellow-handled knife from the the front left side of the stove. "]} +{"id": "trial_T20190908_081004_973395-0%2", "input": "Place a warm slice of bread on the counter. | STEP 1: Turn to the left and walk over to the stove top. | STEP 2: Grab the yellow-handled knife from the the front left side of the stove. ", "output": ["STEP 3: With knife in hand, turn around to the left to the loaf of bread to the left of the sink. "]} +{"id": "trial_T20190908_081004_973395-0%3", "input": "Place a warm slice of bread on the counter. | STEP 1: Turn to the left and walk over to the stove top. | STEP 2: Grab the yellow-handled knife from the the front left side of the stove. | STEP 3: With knife in hand, turn around to the left to the loaf of bread to the left of the sink. ", "output": ["STEP 4: Slice the closest half of the loaf of bread on the counter. "]} +{"id": "trial_T20190908_081004_973395-0%4", "input": "Place a warm slice of bread on the counter. | STEP 1: Turn to the left and walk over to the stove top. | STEP 2: Grab the yellow-handled knife from the the front left side of the stove. | STEP 3: With knife in hand, turn around to the left to the loaf of bread to the left of the sink. | STEP 4: Slice the closest half of the loaf of bread on the counter. ", "output": ["STEP 5: Turn around to the right and face the counter with the stove top. "]} +{"id": "trial_T20190908_081004_973395-0%5", "input": "Place a warm slice of bread on the counter. | STEP 1: Turn to the left and walk over to the stove top. | STEP 2: Grab the yellow-handled knife from the the front left side of the stove. | STEP 3: With knife in hand, turn around to the left to the loaf of bread to the left of the sink. | STEP 4: Slice the closest half of the loaf of bread on the counter. | STEP 5: Turn around to the right and face the counter with the stove top. ", "output": ["STEP 6: Open the second, bottom cabinet from the right-hand side. Place the knife inside. "]} +{"id": "trial_T20190908_081004_973395-0%6", "input": "Place a warm slice of bread on the counter. | STEP 1: Turn to the left and walk over to the stove top. | STEP 2: Grab the yellow-handled knife from the the front left side of the stove. | STEP 3: With knife in hand, turn around to the left to the loaf of bread to the left of the sink. | STEP 4: Slice the closest half of the loaf of bread on the counter. | STEP 5: Turn around to the right and face the counter with the stove top. | STEP 6: Open the second, bottom cabinet from the right-hand side. Place the knife inside. ", "output": ["STEP 7: Turn around to the right, facing the loaf of bread that is on the counter. "]} +{"id": "trial_T20190908_081004_973395-0%7", "input": "Place a warm slice of bread on the counter. | STEP 1: Turn to the left and walk over to the stove top. | STEP 2: Grab the yellow-handled knife from the the front left side of the stove. | STEP 3: With knife in hand, turn around to the left to the loaf of bread to the left of the sink. | STEP 4: Slice the closest half of the loaf of bread on the counter. | STEP 5: Turn around to the right and face the counter with the stove top. | STEP 6: Open the second, bottom cabinet from the right-hand side. Place the knife inside. | STEP 7: Turn around to the right, facing the loaf of bread that is on the counter. ", "output": ["STEP 8: Pick up the closest slice of bread from the counter. "]} +{"id": "trial_T20190908_081004_973395-0%8", "input": "Place a warm slice of bread on the counter. | STEP 1: Turn to the left and walk over to the stove top. | STEP 2: Grab the yellow-handled knife from the the front left side of the stove. | STEP 3: With knife in hand, turn around to the left to the loaf of bread to the left of the sink. | STEP 4: Slice the closest half of the loaf of bread on the counter. | STEP 5: Turn around to the right and face the counter with the stove top. | STEP 6: Open the second, bottom cabinet from the right-hand side. Place the knife inside. | STEP 7: Turn around to the right, facing the loaf of bread that is on the counter. | STEP 8: Pick up the closest slice of bread from the counter. ", "output": ["STEP 9: Turn to the left, walk to the wall, and then turn left to face the microwave. "]} +{"id": "trial_T20190908_081004_973395-0%9", "input": "Place a warm slice of bread on the counter. | STEP 1: Turn to the left and walk over to the stove top. | STEP 2: Grab the yellow-handled knife from the the front left side of the stove. | STEP 3: With knife in hand, turn around to the left to the loaf of bread to the left of the sink. | STEP 4: Slice the closest half of the loaf of bread on the counter. | STEP 5: Turn around to the right and face the counter with the stove top. | STEP 6: Open the second, bottom cabinet from the right-hand side. Place the knife inside. | STEP 7: Turn around to the right, facing the loaf of bread that is on the counter. | STEP 8: Pick up the closest slice of bread from the counter. | STEP 9: Turn to the left, walk to the wall, and then turn left to face the microwave. ", "output": ["STEP 10: Open the microwave, place the bread inside, close the door. Warm the bread, open the door, and remove the bread. Close the microwave door. "]} +{"id": "trial_T20190908_081004_973395-0%10", "input": "Place a warm slice of bread on the counter. | STEP 1: Turn to the left and walk over to the stove top. | STEP 2: Grab the yellow-handled knife from the the front left side of the stove. | STEP 3: With knife in hand, turn around to the left to the loaf of bread to the left of the sink. | STEP 4: Slice the closest half of the loaf of bread on the counter. | STEP 5: Turn around to the right and face the counter with the stove top. | STEP 6: Open the second, bottom cabinet from the right-hand side. Place the knife inside. | STEP 7: Turn around to the right, facing the loaf of bread that is on the counter. | STEP 8: Pick up the closest slice of bread from the counter. | STEP 9: Turn to the left, walk to the wall, and then turn left to face the microwave. | STEP 10: Open the microwave, place the bread inside, close the door. Warm the bread, open the door, and remove the bread. Close the microwave door. ", "output": ["STEP 11: Back up, turn to the left and move to the counter beside the stove top, on the left of the microwave. "]} +{"id": "trial_T20190908_081004_973395-0%11", "input": "Place a warm slice of bread on the counter. | STEP 1: Turn to the left and walk over to the stove top. | STEP 2: Grab the yellow-handled knife from the the front left side of the stove. | STEP 3: With knife in hand, turn around to the left to the loaf of bread to the left of the sink. | STEP 4: Slice the closest half of the loaf of bread on the counter. | STEP 5: Turn around to the right and face the counter with the stove top. | STEP 6: Open the second, bottom cabinet from the right-hand side. Place the knife inside. | STEP 7: Turn around to the right, facing the loaf of bread that is on the counter. | STEP 8: Pick up the closest slice of bread from the counter. | STEP 9: Turn to the left, walk to the wall, and then turn left to face the microwave. | STEP 10: Open the microwave, place the bread inside, close the door. Warm the bread, open the door, and remove the bread. Close the microwave door. | STEP 11: Back up, turn to the left and move to the counter beside the stove top, on the left of the microwave. ", "output": ["STEP 12: Place the slice of bread onto the counter top. "]} +{"id": "trial_T20190908_081004_973395-0%12", "input": "Place a warm slice of bread on the counter. | STEP 1: Turn to the left and walk over to the stove top. | STEP 2: Grab the yellow-handled knife from the the front left side of the stove. | STEP 3: With knife in hand, turn around to the left to the loaf of bread to the left of the sink. | STEP 4: Slice the closest half of the loaf of bread on the counter. | STEP 5: Turn around to the right and face the counter with the stove top. | STEP 6: Open the second, bottom cabinet from the right-hand side. Place the knife inside. | STEP 7: Turn around to the right, facing the loaf of bread that is on the counter. | STEP 8: Pick up the closest slice of bread from the counter. | STEP 9: Turn to the left, walk to the wall, and then turn left to face the microwave. | STEP 10: Open the microwave, place the bread inside, close the door. Warm the bread, open the door, and remove the bread. Close the microwave door. | STEP 11: Back up, turn to the left and move to the counter beside the stove top, on the left of the microwave. | STEP 12: Place the slice of bread onto the counter top. ", "output": ["END"]} +{"id": "trial_T20190908_215751_679606-1%0", "input": "Put an empty roll and a full roll of toilet paper in a sink cabinet", "output": ["STEP 1: Go to the sinktop"]} +{"id": "trial_T20190908_215751_679606-1%1", "input": "Put an empty roll and a full roll of toilet paper in a sink cabinet | STEP 1: Go to the sinktop", "output": ["STEP 2: Pick up a toilet roll"]} +{"id": "trial_T20190908_215751_679606-1%2", "input": "Put an empty roll and a full roll of toilet paper in a sink cabinet | STEP 1: Go to the sinktop | STEP 2: Pick up a toilet roll", "output": ["STEP 3: Go to the sink cabinet"]} +{"id": "trial_T20190908_215751_679606-1%3", "input": "Put an empty roll and a full roll of toilet paper in a sink cabinet | STEP 1: Go to the sinktop | STEP 2: Pick up a toilet roll | STEP 3: Go to the sink cabinet", "output": ["STEP 4: Put the roll in the cabinet"]} +{"id": "trial_T20190908_215751_679606-1%4", "input": "Put an empty roll and a full roll of toilet paper in a sink cabinet | STEP 1: Go to the sinktop | STEP 2: Pick up a toilet roll | STEP 3: Go to the sink cabinet | STEP 4: Put the roll in the cabinet", "output": ["STEP 5: Go to the right of the sink"]} +{"id": "trial_T20190908_215751_679606-1%5", "input": "Put an empty roll and a full roll of toilet paper in a sink cabinet | STEP 1: Go to the sinktop | STEP 2: Pick up a toilet roll | STEP 3: Go to the sink cabinet | STEP 4: Put the roll in the cabinet | STEP 5: Go to the right of the sink", "output": ["STEP 6: Pick up a roll of toilet paper"]} +{"id": "trial_T20190908_215751_679606-1%6", "input": "Put an empty roll and a full roll of toilet paper in a sink cabinet | STEP 1: Go to the sinktop | STEP 2: Pick up a toilet roll | STEP 3: Go to the sink cabinet | STEP 4: Put the roll in the cabinet | STEP 5: Go to the right of the sink | STEP 6: Pick up a roll of toilet paper", "output": ["STEP 7: Go to the sink cabinet"]} +{"id": "trial_T20190908_215751_679606-1%7", "input": "Put an empty roll and a full roll of toilet paper in a sink cabinet | STEP 1: Go to the sinktop | STEP 2: Pick up a toilet roll | STEP 3: Go to the sink cabinet | STEP 4: Put the roll in the cabinet | STEP 5: Go to the right of the sink | STEP 6: Pick up a roll of toilet paper | STEP 7: Go to the sink cabinet", "output": ["STEP 8: Put the roll in the cabinet"]} +{"id": "trial_T20190908_215751_679606-1%8", "input": "Put an empty roll and a full roll of toilet paper in a sink cabinet | STEP 1: Go to the sinktop | STEP 2: Pick up a toilet roll | STEP 3: Go to the sink cabinet | STEP 4: Put the roll in the cabinet | STEP 5: Go to the right of the sink | STEP 6: Pick up a roll of toilet paper | STEP 7: Go to the sink cabinet | STEP 8: Put the roll in the cabinet", "output": ["END"]} +{"id": "trial_T20190908_215751_679606-2%0", "input": "Move candle and toilet paper to cabinet under sink.", "output": ["STEP 1: Turn around, proceed to counter across room."]} +{"id": "trial_T20190908_215751_679606-2%1", "input": "Move candle and toilet paper to cabinet under sink. | STEP 1: Turn around, proceed to counter across room.", "output": ["STEP 2: Pick up candle from above pink soap and left of tissue box on counter."]} +{"id": "trial_T20190908_215751_679606-2%2", "input": "Move candle and toilet paper to cabinet under sink. | STEP 1: Turn around, proceed to counter across room. | STEP 2: Pick up candle from above pink soap and left of tissue box on counter.", "output": ["STEP 3: Move to right to face right side sink."]} +{"id": "trial_T20190908_215751_679606-2%3", "input": "Move candle and toilet paper to cabinet under sink. | STEP 1: Turn around, proceed to counter across room. | STEP 2: Pick up candle from above pink soap and left of tissue box on counter. | STEP 3: Move to right to face right side sink.", "output": ["STEP 4: Open far right cabinet under sink, put candle in cabinet in front of tissue box and left of spray bottle. Close cabinet door."]} +{"id": "trial_T20190908_215751_679606-2%4", "input": "Move candle and toilet paper to cabinet under sink. | STEP 1: Turn around, proceed to counter across room. | STEP 2: Pick up candle from above pink soap and left of tissue box on counter. | STEP 3: Move to right to face right side sink. | STEP 4: Open far right cabinet under sink, put candle in cabinet in front of tissue box and left of spray bottle. Close cabinet door.", "output": ["STEP 5: Look up to counter to right of sink."]} +{"id": "trial_T20190908_215751_679606-2%5", "input": "Move candle and toilet paper to cabinet under sink. | STEP 1: Turn around, proceed to counter across room. | STEP 2: Pick up candle from above pink soap and left of tissue box on counter. | STEP 3: Move to right to face right side sink. | STEP 4: Open far right cabinet under sink, put candle in cabinet in front of tissue box and left of spray bottle. Close cabinet door. | STEP 5: Look up to counter to right of sink.", "output": ["STEP 6: Pick up toilet paper from counter, right of sink with pink soap in it."]} +{"id": "trial_T20190908_215751_679606-2%6", "input": "Move candle and toilet paper to cabinet under sink. | STEP 1: Turn around, proceed to counter across room. | STEP 2: Pick up candle from above pink soap and left of tissue box on counter. | STEP 3: Move to right to face right side sink. | STEP 4: Open far right cabinet under sink, put candle in cabinet in front of tissue box and left of spray bottle. Close cabinet door. | STEP 5: Look up to counter to right of sink. | STEP 6: Pick up toilet paper from counter, right of sink with pink soap in it.", "output": ["STEP 7: Look down to below sink."]} +{"id": "trial_T20190908_215751_679606-2%7", "input": "Move candle and toilet paper to cabinet under sink. | STEP 1: Turn around, proceed to counter across room. | STEP 2: Pick up candle from above pink soap and left of tissue box on counter. | STEP 3: Move to right to face right side sink. | STEP 4: Open far right cabinet under sink, put candle in cabinet in front of tissue box and left of spray bottle. Close cabinet door. | STEP 5: Look up to counter to right of sink. | STEP 6: Pick up toilet paper from counter, right of sink with pink soap in it. | STEP 7: Look down to below sink.", "output": ["STEP 8: Open far right cabinet, put toilet paper in cabinet between candle and spray bottle. Close cabinet door."]} +{"id": "trial_T20190908_215751_679606-2%8", "input": "Move candle and toilet paper to cabinet under sink. | STEP 1: Turn around, proceed to counter across room. | STEP 2: Pick up candle from above pink soap and left of tissue box on counter. | STEP 3: Move to right to face right side sink. | STEP 4: Open far right cabinet under sink, put candle in cabinet in front of tissue box and left of spray bottle. Close cabinet door. | STEP 5: Look up to counter to right of sink. | STEP 6: Pick up toilet paper from counter, right of sink with pink soap in it. | STEP 7: Look down to below sink. | STEP 8: Open far right cabinet, put toilet paper in cabinet between candle and spray bottle. Close cabinet door.", "output": ["END"]} +{"id": "trial_T20190906_185300_384511-1%0", "input": "Place the clock next to the pen. ", "output": ["STEP 1: Go to the white table."]} +{"id": "trial_T20190906_185300_384511-1%1", "input": "Place the clock next to the pen. | STEP 1: Go to the white table.", "output": ["STEP 2: Pick up the clock on the table behind the computer."]} +{"id": "trial_T20190906_185300_384511-1%2", "input": "Place the clock next to the pen. | STEP 1: Go to the white table. | STEP 2: Pick up the clock on the table behind the computer.", "output": ["STEP 3: Bring the clock over to the brown drawers."]} +{"id": "trial_T20190906_185300_384511-1%3", "input": "Place the clock next to the pen. | STEP 1: Go to the white table. | STEP 2: Pick up the clock on the table behind the computer. | STEP 3: Bring the clock over to the brown drawers.", "output": ["STEP 4: Place the clock on the shelf next to the pen. "]} +{"id": "trial_T20190906_185300_384511-1%4", "input": "Place the clock next to the pen. | STEP 1: Go to the white table. | STEP 2: Pick up the clock on the table behind the computer. | STEP 3: Bring the clock over to the brown drawers. | STEP 4: Place the clock on the shelf next to the pen. ", "output": ["END"]} +{"id": "trial_T20190906_185300_384511-2%0", "input": "Put the clock on the dresser", "output": ["STEP 1: Turn left and walk over to the desk"]} +{"id": "trial_T20190906_185300_384511-2%1", "input": "Put the clock on the dresser | STEP 1: Turn left and walk over to the desk", "output": ["STEP 2: Pick up the clock just left of the laptop from the desk"]} +{"id": "trial_T20190906_185300_384511-2%2", "input": "Put the clock on the dresser | STEP 1: Turn left and walk over to the desk | STEP 2: Pick up the clock just left of the laptop from the desk", "output": ["STEP 3: Turn right and walk over to the wooden dresser"]} +{"id": "trial_T20190906_185300_384511-2%3", "input": "Put the clock on the dresser | STEP 1: Turn left and walk over to the desk | STEP 2: Pick up the clock just left of the laptop from the desk | STEP 3: Turn right and walk over to the wooden dresser", "output": ["STEP 4: Put the clock down on the dresser just right of the pen"]} +{"id": "trial_T20190906_185300_384511-2%4", "input": "Put the clock on the dresser | STEP 1: Turn left and walk over to the desk | STEP 2: Pick up the clock just left of the laptop from the desk | STEP 3: Turn right and walk over to the wooden dresser | STEP 4: Put the clock down on the dresser just right of the pen", "output": ["END"]} +{"id": "trial_T20190907_190649_349867-0%0", "input": "Put a cooked tomato slice with the knife on the table.", "output": ["STEP 1: Move forward a few steps and turn to the table on your right."]} +{"id": "trial_T20190907_190649_349867-0%1", "input": "Put a cooked tomato slice with the knife on the table. | STEP 1: Move forward a few steps and turn to the table on your right.", "output": ["STEP 2: Pick the knife up from the table."]} +{"id": "trial_T20190907_190649_349867-0%2", "input": "Put a cooked tomato slice with the knife on the table. | STEP 1: Move forward a few steps and turn to the table on your right. | STEP 2: Pick the knife up from the table.", "output": ["STEP 3: Turn left and move between the cabinets to the tomato on the left counter."]} +{"id": "trial_T20190907_190649_349867-0%3", "input": "Put a cooked tomato slice with the knife on the table. | STEP 1: Move forward a few steps and turn to the table on your right. | STEP 2: Pick the knife up from the table. | STEP 3: Turn left and move between the cabinets to the tomato on the left counter.", "output": ["STEP 4: Slice the tomato that's sitting on the counter."]} +{"id": "trial_T20190907_190649_349867-0%4", "input": "Put a cooked tomato slice with the knife on the table. | STEP 1: Move forward a few steps and turn to the table on your right. | STEP 2: Pick the knife up from the table. | STEP 3: Turn left and move between the cabinets to the tomato on the left counter. | STEP 4: Slice the tomato that's sitting on the counter.", "output": ["STEP 5: Turn left and move back to the round table in the corner of the room."]} +{"id": "trial_T20190907_190649_349867-0%5", "input": "Put a cooked tomato slice with the knife on the table. | STEP 1: Move forward a few steps and turn to the table on your right. | STEP 2: Pick the knife up from the table. | STEP 3: Turn left and move between the cabinets to the tomato on the left counter. | STEP 4: Slice the tomato that's sitting on the counter. | STEP 5: Turn left and move back to the round table in the corner of the room.", "output": ["STEP 6: Put the knife on the table with blade pointing away from the chair."]} +{"id": "trial_T20190907_190649_349867-0%6", "input": "Put a cooked tomato slice with the knife on the table. | STEP 1: Move forward a few steps and turn to the table on your right. | STEP 2: Pick the knife up from the table. | STEP 3: Turn left and move between the cabinets to the tomato on the left counter. | STEP 4: Slice the tomato that's sitting on the counter. | STEP 5: Turn left and move back to the round table in the corner of the room. | STEP 6: Put the knife on the table with blade pointing away from the chair.", "output": ["STEP 7: Turn left and move between the cabinets to the tomato on the left counter."]} +{"id": "trial_T20190907_190649_349867-0%7", "input": "Put a cooked tomato slice with the knife on the table. | STEP 1: Move forward a few steps and turn to the table on your right. | STEP 2: Pick the knife up from the table. | STEP 3: Turn left and move between the cabinets to the tomato on the left counter. | STEP 4: Slice the tomato that's sitting on the counter. | STEP 5: Turn left and move back to the round table in the corner of the room. | STEP 6: Put the knife on the table with blade pointing away from the chair. | STEP 7: Turn left and move between the cabinets to the tomato on the left counter.", "output": ["STEP 8: Pick up a tomato slice from the counter."]} +{"id": "trial_T20190907_190649_349867-0%8", "input": "Put a cooked tomato slice with the knife on the table. | STEP 1: Move forward a few steps and turn to the table on your right. | STEP 2: Pick the knife up from the table. | STEP 3: Turn left and move between the cabinets to the tomato on the left counter. | STEP 4: Slice the tomato that's sitting on the counter. | STEP 5: Turn left and move back to the round table in the corner of the room. | STEP 6: Put the knife on the table with blade pointing away from the chair. | STEP 7: Turn left and move between the cabinets to the tomato on the left counter. | STEP 8: Pick up a tomato slice from the counter.", "output": ["STEP 9: Move to the microwave on your left."]} +{"id": "trial_T20190907_190649_349867-0%9", "input": "Put a cooked tomato slice with the knife on the table. | STEP 1: Move forward a few steps and turn to the table on your right. | STEP 2: Pick the knife up from the table. | STEP 3: Turn left and move between the cabinets to the tomato on the left counter. | STEP 4: Slice the tomato that's sitting on the counter. | STEP 5: Turn left and move back to the round table in the corner of the room. | STEP 6: Put the knife on the table with blade pointing away from the chair. | STEP 7: Turn left and move between the cabinets to the tomato on the left counter. | STEP 8: Pick up a tomato slice from the counter. | STEP 9: Move to the microwave on your left.", "output": ["STEP 10: Cook the tomato in the microwave for a few seconds and then take it back out."]} +{"id": "trial_T20190907_190649_349867-0%10", "input": "Put a cooked tomato slice with the knife on the table. | STEP 1: Move forward a few steps and turn to the table on your right. | STEP 2: Pick the knife up from the table. | STEP 3: Turn left and move between the cabinets to the tomato on the left counter. | STEP 4: Slice the tomato that's sitting on the counter. | STEP 5: Turn left and move back to the round table in the corner of the room. | STEP 6: Put the knife on the table with blade pointing away from the chair. | STEP 7: Turn left and move between the cabinets to the tomato on the left counter. | STEP 8: Pick up a tomato slice from the counter. | STEP 9: Move to the microwave on your left. | STEP 10: Cook the tomato in the microwave for a few seconds and then take it back out.", "output": ["STEP 11: Turn left and move back to the round table in the corner of the room."]} +{"id": "trial_T20190907_190649_349867-0%11", "input": "Put a cooked tomato slice with the knife on the table. | STEP 1: Move forward a few steps and turn to the table on your right. | STEP 2: Pick the knife up from the table. | STEP 3: Turn left and move between the cabinets to the tomato on the left counter. | STEP 4: Slice the tomato that's sitting on the counter. | STEP 5: Turn left and move back to the round table in the corner of the room. | STEP 6: Put the knife on the table with blade pointing away from the chair. | STEP 7: Turn left and move between the cabinets to the tomato on the left counter. | STEP 8: Pick up a tomato slice from the counter. | STEP 9: Move to the microwave on your left. | STEP 10: Cook the tomato in the microwave for a few seconds and then take it back out. | STEP 11: Turn left and move back to the round table in the corner of the room.", "output": ["STEP 12: Put the tomato slice on the table towards the end of the knife closest to the chair."]} +{"id": "trial_T20190907_190649_349867-0%12", "input": "Put a cooked tomato slice with the knife on the table. | STEP 1: Move forward a few steps and turn to the table on your right. | STEP 2: Pick the knife up from the table. | STEP 3: Turn left and move between the cabinets to the tomato on the left counter. | STEP 4: Slice the tomato that's sitting on the counter. | STEP 5: Turn left and move back to the round table in the corner of the room. | STEP 6: Put the knife on the table with blade pointing away from the chair. | STEP 7: Turn left and move between the cabinets to the tomato on the left counter. | STEP 8: Pick up a tomato slice from the counter. | STEP 9: Move to the microwave on your left. | STEP 10: Cook the tomato in the microwave for a few seconds and then take it back out. | STEP 11: Turn left and move back to the round table in the corner of the room. | STEP 12: Put the tomato slice on the table towards the end of the knife closest to the chair.", "output": ["END"]} +{"id": "trial_T20190907_190649_349867-1%0", "input": "TO cut and heat a tomato slice and place it on the kitchen table.", "output": ["STEP 1: Turn to the right to face the kitchen table."]} +{"id": "trial_T20190907_190649_349867-1%1", "input": "TO cut and heat a tomato slice and place it on the kitchen table. | STEP 1: Turn to the right to face the kitchen table.", "output": ["STEP 2: Pick up the knife on the table."]} +{"id": "trial_T20190907_190649_349867-1%2", "input": "TO cut and heat a tomato slice and place it on the kitchen table. | STEP 1: Turn to the right to face the kitchen table. | STEP 2: Pick up the knife on the table.", "output": ["STEP 3: Turn around and walk over towards the counter with 2 heads of lettuce on it."]} +{"id": "trial_T20190907_190649_349867-1%3", "input": "TO cut and heat a tomato slice and place it on the kitchen table. | STEP 1: Turn to the right to face the kitchen table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and walk over towards the counter with 2 heads of lettuce on it.", "output": ["STEP 4: Cut the tomato at the back of the counter."]} +{"id": "trial_T20190907_190649_349867-1%4", "input": "TO cut and heat a tomato slice and place it on the kitchen table. | STEP 1: Turn to the right to face the kitchen table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and walk over towards the counter with 2 heads of lettuce on it. | STEP 4: Cut the tomato at the back of the counter.", "output": ["STEP 5: Turn left and walk across the room, then turn left and approach the kitchen table."]} +{"id": "trial_T20190907_190649_349867-1%5", "input": "TO cut and heat a tomato slice and place it on the kitchen table. | STEP 1: Turn to the right to face the kitchen table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and walk over towards the counter with 2 heads of lettuce on it. | STEP 4: Cut the tomato at the back of the counter. | STEP 5: Turn left and walk across the room, then turn left and approach the kitchen table.", "output": ["STEP 6: Place the knife on the kitchen table."]} +{"id": "trial_T20190907_190649_349867-1%6", "input": "TO cut and heat a tomato slice and place it on the kitchen table. | STEP 1: Turn to the right to face the kitchen table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and walk over towards the counter with 2 heads of lettuce on it. | STEP 4: Cut the tomato at the back of the counter. | STEP 5: Turn left and walk across the room, then turn left and approach the kitchen table. | STEP 6: Place the knife on the kitchen table.", "output": ["STEP 7: Turn around and walk over towards the counter with 2 heads of lettuce on it."]} +{"id": "trial_T20190907_190649_349867-1%7", "input": "TO cut and heat a tomato slice and place it on the kitchen table. | STEP 1: Turn to the right to face the kitchen table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and walk over towards the counter with 2 heads of lettuce on it. | STEP 4: Cut the tomato at the back of the counter. | STEP 5: Turn left and walk across the room, then turn left and approach the kitchen table. | STEP 6: Place the knife on the kitchen table. | STEP 7: Turn around and walk over towards the counter with 2 heads of lettuce on it.", "output": ["STEP 8: Pick up a slice of tomato on the counter."]} +{"id": "trial_T20190907_190649_349867-1%8", "input": "TO cut and heat a tomato slice and place it on the kitchen table. | STEP 1: Turn to the right to face the kitchen table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and walk over towards the counter with 2 heads of lettuce on it. | STEP 4: Cut the tomato at the back of the counter. | STEP 5: Turn left and walk across the room, then turn left and approach the kitchen table. | STEP 6: Place the knife on the kitchen table. | STEP 7: Turn around and walk over towards the counter with 2 heads of lettuce on it. | STEP 8: Pick up a slice of tomato on the counter.", "output": ["STEP 9: Step to the left and look up to face the microwave."]} +{"id": "trial_T20190907_190649_349867-1%9", "input": "TO cut and heat a tomato slice and place it on the kitchen table. | STEP 1: Turn to the right to face the kitchen table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and walk over towards the counter with 2 heads of lettuce on it. | STEP 4: Cut the tomato at the back of the counter. | STEP 5: Turn left and walk across the room, then turn left and approach the kitchen table. | STEP 6: Place the knife on the kitchen table. | STEP 7: Turn around and walk over towards the counter with 2 heads of lettuce on it. | STEP 8: Pick up a slice of tomato on the counter. | STEP 9: Step to the left and look up to face the microwave.", "output": ["STEP 10: Warm the tomato slice in the microwave and then remove it."]} +{"id": "trial_T20190907_190649_349867-1%10", "input": "TO cut and heat a tomato slice and place it on the kitchen table. | STEP 1: Turn to the right to face the kitchen table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and walk over towards the counter with 2 heads of lettuce on it. | STEP 4: Cut the tomato at the back of the counter. | STEP 5: Turn left and walk across the room, then turn left and approach the kitchen table. | STEP 6: Place the knife on the kitchen table. | STEP 7: Turn around and walk over towards the counter with 2 heads of lettuce on it. | STEP 8: Pick up a slice of tomato on the counter. | STEP 9: Step to the left and look up to face the microwave. | STEP 10: Warm the tomato slice in the microwave and then remove it.", "output": ["STEP 11: Turn left and walk across the room, then turn left and approach the kitchen table."]} +{"id": "trial_T20190907_190649_349867-1%11", "input": "TO cut and heat a tomato slice and place it on the kitchen table. | STEP 1: Turn to the right to face the kitchen table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and walk over towards the counter with 2 heads of lettuce on it. | STEP 4: Cut the tomato at the back of the counter. | STEP 5: Turn left and walk across the room, then turn left and approach the kitchen table. | STEP 6: Place the knife on the kitchen table. | STEP 7: Turn around and walk over towards the counter with 2 heads of lettuce on it. | STEP 8: Pick up a slice of tomato on the counter. | STEP 9: Step to the left and look up to face the microwave. | STEP 10: Warm the tomato slice in the microwave and then remove it. | STEP 11: Turn left and walk across the room, then turn left and approach the kitchen table.", "output": ["STEP 12: Place the tomato slice on the right side of the kitchen table."]} +{"id": "trial_T20190907_190649_349867-1%12", "input": "TO cut and heat a tomato slice and place it on the kitchen table. | STEP 1: Turn to the right to face the kitchen table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and walk over towards the counter with 2 heads of lettuce on it. | STEP 4: Cut the tomato at the back of the counter. | STEP 5: Turn left and walk across the room, then turn left and approach the kitchen table. | STEP 6: Place the knife on the kitchen table. | STEP 7: Turn around and walk over towards the counter with 2 heads of lettuce on it. | STEP 8: Pick up a slice of tomato on the counter. | STEP 9: Step to the left and look up to face the microwave. | STEP 10: Warm the tomato slice in the microwave and then remove it. | STEP 11: Turn left and walk across the room, then turn left and approach the kitchen table. | STEP 12: Place the tomato slice on the right side of the kitchen table.", "output": ["END"]} +{"id": "trial_T20190908_123629_888124-1%0", "input": "Put the dog statuette on the small table", "output": ["STEP 1: Turn right and walk around to the far side of the coffee table, facing toward the sofa"]} +{"id": "trial_T20190908_123629_888124-1%1", "input": "Put the dog statuette on the small table | STEP 1: Turn right and walk around to the far side of the coffee table, facing toward the sofa", "output": ["STEP 2: Pick up the dog statuette from the coffee table"]} +{"id": "trial_T20190908_123629_888124-1%2", "input": "Put the dog statuette on the small table | STEP 1: Turn right and walk around to the far side of the coffee table, facing toward the sofa | STEP 2: Pick up the dog statuette from the coffee table", "output": ["STEP 3: Turn left and walk up to the small table left of the arm chair"]} +{"id": "trial_T20190908_123629_888124-1%3", "input": "Put the dog statuette on the small table | STEP 1: Turn right and walk around to the far side of the coffee table, facing toward the sofa | STEP 2: Pick up the dog statuette from the coffee table | STEP 3: Turn left and walk up to the small table left of the arm chair", "output": ["STEP 4: Put the dog statuette on the table"]} +{"id": "trial_T20190908_123629_888124-1%4", "input": "Put the dog statuette on the small table | STEP 1: Turn right and walk around to the far side of the coffee table, facing toward the sofa | STEP 2: Pick up the dog statuette from the coffee table | STEP 3: Turn left and walk up to the small table left of the arm chair | STEP 4: Put the dog statuette on the table", "output": ["END"]} +{"id": "trial_T20190918_215556_955588-2%0", "input": "Put a chilled tomato in a sink.", "output": ["STEP 1: Turn right, go towards the window, turn right, go to the blue bin ahead."]} +{"id": "trial_T20190918_215556_955588-2%1", "input": "Put a chilled tomato in a sink. | STEP 1: Turn right, go towards the window, turn right, go to the blue bin ahead.", "output": ["STEP 2: Take the tomato from the bin."]} +{"id": "trial_T20190918_215556_955588-2%2", "input": "Put a chilled tomato in a sink. | STEP 1: Turn right, go towards the window, turn right, go to the blue bin ahead. | STEP 2: Take the tomato from the bin.", "output": ["STEP 3: Turn right, go towards the wall, turn right, go to the fridge ahead."]} +{"id": "trial_T20190918_215556_955588-2%3", "input": "Put a chilled tomato in a sink. | STEP 1: Turn right, go towards the window, turn right, go to the blue bin ahead. | STEP 2: Take the tomato from the bin. | STEP 3: Turn right, go towards the wall, turn right, go to the fridge ahead.", "output": ["STEP 4: Chill the tomato on the top shelf on the right side of the fridge. Take the tomato from the fridge."]} +{"id": "trial_T20190918_215556_955588-2%4", "input": "Put a chilled tomato in a sink. | STEP 1: Turn right, go towards the window, turn right, go to the blue bin ahead. | STEP 2: Take the tomato from the bin. | STEP 3: Turn right, go towards the wall, turn right, go to the fridge ahead. | STEP 4: Chill the tomato on the top shelf on the right side of the fridge. Take the tomato from the fridge.", "output": ["STEP 5: Turn right, go forward, turn left at the sink, go to the sink."]} +{"id": "trial_T20190918_215556_955588-2%5", "input": "Put a chilled tomato in a sink. | STEP 1: Turn right, go towards the window, turn right, go to the blue bin ahead. | STEP 2: Take the tomato from the bin. | STEP 3: Turn right, go towards the wall, turn right, go to the fridge ahead. | STEP 4: Chill the tomato on the top shelf on the right side of the fridge. Take the tomato from the fridge. | STEP 5: Turn right, go forward, turn left at the sink, go to the sink.", "output": ["STEP 6: Put the tomato in the sink."]} +{"id": "trial_T20190918_215556_955588-2%6", "input": "Put a chilled tomato in a sink. | STEP 1: Turn right, go towards the window, turn right, go to the blue bin ahead. | STEP 2: Take the tomato from the bin. | STEP 3: Turn right, go towards the wall, turn right, go to the fridge ahead. | STEP 4: Chill the tomato on the top shelf on the right side of the fridge. Take the tomato from the fridge. | STEP 5: Turn right, go forward, turn left at the sink, go to the sink. | STEP 6: Put the tomato in the sink.", "output": ["END"]} +{"id": "trial_T20190908_041349_586641-1%0", "input": "Put a warmed apple in the compost bin.", "output": ["STEP 1: Go to the counter on the left of the stove."]} +{"id": "trial_T20190908_041349_586641-1%1", "input": "Put a warmed apple in the compost bin. | STEP 1: Go to the counter on the left of the stove.", "output": ["STEP 2: Pick up the apple closest to the wall."]} +{"id": "trial_T20190908_041349_586641-1%2", "input": "Put a warmed apple in the compost bin. | STEP 1: Go to the counter on the left of the stove. | STEP 2: Pick up the apple closest to the wall.", "output": ["STEP 3: Take the apple to the microwave."]} +{"id": "trial_T20190908_041349_586641-1%3", "input": "Put a warmed apple in the compost bin. | STEP 1: Go to the counter on the left of the stove. | STEP 2: Pick up the apple closest to the wall. | STEP 3: Take the apple to the microwave.", "output": ["STEP 4: Heat the apple in the microwave."]} +{"id": "trial_T20190908_041349_586641-1%4", "input": "Put a warmed apple in the compost bin. | STEP 1: Go to the counter on the left of the stove. | STEP 2: Pick up the apple closest to the wall. | STEP 3: Take the apple to the microwave. | STEP 4: Heat the apple in the microwave.", "output": ["STEP 5: Go left past the door on the right to the compost bin."]} +{"id": "trial_T20190908_041349_586641-1%5", "input": "Put a warmed apple in the compost bin. | STEP 1: Go to the counter on the left of the stove. | STEP 2: Pick up the apple closest to the wall. | STEP 3: Take the apple to the microwave. | STEP 4: Heat the apple in the microwave. | STEP 5: Go left past the door on the right to the compost bin.", "output": ["STEP 6: Put the hot apple in the compost bin."]} +{"id": "trial_T20190908_041349_586641-1%6", "input": "Put a warmed apple in the compost bin. | STEP 1: Go to the counter on the left of the stove. | STEP 2: Pick up the apple closest to the wall. | STEP 3: Take the apple to the microwave. | STEP 4: Heat the apple in the microwave. | STEP 5: Go left past the door on the right to the compost bin. | STEP 6: Put the hot apple in the compost bin.", "output": ["END"]} +{"id": "trial_T20190908_010002_441405-0%0", "input": "Slice both potatoes in the sink", "output": ["STEP 1: Walk towards the counter on the left"]} +{"id": "trial_T20190908_010002_441405-0%1", "input": "Slice both potatoes in the sink | STEP 1: Walk towards the counter on the left", "output": ["STEP 2: Grab a knife from the counter"]} +{"id": "trial_T20190908_010002_441405-0%2", "input": "Slice both potatoes in the sink | STEP 1: Walk towards the counter on the left | STEP 2: Grab a knife from the counter", "output": ["STEP 3: Walk with the knife towards the sink"]} +{"id": "trial_T20190908_010002_441405-0%3", "input": "Slice both potatoes in the sink | STEP 1: Walk towards the counter on the left | STEP 2: Grab a knife from the counter | STEP 3: Walk with the knife towards the sink", "output": ["STEP 4: Put the knife on the sink and open the water"]} +{"id": "trial_T20190908_010002_441405-0%4", "input": "Slice both potatoes in the sink | STEP 1: Walk towards the counter on the left | STEP 2: Grab a knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Put the knife on the sink and open the water", "output": ["STEP 5: Grab the knife from the sink and put it back in again"]} +{"id": "trial_T20190908_010002_441405-0%5", "input": "Slice both potatoes in the sink | STEP 1: Walk towards the counter on the left | STEP 2: Grab a knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Put the knife on the sink and open the water | STEP 5: Grab the knife from the sink and put it back in again", "output": ["STEP 6: Walk towards the microwave on top of the counter"]} +{"id": "trial_T20190908_010002_441405-0%6", "input": "Slice both potatoes in the sink | STEP 1: Walk towards the counter on the left | STEP 2: Grab a knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Put the knife on the sink and open the water | STEP 5: Grab the knife from the sink and put it back in again | STEP 6: Walk towards the microwave on top of the counter", "output": ["STEP 7: Open the microwave and grab a potato from the microwave"]} +{"id": "trial_T20190908_010002_441405-0%7", "input": "Slice both potatoes in the sink | STEP 1: Walk towards the counter on the left | STEP 2: Grab a knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Put the knife on the sink and open the water | STEP 5: Grab the knife from the sink and put it back in again | STEP 6: Walk towards the microwave on top of the counter | STEP 7: Open the microwave and grab a potato from the microwave", "output": ["STEP 8: Walk with the potato towards the sink"]} +{"id": "trial_T20190908_010002_441405-0%8", "input": "Slice both potatoes in the sink | STEP 1: Walk towards the counter on the left | STEP 2: Grab a knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Put the knife on the sink and open the water | STEP 5: Grab the knife from the sink and put it back in again | STEP 6: Walk towards the microwave on top of the counter | STEP 7: Open the microwave and grab a potato from the microwave | STEP 8: Walk with the potato towards the sink", "output": ["STEP 9: Put the potato in the sink"]} +{"id": "trial_T20190908_010002_441405-0%9", "input": "Slice both potatoes in the sink | STEP 1: Walk towards the counter on the left | STEP 2: Grab a knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Put the knife on the sink and open the water | STEP 5: Grab the knife from the sink and put it back in again | STEP 6: Walk towards the microwave on top of the counter | STEP 7: Open the microwave and grab a potato from the microwave | STEP 8: Walk with the potato towards the sink | STEP 9: Put the potato in the sink", "output": ["STEP 10: Grab the knife from the sink"]} +{"id": "trial_T20190908_010002_441405-0%10", "input": "Slice both potatoes in the sink | STEP 1: Walk towards the counter on the left | STEP 2: Grab a knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Put the knife on the sink and open the water | STEP 5: Grab the knife from the sink and put it back in again | STEP 6: Walk towards the microwave on top of the counter | STEP 7: Open the microwave and grab a potato from the microwave | STEP 8: Walk with the potato towards the sink | STEP 9: Put the potato in the sink | STEP 10: Grab the knife from the sink", "output": ["STEP 11: Slice the potato in the sink "]} +{"id": "trial_T20190908_010002_441405-0%11", "input": "Slice both potatoes in the sink | STEP 1: Walk towards the counter on the left | STEP 2: Grab a knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Put the knife on the sink and open the water | STEP 5: Grab the knife from the sink and put it back in again | STEP 6: Walk towards the microwave on top of the counter | STEP 7: Open the microwave and grab a potato from the microwave | STEP 8: Walk with the potato towards the sink | STEP 9: Put the potato in the sink | STEP 10: Grab the knife from the sink | STEP 11: Slice the potato in the sink ", "output": ["STEP 12: Put the knife in the sink"]} +{"id": "trial_T20190908_010002_441405-0%12", "input": "Slice both potatoes in the sink | STEP 1: Walk towards the counter on the left | STEP 2: Grab a knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Put the knife on the sink and open the water | STEP 5: Grab the knife from the sink and put it back in again | STEP 6: Walk towards the microwave on top of the counter | STEP 7: Open the microwave and grab a potato from the microwave | STEP 8: Walk with the potato towards the sink | STEP 9: Put the potato in the sink | STEP 10: Grab the knife from the sink | STEP 11: Slice the potato in the sink | STEP 12: Put the knife in the sink", "output": ["STEP 13: Turn left towards the counter"]} +{"id": "trial_T20190908_010002_441405-0%13", "input": "Slice both potatoes in the sink | STEP 1: Walk towards the counter on the left | STEP 2: Grab a knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Put the knife on the sink and open the water | STEP 5: Grab the knife from the sink and put it back in again | STEP 6: Walk towards the microwave on top of the counter | STEP 7: Open the microwave and grab a potato from the microwave | STEP 8: Walk with the potato towards the sink | STEP 9: Put the potato in the sink | STEP 10: Grab the knife from the sink | STEP 11: Slice the potato in the sink | STEP 12: Put the knife in the sink | STEP 13: Turn left towards the counter", "output": ["STEP 14: Grab the potato from the counter"]} +{"id": "trial_T20190908_010002_441405-0%14", "input": "Slice both potatoes in the sink | STEP 1: Walk towards the counter on the left | STEP 2: Grab a knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Put the knife on the sink and open the water | STEP 5: Grab the knife from the sink and put it back in again | STEP 6: Walk towards the microwave on top of the counter | STEP 7: Open the microwave and grab a potato from the microwave | STEP 8: Walk with the potato towards the sink | STEP 9: Put the potato in the sink | STEP 10: Grab the knife from the sink | STEP 11: Slice the potato in the sink | STEP 12: Put the knife in the sink | STEP 13: Turn left towards the counter | STEP 14: Grab the potato from the counter", "output": ["STEP 15: Walk towards the sink"]} +{"id": "trial_T20190908_010002_441405-0%15", "input": "Slice both potatoes in the sink | STEP 1: Walk towards the counter on the left | STEP 2: Grab a knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Put the knife on the sink and open the water | STEP 5: Grab the knife from the sink and put it back in again | STEP 6: Walk towards the microwave on top of the counter | STEP 7: Open the microwave and grab a potato from the microwave | STEP 8: Walk with the potato towards the sink | STEP 9: Put the potato in the sink | STEP 10: Grab the knife from the sink | STEP 11: Slice the potato in the sink | STEP 12: Put the knife in the sink | STEP 13: Turn left towards the counter | STEP 14: Grab the potato from the counter | STEP 15: Walk towards the sink", "output": ["STEP 16: Put the potato in the sink"]} +{"id": "trial_T20190908_010002_441405-0%16", "input": "Slice both potatoes in the sink | STEP 1: Walk towards the counter on the left | STEP 2: Grab a knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Put the knife on the sink and open the water | STEP 5: Grab the knife from the sink and put it back in again | STEP 6: Walk towards the microwave on top of the counter | STEP 7: Open the microwave and grab a potato from the microwave | STEP 8: Walk with the potato towards the sink | STEP 9: Put the potato in the sink | STEP 10: Grab the knife from the sink | STEP 11: Slice the potato in the sink | STEP 12: Put the knife in the sink | STEP 13: Turn left towards the counter | STEP 14: Grab the potato from the counter | STEP 15: Walk towards the sink | STEP 16: Put the potato in the sink", "output": ["STEP 17: Grab the knife from the sink"]} +{"id": "trial_T20190908_010002_441405-0%17", "input": "Slice both potatoes in the sink | STEP 1: Walk towards the counter on the left | STEP 2: Grab a knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Put the knife on the sink and open the water | STEP 5: Grab the knife from the sink and put it back in again | STEP 6: Walk towards the microwave on top of the counter | STEP 7: Open the microwave and grab a potato from the microwave | STEP 8: Walk with the potato towards the sink | STEP 9: Put the potato in the sink | STEP 10: Grab the knife from the sink | STEP 11: Slice the potato in the sink | STEP 12: Put the knife in the sink | STEP 13: Turn left towards the counter | STEP 14: Grab the potato from the counter | STEP 15: Walk towards the sink | STEP 16: Put the potato in the sink | STEP 17: Grab the knife from the sink", "output": ["STEP 18: Slice the potato in the sink"]} +{"id": "trial_T20190908_010002_441405-0%18", "input": "Slice both potatoes in the sink | STEP 1: Walk towards the counter on the left | STEP 2: Grab a knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Put the knife on the sink and open the water | STEP 5: Grab the knife from the sink and put it back in again | STEP 6: Walk towards the microwave on top of the counter | STEP 7: Open the microwave and grab a potato from the microwave | STEP 8: Walk with the potato towards the sink | STEP 9: Put the potato in the sink | STEP 10: Grab the knife from the sink | STEP 11: Slice the potato in the sink | STEP 12: Put the knife in the sink | STEP 13: Turn left towards the counter | STEP 14: Grab the potato from the counter | STEP 15: Walk towards the sink | STEP 16: Put the potato in the sink | STEP 17: Grab the knife from the sink | STEP 18: Slice the potato in the sink", "output": ["END"]} +{"id": "trial_T20190911_001259_562963-2%0", "input": "Move two pencils from a wastebasket to a table in a bedroom.", "output": ["STEP 1: Face the opposite direction and go beyond the end of the table to your left, then turn to face the end of the table with the lamp."]} +{"id": "trial_T20190911_001259_562963-2%1", "input": "Move two pencils from a wastebasket to a table in a bedroom. | STEP 1: Face the opposite direction and go beyond the end of the table to your left, then turn to face the end of the table with the lamp.", "output": ["STEP 2: Take a pencil out of the wastebasket under the end of the table."]} +{"id": "trial_T20190911_001259_562963-2%2", "input": "Move two pencils from a wastebasket to a table in a bedroom. | STEP 1: Face the opposite direction and go beyond the end of the table to your left, then turn to face the end of the table with the lamp. | STEP 2: Take a pencil out of the wastebasket under the end of the table.", "output": ["STEP 3: Go around clockwise to the center of the table."]} +{"id": "trial_T20190911_001259_562963-2%3", "input": "Move two pencils from a wastebasket to a table in a bedroom. | STEP 1: Face the opposite direction and go beyond the end of the table to your left, then turn to face the end of the table with the lamp. | STEP 2: Take a pencil out of the wastebasket under the end of the table. | STEP 3: Go around clockwise to the center of the table.", "output": ["STEP 4: Put the pencil on the table to the right of the brown drawers, a few inches from the front edge, parallel with the edge."]} +{"id": "trial_T20190911_001259_562963-2%4", "input": "Move two pencils from a wastebasket to a table in a bedroom. | STEP 1: Face the opposite direction and go beyond the end of the table to your left, then turn to face the end of the table with the lamp. | STEP 2: Take a pencil out of the wastebasket under the end of the table. | STEP 3: Go around clockwise to the center of the table. | STEP 4: Put the pencil on the table to the right of the brown drawers, a few inches from the front edge, parallel with the edge.", "output": ["STEP 5: Go back to the wastebasket at the end of the table."]} +{"id": "trial_T20190911_001259_562963-2%5", "input": "Move two pencils from a wastebasket to a table in a bedroom. | STEP 1: Face the opposite direction and go beyond the end of the table to your left, then turn to face the end of the table with the lamp. | STEP 2: Take a pencil out of the wastebasket under the end of the table. | STEP 3: Go around clockwise to the center of the table. | STEP 4: Put the pencil on the table to the right of the brown drawers, a few inches from the front edge, parallel with the edge. | STEP 5: Go back to the wastebasket at the end of the table.", "output": ["STEP 6: Take another pencil out of the wastebasket."]} +{"id": "trial_T20190911_001259_562963-2%6", "input": "Move two pencils from a wastebasket to a table in a bedroom. | STEP 1: Face the opposite direction and go beyond the end of the table to your left, then turn to face the end of the table with the lamp. | STEP 2: Take a pencil out of the wastebasket under the end of the table. | STEP 3: Go around clockwise to the center of the table. | STEP 4: Put the pencil on the table to the right of the brown drawers, a few inches from the front edge, parallel with the edge. | STEP 5: Go back to the wastebasket at the end of the table. | STEP 6: Take another pencil out of the wastebasket.", "output": ["STEP 7: Carry the pencil to the front of the table."]} +{"id": "trial_T20190911_001259_562963-2%7", "input": "Move two pencils from a wastebasket to a table in a bedroom. | STEP 1: Face the opposite direction and go beyond the end of the table to your left, then turn to face the end of the table with the lamp. | STEP 2: Take a pencil out of the wastebasket under the end of the table. | STEP 3: Go around clockwise to the center of the table. | STEP 4: Put the pencil on the table to the right of the brown drawers, a few inches from the front edge, parallel with the edge. | STEP 5: Go back to the wastebasket at the end of the table. | STEP 6: Take another pencil out of the wastebasket. | STEP 7: Carry the pencil to the front of the table.", "output": ["STEP 8: Put the pencil on the table, touching the back center of the other pencil, and pointing toward the wall."]} +{"id": "trial_T20190911_001259_562963-2%8", "input": "Move two pencils from a wastebasket to a table in a bedroom. | STEP 1: Face the opposite direction and go beyond the end of the table to your left, then turn to face the end of the table with the lamp. | STEP 2: Take a pencil out of the wastebasket under the end of the table. | STEP 3: Go around clockwise to the center of the table. | STEP 4: Put the pencil on the table to the right of the brown drawers, a few inches from the front edge, parallel with the edge. | STEP 5: Go back to the wastebasket at the end of the table. | STEP 6: Take another pencil out of the wastebasket. | STEP 7: Carry the pencil to the front of the table. | STEP 8: Put the pencil on the table, touching the back center of the other pencil, and pointing toward the wall.", "output": ["END"]} +{"id": "trial_T20190918_165613_395710-0%0", "input": "get the pencil from the trash can then put it on the dresser", "output": ["STEP 1: walk over to the trash can under the table"]} +{"id": "trial_T20190918_165613_395710-0%1", "input": "get the pencil from the trash can then put it on the dresser | STEP 1: walk over to the trash can under the table", "output": ["STEP 2: take the pencil out of the trash can"]} +{"id": "trial_T20190918_165613_395710-0%2", "input": "get the pencil from the trash can then put it on the dresser | STEP 1: walk over to the trash can under the table | STEP 2: take the pencil out of the trash can", "output": ["STEP 3: take the pencil to the dresser"]} +{"id": "trial_T20190918_165613_395710-0%3", "input": "get the pencil from the trash can then put it on the dresser | STEP 1: walk over to the trash can under the table | STEP 2: take the pencil out of the trash can | STEP 3: take the pencil to the dresser", "output": ["STEP 4: set the pencil on the dresser"]} +{"id": "trial_T20190918_165613_395710-0%4", "input": "get the pencil from the trash can then put it on the dresser | STEP 1: walk over to the trash can under the table | STEP 2: take the pencil out of the trash can | STEP 3: take the pencil to the dresser | STEP 4: set the pencil on the dresser", "output": ["END"]} +{"id": "trial_T20190908_070336_009913-1%0", "input": "Put the pan with knife in the sink", "output": ["STEP 1: Turn right walk forward face to left on the counter"]} +{"id": "trial_T20190908_070336_009913-1%1", "input": "Put the pan with knife in the sink | STEP 1: Turn right walk forward face to left on the counter", "output": ["STEP 2: Pick up the knife on the counter"]} +{"id": "trial_T20190908_070336_009913-1%2", "input": "Put the pan with knife in the sink | STEP 1: Turn right walk forward face to left on the counter | STEP 2: Pick up the knife on the counter", "output": ["STEP 3: Turn left then head to the stove"]} +{"id": "trial_T20190908_070336_009913-1%3", "input": "Put the pan with knife in the sink | STEP 1: Turn right walk forward face to left on the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left then head to the stove", "output": ["STEP 4: Put the knife in the pan on the stove"]} +{"id": "trial_T20190908_070336_009913-1%4", "input": "Put the pan with knife in the sink | STEP 1: Turn right walk forward face to left on the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left then head to the stove | STEP 4: Put the knife in the pan on the stove", "output": ["STEP 5: Pick up the pan with knife "]} +{"id": "trial_T20190908_070336_009913-1%5", "input": "Put the pan with knife in the sink | STEP 1: Turn right walk forward face to left on the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left then head to the stove | STEP 4: Put the knife in the pan on the stove | STEP 5: Pick up the pan with knife ", "output": ["STEP 6: Turn left then head to the sink"]} +{"id": "trial_T20190908_070336_009913-1%6", "input": "Put the pan with knife in the sink | STEP 1: Turn right walk forward face to left on the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left then head to the stove | STEP 4: Put the knife in the pan on the stove | STEP 5: Pick up the pan with knife | STEP 6: Turn left then head to the sink", "output": ["STEP 7: Put the pan with knife in the sink"]} +{"id": "trial_T20190908_070336_009913-1%7", "input": "Put the pan with knife in the sink | STEP 1: Turn right walk forward face to left on the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left then head to the stove | STEP 4: Put the knife in the pan on the stove | STEP 5: Pick up the pan with knife | STEP 6: Turn left then head to the sink | STEP 7: Put the pan with knife in the sink", "output": ["END"]} +{"id": "trial_T20190908_070336_009913-2%0", "input": "place a pan with a knife on it in the sink", "output": ["STEP 1: turn around and head to the table"]} +{"id": "trial_T20190908_070336_009913-2%1", "input": "place a pan with a knife on it in the sink | STEP 1: turn around and head to the table", "output": ["STEP 2: pick up a knife from the table"]} +{"id": "trial_T20190908_070336_009913-2%2", "input": "place a pan with a knife on it in the sink | STEP 1: turn around and head to the table | STEP 2: pick up a knife from the table", "output": ["STEP 3: turn left and head to the gas"]} +{"id": "trial_T20190908_070336_009913-2%3", "input": "place a pan with a knife on it in the sink | STEP 1: turn around and head to the table | STEP 2: pick up a knife from the table | STEP 3: turn left and head to the gas", "output": ["STEP 4: drop the knife on the pan on the gas"]} +{"id": "trial_T20190908_070336_009913-2%4", "input": "place a pan with a knife on it in the sink | STEP 1: turn around and head to the table | STEP 2: pick up a knife from the table | STEP 3: turn left and head to the gas | STEP 4: drop the knife on the pan on the gas", "output": ["STEP 5: pick up the pan from the gas"]} +{"id": "trial_T20190908_070336_009913-2%5", "input": "place a pan with a knife on it in the sink | STEP 1: turn around and head to the table | STEP 2: pick up a knife from the table | STEP 3: turn left and head to the gas | STEP 4: drop the knife on the pan on the gas | STEP 5: pick up the pan from the gas", "output": ["STEP 6: turn around and head to the sink"]} +{"id": "trial_T20190908_070336_009913-2%6", "input": "place a pan with a knife on it in the sink | STEP 1: turn around and head to the table | STEP 2: pick up a knife from the table | STEP 3: turn left and head to the gas | STEP 4: drop the knife on the pan on the gas | STEP 5: pick up the pan from the gas | STEP 6: turn around and head to the sink", "output": ["STEP 7: place the pan in the sink"]} +{"id": "trial_T20190908_070336_009913-2%7", "input": "place a pan with a knife on it in the sink | STEP 1: turn around and head to the table | STEP 2: pick up a knife from the table | STEP 3: turn left and head to the gas | STEP 4: drop the knife on the pan on the gas | STEP 5: pick up the pan from the gas | STEP 6: turn around and head to the sink | STEP 7: place the pan in the sink", "output": ["END"]} +{"id": "trial_T20190907_004241_789221-1%0", "input": "Microwave a tomato, place it on the counter.", "output": ["STEP 1: Turn around and face the sink."]} +{"id": "trial_T20190907_004241_789221-1%1", "input": "Microwave a tomato, place it on the counter. | STEP 1: Turn around and face the sink.", "output": ["STEP 2: Pick up the tomato on the counter."]} +{"id": "trial_T20190907_004241_789221-1%2", "input": "Microwave a tomato, place it on the counter. | STEP 1: Turn around and face the sink. | STEP 2: Pick up the tomato on the counter.", "output": ["STEP 3: Turn left, then walk to the wall and turn left again to face the oven."]} +{"id": "trial_T20190907_004241_789221-1%3", "input": "Microwave a tomato, place it on the counter. | STEP 1: Turn around and face the sink. | STEP 2: Pick up the tomato on the counter. | STEP 3: Turn left, then walk to the wall and turn left again to face the oven.", "output": ["STEP 4: Place the tomato in the microwave, turn it on, then take it out when it's done."]} +{"id": "trial_T20190907_004241_789221-1%4", "input": "Microwave a tomato, place it on the counter. | STEP 1: Turn around and face the sink. | STEP 2: Pick up the tomato on the counter. | STEP 3: Turn left, then walk to the wall and turn left again to face the oven. | STEP 4: Place the tomato in the microwave, turn it on, then take it out when it's done.", "output": ["STEP 5: Turn left and face the counter on the right."]} +{"id": "trial_T20190907_004241_789221-1%5", "input": "Microwave a tomato, place it on the counter. | STEP 1: Turn around and face the sink. | STEP 2: Pick up the tomato on the counter. | STEP 3: Turn left, then walk to the wall and turn left again to face the oven. | STEP 4: Place the tomato in the microwave, turn it on, then take it out when it's done. | STEP 5: Turn left and face the counter on the right.", "output": ["STEP 6: Place the tomato on the counter."]} +{"id": "trial_T20190907_004241_789221-1%6", "input": "Microwave a tomato, place it on the counter. | STEP 1: Turn around and face the sink. | STEP 2: Pick up the tomato on the counter. | STEP 3: Turn left, then walk to the wall and turn left again to face the oven. | STEP 4: Place the tomato in the microwave, turn it on, then take it out when it's done. | STEP 5: Turn left and face the counter on the right. | STEP 6: Place the tomato on the counter.", "output": ["END"]} +{"id": "trial_T20190906_184649_964773-2%0", "input": "Put the heated glass up in the third cabinet. ", "output": ["STEP 1: Move to the sink. "]} +{"id": "trial_T20190906_184649_964773-2%1", "input": "Put the heated glass up in the third cabinet. | STEP 1: Move to the sink. ", "output": ["STEP 2: Pick up the glass in the left of the sink. "]} +{"id": "trial_T20190906_184649_964773-2%2", "input": "Put the heated glass up in the third cabinet. | STEP 1: Move to the sink. | STEP 2: Pick up the glass in the left of the sink. ", "output": ["STEP 3: Bring the glass to the microwave."]} +{"id": "trial_T20190906_184649_964773-2%3", "input": "Put the heated glass up in the third cabinet. | STEP 1: Move to the sink. | STEP 2: Pick up the glass in the left of the sink. | STEP 3: Bring the glass to the microwave.", "output": ["STEP 4: Heat the glass in the microwave for a few seconds. "]} +{"id": "trial_T20190906_184649_964773-2%4", "input": "Put the heated glass up in the third cabinet. | STEP 1: Move to the sink. | STEP 2: Pick up the glass in the left of the sink. | STEP 3: Bring the glass to the microwave. | STEP 4: Heat the glass in the microwave for a few seconds. ", "output": ["STEP 5: Bring the glass back towards the sink. "]} +{"id": "trial_T20190906_184649_964773-2%5", "input": "Put the heated glass up in the third cabinet. | STEP 1: Move to the sink. | STEP 2: Pick up the glass in the left of the sink. | STEP 3: Bring the glass to the microwave. | STEP 4: Heat the glass in the microwave for a few seconds. | STEP 5: Bring the glass back towards the sink. ", "output": ["STEP 6: Open the third cabinet up on the left and put the glass in there. "]} +{"id": "trial_T20190906_184649_964773-2%6", "input": "Put the heated glass up in the third cabinet. | STEP 1: Move to the sink. | STEP 2: Pick up the glass in the left of the sink. | STEP 3: Bring the glass to the microwave. | STEP 4: Heat the glass in the microwave for a few seconds. | STEP 5: Bring the glass back towards the sink. | STEP 6: Open the third cabinet up on the left and put the glass in there. ", "output": ["END"]} +{"id": "trial_T20190908_075055_804761-1%0", "input": "Put a cleaned knife on the table. ", "output": ["STEP 1: Turn left, go to the window, turn left, go to the small round table."]} +{"id": "trial_T20190908_075055_804761-1%1", "input": "Put a cleaned knife on the table. | STEP 1: Turn left, go to the window, turn left, go to the small round table.", "output": ["STEP 2: Pick up the knife on the table. "]} +{"id": "trial_T20190908_075055_804761-1%2", "input": "Put a cleaned knife on the table. | STEP 1: Turn left, go to the window, turn left, go to the small round table. | STEP 2: Pick up the knife on the table. ", "output": ["STEP 3: Turn around, go to the sink."]} +{"id": "trial_T20190908_075055_804761-1%3", "input": "Put a cleaned knife on the table. | STEP 1: Turn left, go to the window, turn left, go to the small round table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around, go to the sink.", "output": ["STEP 4: Wash the knife in the sink with water. "]} +{"id": "trial_T20190908_075055_804761-1%4", "input": "Put a cleaned knife on the table. | STEP 1: Turn left, go to the window, turn left, go to the small round table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around, go to the sink. | STEP 4: Wash the knife in the sink with water. ", "output": ["STEP 5: Bring the cleaned knife back to the table on the right."]} +{"id": "trial_T20190908_075055_804761-1%5", "input": "Put a cleaned knife on the table. | STEP 1: Turn left, go to the window, turn left, go to the small round table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around, go to the sink. | STEP 4: Wash the knife in the sink with water. | STEP 5: Bring the cleaned knife back to the table on the right.", "output": ["STEP 6: Put the knife on the table."]} +{"id": "trial_T20190908_075055_804761-1%6", "input": "Put a cleaned knife on the table. | STEP 1: Turn left, go to the window, turn left, go to the small round table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around, go to the sink. | STEP 4: Wash the knife in the sink with water. | STEP 5: Bring the cleaned knife back to the table on the right. | STEP 6: Put the knife on the table.", "output": ["END"]} +{"id": "trial_T20190909_151757_845636-0%0", "input": "Look at a watch under the light of a lamp.", "output": ["STEP 1: Turn around and walk to the end of the couch then turn left."]} +{"id": "trial_T20190909_151757_845636-0%1", "input": "Look at a watch under the light of a lamp. | STEP 1: Turn around and walk to the end of the couch then turn left.", "output": ["STEP 2: Pick up the watch from the round table."]} +{"id": "trial_T20190909_151757_845636-0%2", "input": "Look at a watch under the light of a lamp. | STEP 1: Turn around and walk to the end of the couch then turn left. | STEP 2: Pick up the watch from the round table.", "output": ["STEP 3: Take a side step to the right."]} +{"id": "trial_T20190909_151757_845636-0%3", "input": "Look at a watch under the light of a lamp. | STEP 1: Turn around and walk to the end of the couch then turn left. | STEP 2: Pick up the watch from the round table. | STEP 3: Take a side step to the right.", "output": ["STEP 4: Turn the lamp on."]} +{"id": "trial_T20190909_151757_845636-0%4", "input": "Look at a watch under the light of a lamp. | STEP 1: Turn around and walk to the end of the couch then turn left. | STEP 2: Pick up the watch from the round table. | STEP 3: Take a side step to the right. | STEP 4: Turn the lamp on.", "output": ["END"]} +{"id": "trial_T20190908_130212_304102-1%0", "input": "Put the newspaper on the shelf. ", "output": ["STEP 1: Turn to your left and go to the couch, then turn right, between the coffee table and the couch, and turn to your right at the center of the couch."]} +{"id": "trial_T20190908_130212_304102-1%1", "input": "Put the newspaper on the shelf. | STEP 1: Turn to your left and go to the couch, then turn right, between the coffee table and the couch, and turn to your right at the center of the couch.", "output": ["STEP 2: Pick up the newspaper between the pillow and the laptop, on the couch. "]} +{"id": "trial_T20190908_130212_304102-1%2", "input": "Put the newspaper on the shelf. | STEP 1: Turn to your left and go to the couch, then turn right, between the coffee table and the couch, and turn to your right at the center of the couch. | STEP 2: Pick up the newspaper between the pillow and the laptop, on the couch. ", "output": ["STEP 3: Turn to your left and go past the coffee table, then go to the wooden shelf across the room. "]} +{"id": "trial_T20190908_130212_304102-1%3", "input": "Put the newspaper on the shelf. | STEP 1: Turn to your left and go to the couch, then turn right, between the coffee table and the couch, and turn to your right at the center of the couch. | STEP 2: Pick up the newspaper between the pillow and the laptop, on the couch. | STEP 3: Turn to your left and go past the coffee table, then go to the wooden shelf across the room. ", "output": ["STEP 4: Place the newspaper on the bottom shelf. "]} +{"id": "trial_T20190908_130212_304102-1%4", "input": "Put the newspaper on the shelf. | STEP 1: Turn to your left and go to the couch, then turn right, between the coffee table and the couch, and turn to your right at the center of the couch. | STEP 2: Pick up the newspaper between the pillow and the laptop, on the couch. | STEP 3: Turn to your left and go past the coffee table, then go to the wooden shelf across the room. | STEP 4: Place the newspaper on the bottom shelf. ", "output": ["END"]} +{"id": "trial_T20190908_130212_304102-2%0", "input": "Move a newspaper to a shelf", "output": ["STEP 1: Go to the sofa"]} +{"id": "trial_T20190908_130212_304102-2%1", "input": "Move a newspaper to a shelf | STEP 1: Go to the sofa", "output": ["STEP 2: Pick up a newspaper from the sofa"]} +{"id": "trial_T20190908_130212_304102-2%2", "input": "Move a newspaper to a shelf | STEP 1: Go to the sofa | STEP 2: Pick up a newspaper from the sofa", "output": ["STEP 3: Go to the shelves"]} +{"id": "trial_T20190908_130212_304102-2%3", "input": "Move a newspaper to a shelf | STEP 1: Go to the sofa | STEP 2: Pick up a newspaper from the sofa | STEP 3: Go to the shelves", "output": ["STEP 4: Put the newspaper on a shelf"]} +{"id": "trial_T20190908_130212_304102-2%4", "input": "Move a newspaper to a shelf | STEP 1: Go to the sofa | STEP 2: Pick up a newspaper from the sofa | STEP 3: Go to the shelves | STEP 4: Put the newspaper on a shelf", "output": ["END"]} +{"id": "trial_T20190909_145804_320853-1%0", "input": "Place a remote on a chair.", "output": ["STEP 1: Turn left and walk to the end of the couch."]} +{"id": "trial_T20190909_145804_320853-1%1", "input": "Place a remote on a chair. | STEP 1: Turn left and walk to the end of the couch.", "output": ["STEP 2: Pick up the leftmost remote."]} +{"id": "trial_T20190909_145804_320853-1%2", "input": "Place a remote on a chair. | STEP 1: Turn left and walk to the end of the couch. | STEP 2: Pick up the leftmost remote.", "output": ["STEP 3: Turn left and walk to the chair."]} +{"id": "trial_T20190909_145804_320853-1%3", "input": "Place a remote on a chair. | STEP 1: Turn left and walk to the end of the couch. | STEP 2: Pick up the leftmost remote. | STEP 3: Turn left and walk to the chair.", "output": ["STEP 4: Put the remote on the chair near the front left corner."]} +{"id": "trial_T20190909_145804_320853-1%4", "input": "Place a remote on a chair. | STEP 1: Turn left and walk to the end of the couch. | STEP 2: Pick up the leftmost remote. | STEP 3: Turn left and walk to the chair. | STEP 4: Put the remote on the chair near the front left corner.", "output": ["END"]} +{"id": "trial_T20190909_145804_320853-2%0", "input": "Place a remote on top of the chair", "output": ["STEP 1: Move to the right side of the large brown sofa"]} +{"id": "trial_T20190909_145804_320853-2%1", "input": "Place a remote on top of the chair | STEP 1: Move to the right side of the large brown sofa", "output": ["STEP 2: Pick up the remote on top of the sofa to the left of the other remote"]} +{"id": "trial_T20190909_145804_320853-2%2", "input": "Place a remote on top of the chair | STEP 1: Move to the right side of the large brown sofa | STEP 2: Pick up the remote on top of the sofa to the left of the other remote", "output": ["STEP 3: Turn and move to the small brown chair right of the box"]} +{"id": "trial_T20190909_145804_320853-2%3", "input": "Place a remote on top of the chair | STEP 1: Move to the right side of the large brown sofa | STEP 2: Pick up the remote on top of the sofa to the left of the other remote | STEP 3: Turn and move to the small brown chair right of the box", "output": ["STEP 4: Place the remote on top of the small brown chair"]} +{"id": "trial_T20190909_145804_320853-2%4", "input": "Place a remote on top of the chair | STEP 1: Move to the right side of the large brown sofa | STEP 2: Pick up the remote on top of the sofa to the left of the other remote | STEP 3: Turn and move to the small brown chair right of the box | STEP 4: Place the remote on top of the small brown chair", "output": ["END"]} +{"id": "trial_T20190908_154411_041403-2%0", "input": "Move a book to a dresser", "output": ["STEP 1: Go to the bed"]} +{"id": "trial_T20190908_154411_041403-2%1", "input": "Move a book to a dresser | STEP 1: Go to the bed", "output": ["STEP 2: Pick up a book from the bed"]} +{"id": "trial_T20190908_154411_041403-2%2", "input": "Move a book to a dresser | STEP 1: Go to the bed | STEP 2: Pick up a book from the bed", "output": ["STEP 3: Go to the dresser"]} +{"id": "trial_T20190908_154411_041403-2%3", "input": "Move a book to a dresser | STEP 1: Go to the bed | STEP 2: Pick up a book from the bed | STEP 3: Go to the dresser", "output": ["STEP 4: Place the book in the dresser"]} +{"id": "trial_T20190908_154411_041403-2%4", "input": "Move a book to a dresser | STEP 1: Go to the bed | STEP 2: Pick up a book from the bed | STEP 3: Go to the dresser | STEP 4: Place the book in the dresser", "output": ["END"]} +{"id": "trial_T20190908_130300_504812-2%0", "input": "move newspaper from couch to shelf", "output": ["STEP 1: turn around, walk forward one step, turn right, walk to the end of the couch, turn left to face couch"]} +{"id": "trial_T20190908_130300_504812-2%1", "input": "move newspaper from couch to shelf | STEP 1: turn around, walk forward one step, turn right, walk to the end of the couch, turn left to face couch", "output": ["STEP 2: pick up the newspaper that is on the couch"]} +{"id": "trial_T20190908_130300_504812-2%2", "input": "move newspaper from couch to shelf | STEP 1: turn around, walk forward one step, turn right, walk to the end of the couch, turn left to face couch | STEP 2: pick up the newspaper that is on the couch", "output": ["STEP 3: turn right, take a step, turn right, walk past coffee table, turn right, turn left, walk to shelves"]} +{"id": "trial_T20190908_130300_504812-2%3", "input": "move newspaper from couch to shelf | STEP 1: turn around, walk forward one step, turn right, walk to the end of the couch, turn left to face couch | STEP 2: pick up the newspaper that is on the couch | STEP 3: turn right, take a step, turn right, walk past coffee table, turn right, turn left, walk to shelves", "output": ["STEP 4: put newspaper on the bottom shelf"]} +{"id": "trial_T20190908_130300_504812-2%4", "input": "move newspaper from couch to shelf | STEP 1: turn around, walk forward one step, turn right, walk to the end of the couch, turn left to face couch | STEP 2: pick up the newspaper that is on the couch | STEP 3: turn right, take a step, turn right, walk past coffee table, turn right, turn left, walk to shelves | STEP 4: put newspaper on the bottom shelf", "output": ["END"]} +{"id": "trial_T20190912_042100_438864-0%0", "input": "Place two laptop computers on a bed.", "output": ["STEP 1: Take a left at the bed and walk to the white table."]} +{"id": "trial_T20190912_042100_438864-0%1", "input": "Place two laptop computers on a bed. | STEP 1: Take a left at the bed and walk to the white table.", "output": ["STEP 2: Close the lid of the right laptop computer and pick it up."]} +{"id": "trial_T20190912_042100_438864-0%2", "input": "Place two laptop computers on a bed. | STEP 1: Take a left at the bed and walk to the white table. | STEP 2: Close the lid of the right laptop computer and pick it up.", "output": ["STEP 3: Turn right and walk to the end of the bed on the right."]} +{"id": "trial_T20190912_042100_438864-0%3", "input": "Place two laptop computers on a bed. | STEP 1: Take a left at the bed and walk to the white table. | STEP 2: Close the lid of the right laptop computer and pick it up. | STEP 3: Turn right and walk to the end of the bed on the right.", "output": ["STEP 4: Put the laptop on the middle of the end of the bed."]} +{"id": "trial_T20190912_042100_438864-0%4", "input": "Place two laptop computers on a bed. | STEP 1: Take a left at the bed and walk to the white table. | STEP 2: Close the lid of the right laptop computer and pick it up. | STEP 3: Turn right and walk to the end of the bed on the right. | STEP 4: Put the laptop on the middle of the end of the bed.", "output": ["STEP 5: Turn right and walk to the white table on the right."]} +{"id": "trial_T20190912_042100_438864-0%5", "input": "Place two laptop computers on a bed. | STEP 1: Take a left at the bed and walk to the white table. | STEP 2: Close the lid of the right laptop computer and pick it up. | STEP 3: Turn right and walk to the end of the bed on the right. | STEP 4: Put the laptop on the middle of the end of the bed. | STEP 5: Turn right and walk to the white table on the right.", "output": ["STEP 6: Close the lid of the laptop computer and pick it up."]} +{"id": "trial_T20190912_042100_438864-0%6", "input": "Place two laptop computers on a bed. | STEP 1: Take a left at the bed and walk to the white table. | STEP 2: Close the lid of the right laptop computer and pick it up. | STEP 3: Turn right and walk to the end of the bed on the right. | STEP 4: Put the laptop on the middle of the end of the bed. | STEP 5: Turn right and walk to the white table on the right. | STEP 6: Close the lid of the laptop computer and pick it up.", "output": ["STEP 7: Turn right and walk to the end of the bed on the right."]} +{"id": "trial_T20190912_042100_438864-0%7", "input": "Place two laptop computers on a bed. | STEP 1: Take a left at the bed and walk to the white table. | STEP 2: Close the lid of the right laptop computer and pick it up. | STEP 3: Turn right and walk to the end of the bed on the right. | STEP 4: Put the laptop on the middle of the end of the bed. | STEP 5: Turn right and walk to the white table on the right. | STEP 6: Close the lid of the laptop computer and pick it up. | STEP 7: Turn right and walk to the end of the bed on the right.", "output": ["STEP 8: Put the laptop to the left of the other laptop on the bed."]} +{"id": "trial_T20190912_042100_438864-0%8", "input": "Place two laptop computers on a bed. | STEP 1: Take a left at the bed and walk to the white table. | STEP 2: Close the lid of the right laptop computer and pick it up. | STEP 3: Turn right and walk to the end of the bed on the right. | STEP 4: Put the laptop on the middle of the end of the bed. | STEP 5: Turn right and walk to the white table on the right. | STEP 6: Close the lid of the laptop computer and pick it up. | STEP 7: Turn right and walk to the end of the bed on the right. | STEP 8: Put the laptop to the left of the other laptop on the bed.", "output": ["END"]} +{"id": "trial_T20190908_122347_905839-1%0", "input": "Pick up the keys and put them down on the brown chair.", "output": ["STEP 1: Turn around and walk to the wooden desk in the corner."]} +{"id": "trial_T20190908_122347_905839-1%1", "input": "Pick up the keys and put them down on the brown chair. | STEP 1: Turn around and walk to the wooden desk in the corner.", "output": ["STEP 2: Pick up the keys on the wooden desk."]} +{"id": "trial_T20190908_122347_905839-1%2", "input": "Pick up the keys and put them down on the brown chair. | STEP 1: Turn around and walk to the wooden desk in the corner. | STEP 2: Pick up the keys on the wooden desk.", "output": ["STEP 3: Walk to the brown chair to the right of the desk."]} +{"id": "trial_T20190908_122347_905839-1%3", "input": "Pick up the keys and put them down on the brown chair. | STEP 1: Turn around and walk to the wooden desk in the corner. | STEP 2: Pick up the keys on the wooden desk. | STEP 3: Walk to the brown chair to the right of the desk.", "output": ["STEP 4: Put the keys down on the brown chair."]} +{"id": "trial_T20190908_122347_905839-1%4", "input": "Pick up the keys and put them down on the brown chair. | STEP 1: Turn around and walk to the wooden desk in the corner. | STEP 2: Pick up the keys on the wooden desk. | STEP 3: Walk to the brown chair to the right of the desk. | STEP 4: Put the keys down on the brown chair.", "output": ["END"]} +{"id": "trial_T20190909_014122_616494-0%0", "input": "Putting a clean fork on the round table", "output": ["STEP 1: Go to the round table"]} +{"id": "trial_T20190909_014122_616494-0%1", "input": "Putting a clean fork on the round table | STEP 1: Go to the round table", "output": ["STEP 2: Grab the fork off of the table"]} +{"id": "trial_T20190909_014122_616494-0%2", "input": "Putting a clean fork on the round table | STEP 1: Go to the round table | STEP 2: Grab the fork off of the table", "output": ["STEP 3: Turn around and go to the sink"]} +{"id": "trial_T20190909_014122_616494-0%3", "input": "Putting a clean fork on the round table | STEP 1: Go to the round table | STEP 2: Grab the fork off of the table | STEP 3: Turn around and go to the sink", "output": ["STEP 4: Wash the fork in the sink and then take it out"]} +{"id": "trial_T20190909_014122_616494-0%4", "input": "Putting a clean fork on the round table | STEP 1: Go to the round table | STEP 2: Grab the fork off of the table | STEP 3: Turn around and go to the sink | STEP 4: Wash the fork in the sink and then take it out", "output": ["STEP 5: Turn right and go to the round table"]} +{"id": "trial_T20190909_014122_616494-0%5", "input": "Putting a clean fork on the round table | STEP 1: Go to the round table | STEP 2: Grab the fork off of the table | STEP 3: Turn around and go to the sink | STEP 4: Wash the fork in the sink and then take it out | STEP 5: Turn right and go to the round table", "output": ["STEP 6: Put the fork on the table"]} +{"id": "trial_T20190909_014122_616494-0%6", "input": "Putting a clean fork on the round table | STEP 1: Go to the round table | STEP 2: Grab the fork off of the table | STEP 3: Turn around and go to the sink | STEP 4: Wash the fork in the sink and then take it out | STEP 5: Turn right and go to the round table | STEP 6: Put the fork on the table", "output": ["END"]} +{"id": "trial_T20190909_014122_616494-1%0", "input": "Wash a fork and put it back on a table.", "output": ["STEP 1: Walk forward to the table."]} +{"id": "trial_T20190909_014122_616494-1%1", "input": "Wash a fork and put it back on a table. | STEP 1: Walk forward to the table.", "output": ["STEP 2: Pick up the fork from the table."]} +{"id": "trial_T20190909_014122_616494-1%2", "input": "Wash a fork and put it back on a table. | STEP 1: Walk forward to the table. | STEP 2: Pick up the fork from the table.", "output": ["STEP 3: Turn around completely and then turn to the sink on the left. "]} +{"id": "trial_T20190909_014122_616494-1%3", "input": "Wash a fork and put it back on a table. | STEP 1: Walk forward to the table. | STEP 2: Pick up the fork from the table. | STEP 3: Turn around completely and then turn to the sink on the left. ", "output": ["STEP 4: Place the fork inside the sink and turn on the water. Wash the fork then take it out. "]} +{"id": "trial_T20190909_014122_616494-1%4", "input": "Wash a fork and put it back on a table. | STEP 1: Walk forward to the table. | STEP 2: Pick up the fork from the table. | STEP 3: Turn around completely and then turn to the sink on the left. | STEP 4: Place the fork inside the sink and turn on the water. Wash the fork then take it out. ", "output": ["STEP 5: Turn right and then go forward back to the table. "]} +{"id": "trial_T20190909_014122_616494-1%5", "input": "Wash a fork and put it back on a table. | STEP 1: Walk forward to the table. | STEP 2: Pick up the fork from the table. | STEP 3: Turn around completely and then turn to the sink on the left. | STEP 4: Place the fork inside the sink and turn on the water. Wash the fork then take it out. | STEP 5: Turn right and then go forward back to the table. ", "output": ["STEP 6: Place the fork on the table. "]} +{"id": "trial_T20190909_014122_616494-1%6", "input": "Wash a fork and put it back on a table. | STEP 1: Walk forward to the table. | STEP 2: Pick up the fork from the table. | STEP 3: Turn around completely and then turn to the sink on the left. | STEP 4: Place the fork inside the sink and turn on the water. Wash the fork then take it out. | STEP 5: Turn right and then go forward back to the table. | STEP 6: Place the fork on the table. ", "output": ["END"]} +{"id": "trial_T20190919_055435_860257-1%0", "input": "Put a bowl with a slice of lettuce in it in a fridge.", "output": ["STEP 1: Turn around, go forward, turn left at the first blue plate on the counter."]} +{"id": "trial_T20190919_055435_860257-1%1", "input": "Put a bowl with a slice of lettuce in it in a fridge. | STEP 1: Turn around, go forward, turn left at the first blue plate on the counter.", "output": ["STEP 2: Take the knife to the left of the plate."]} +{"id": "trial_T20190919_055435_860257-1%2", "input": "Put a bowl with a slice of lettuce in it in a fridge. | STEP 1: Turn around, go forward, turn left at the first blue plate on the counter. | STEP 2: Take the knife to the left of the plate.", "output": ["STEP 3: Turn left, go forward, turn right to the counter to the left of the oven."]} +{"id": "trial_T20190919_055435_860257-1%3", "input": "Put a bowl with a slice of lettuce in it in a fridge. | STEP 1: Turn around, go forward, turn left at the first blue plate on the counter. | STEP 2: Take the knife to the left of the plate. | STEP 3: Turn left, go forward, turn right to the counter to the left of the oven.", "output": ["STEP 4: Cut the lettuce on the counter into slices."]} +{"id": "trial_T20190919_055435_860257-1%4", "input": "Put a bowl with a slice of lettuce in it in a fridge. | STEP 1: Turn around, go forward, turn left at the first blue plate on the counter. | STEP 2: Take the knife to the left of the plate. | STEP 3: Turn left, go forward, turn right to the counter to the left of the oven. | STEP 4: Cut the lettuce on the counter into slices.", "output": ["STEP 5: Turn around, go to the sink."]} +{"id": "trial_T20190919_055435_860257-1%5", "input": "Put a bowl with a slice of lettuce in it in a fridge. | STEP 1: Turn around, go forward, turn left at the first blue plate on the counter. | STEP 2: Take the knife to the left of the plate. | STEP 3: Turn left, go forward, turn right to the counter to the left of the oven. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around, go to the sink.", "output": ["STEP 6: Put the knife in the bowl in the sink."]} +{"id": "trial_T20190919_055435_860257-1%6", "input": "Put a bowl with a slice of lettuce in it in a fridge. | STEP 1: Turn around, go forward, turn left at the first blue plate on the counter. | STEP 2: Take the knife to the left of the plate. | STEP 3: Turn left, go forward, turn right to the counter to the left of the oven. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around, go to the sink. | STEP 6: Put the knife in the bowl in the sink.", "output": ["STEP 7: Turn around, go forward to the counter to the left of the oven."]} +{"id": "trial_T20190919_055435_860257-1%7", "input": "Put a bowl with a slice of lettuce in it in a fridge. | STEP 1: Turn around, go forward, turn left at the first blue plate on the counter. | STEP 2: Take the knife to the left of the plate. | STEP 3: Turn left, go forward, turn right to the counter to the left of the oven. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around, go to the sink. | STEP 6: Put the knife in the bowl in the sink. | STEP 7: Turn around, go forward to the counter to the left of the oven.", "output": ["STEP 8: Take a slice of lettuce from the counter."]} +{"id": "trial_T20190919_055435_860257-1%8", "input": "Put a bowl with a slice of lettuce in it in a fridge. | STEP 1: Turn around, go forward, turn left at the first blue plate on the counter. | STEP 2: Take the knife to the left of the plate. | STEP 3: Turn left, go forward, turn right to the counter to the left of the oven. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around, go to the sink. | STEP 6: Put the knife in the bowl in the sink. | STEP 7: Turn around, go forward to the counter to the left of the oven. | STEP 8: Take a slice of lettuce from the counter.", "output": ["STEP 9: Turn around, go to the sink."]} +{"id": "trial_T20190919_055435_860257-1%9", "input": "Put a bowl with a slice of lettuce in it in a fridge. | STEP 1: Turn around, go forward, turn left at the first blue plate on the counter. | STEP 2: Take the knife to the left of the plate. | STEP 3: Turn left, go forward, turn right to the counter to the left of the oven. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around, go to the sink. | STEP 6: Put the knife in the bowl in the sink. | STEP 7: Turn around, go forward to the counter to the left of the oven. | STEP 8: Take a slice of lettuce from the counter. | STEP 9: Turn around, go to the sink.", "output": ["STEP 10: Put the lettuce in the bowl in the sink."]} +{"id": "trial_T20190919_055435_860257-1%10", "input": "Put a bowl with a slice of lettuce in it in a fridge. | STEP 1: Turn around, go forward, turn left at the first blue plate on the counter. | STEP 2: Take the knife to the left of the plate. | STEP 3: Turn left, go forward, turn right to the counter to the left of the oven. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around, go to the sink. | STEP 6: Put the knife in the bowl in the sink. | STEP 7: Turn around, go forward to the counter to the left of the oven. | STEP 8: Take a slice of lettuce from the counter. | STEP 9: Turn around, go to the sink. | STEP 10: Put the lettuce in the bowl in the sink.", "output": ["STEP 11: Take the bowl from the sink."]} +{"id": "trial_T20190919_055435_860257-1%11", "input": "Put a bowl with a slice of lettuce in it in a fridge. | STEP 1: Turn around, go forward, turn left at the first blue plate on the counter. | STEP 2: Take the knife to the left of the plate. | STEP 3: Turn left, go forward, turn right to the counter to the left of the oven. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around, go to the sink. | STEP 6: Put the knife in the bowl in the sink. | STEP 7: Turn around, go forward to the counter to the left of the oven. | STEP 8: Take a slice of lettuce from the counter. | STEP 9: Turn around, go to the sink. | STEP 10: Put the lettuce in the bowl in the sink. | STEP 11: Take the bowl from the sink.", "output": ["STEP 12: Turn left, go forward to the wall, turn right to the fridge."]} +{"id": "trial_T20190919_055435_860257-1%12", "input": "Put a bowl with a slice of lettuce in it in a fridge. | STEP 1: Turn around, go forward, turn left at the first blue plate on the counter. | STEP 2: Take the knife to the left of the plate. | STEP 3: Turn left, go forward, turn right to the counter to the left of the oven. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around, go to the sink. | STEP 6: Put the knife in the bowl in the sink. | STEP 7: Turn around, go forward to the counter to the left of the oven. | STEP 8: Take a slice of lettuce from the counter. | STEP 9: Turn around, go to the sink. | STEP 10: Put the lettuce in the bowl in the sink. | STEP 11: Take the bowl from the sink. | STEP 12: Turn left, go forward to the wall, turn right to the fridge.", "output": ["STEP 13: Put the bowl in the fridge to the left of the tomato."]} +{"id": "trial_T20190919_055435_860257-1%13", "input": "Put a bowl with a slice of lettuce in it in a fridge. | STEP 1: Turn around, go forward, turn left at the first blue plate on the counter. | STEP 2: Take the knife to the left of the plate. | STEP 3: Turn left, go forward, turn right to the counter to the left of the oven. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around, go to the sink. | STEP 6: Put the knife in the bowl in the sink. | STEP 7: Turn around, go forward to the counter to the left of the oven. | STEP 8: Take a slice of lettuce from the counter. | STEP 9: Turn around, go to the sink. | STEP 10: Put the lettuce in the bowl in the sink. | STEP 11: Take the bowl from the sink. | STEP 12: Turn left, go forward to the wall, turn right to the fridge. | STEP 13: Put the bowl in the fridge to the left of the tomato.", "output": ["END"]} +{"id": "trial_T20190919_055435_860257-2%0", "input": "Put a bowl with a lettuce slice and a knife in it into the fridge", "output": ["STEP 1: Go to the counter right of the stove"]} +{"id": "trial_T20190919_055435_860257-2%1", "input": "Put a bowl with a lettuce slice and a knife in it into the fridge | STEP 1: Go to the counter right of the stove", "output": ["STEP 2: Pick up the knife on the left"]} +{"id": "trial_T20190919_055435_860257-2%2", "input": "Put a bowl with a lettuce slice and a knife in it into the fridge | STEP 1: Go to the counter right of the stove | STEP 2: Pick up the knife on the left", "output": ["STEP 3: Go to the counter left of the stove"]} +{"id": "trial_T20190919_055435_860257-2%3", "input": "Put a bowl with a lettuce slice and a knife in it into the fridge | STEP 1: Go to the counter right of the stove | STEP 2: Pick up the knife on the left | STEP 3: Go to the counter left of the stove", "output": ["STEP 4: Cut the lettuce"]} +{"id": "trial_T20190919_055435_860257-2%4", "input": "Put a bowl with a lettuce slice and a knife in it into the fridge | STEP 1: Go to the counter right of the stove | STEP 2: Pick up the knife on the left | STEP 3: Go to the counter left of the stove | STEP 4: Cut the lettuce", "output": ["STEP 5: Go to the sink"]} +{"id": "trial_T20190919_055435_860257-2%5", "input": "Put a bowl with a lettuce slice and a knife in it into the fridge | STEP 1: Go to the counter right of the stove | STEP 2: Pick up the knife on the left | STEP 3: Go to the counter left of the stove | STEP 4: Cut the lettuce | STEP 5: Go to the sink", "output": ["STEP 6: Put the knife in the bowl that is in the sink"]} +{"id": "trial_T20190919_055435_860257-2%6", "input": "Put a bowl with a lettuce slice and a knife in it into the fridge | STEP 1: Go to the counter right of the stove | STEP 2: Pick up the knife on the left | STEP 3: Go to the counter left of the stove | STEP 4: Cut the lettuce | STEP 5: Go to the sink | STEP 6: Put the knife in the bowl that is in the sink", "output": ["STEP 7: Go to the counter left of the stove"]} +{"id": "trial_T20190919_055435_860257-2%7", "input": "Put a bowl with a lettuce slice and a knife in it into the fridge | STEP 1: Go to the counter right of the stove | STEP 2: Pick up the knife on the left | STEP 3: Go to the counter left of the stove | STEP 4: Cut the lettuce | STEP 5: Go to the sink | STEP 6: Put the knife in the bowl that is in the sink | STEP 7: Go to the counter left of the stove", "output": ["STEP 8: Pick up a lettuce slice"]} +{"id": "trial_T20190919_055435_860257-2%8", "input": "Put a bowl with a lettuce slice and a knife in it into the fridge | STEP 1: Go to the counter right of the stove | STEP 2: Pick up the knife on the left | STEP 3: Go to the counter left of the stove | STEP 4: Cut the lettuce | STEP 5: Go to the sink | STEP 6: Put the knife in the bowl that is in the sink | STEP 7: Go to the counter left of the stove | STEP 8: Pick up a lettuce slice", "output": ["STEP 9: Go to the sink"]} +{"id": "trial_T20190919_055435_860257-2%9", "input": "Put a bowl with a lettuce slice and a knife in it into the fridge | STEP 1: Go to the counter right of the stove | STEP 2: Pick up the knife on the left | STEP 3: Go to the counter left of the stove | STEP 4: Cut the lettuce | STEP 5: Go to the sink | STEP 6: Put the knife in the bowl that is in the sink | STEP 7: Go to the counter left of the stove | STEP 8: Pick up a lettuce slice | STEP 9: Go to the sink", "output": ["STEP 10: Put the lettuce in the bowl that is in the sink"]} +{"id": "trial_T20190919_055435_860257-2%10", "input": "Put a bowl with a lettuce slice and a knife in it into the fridge | STEP 1: Go to the counter right of the stove | STEP 2: Pick up the knife on the left | STEP 3: Go to the counter left of the stove | STEP 4: Cut the lettuce | STEP 5: Go to the sink | STEP 6: Put the knife in the bowl that is in the sink | STEP 7: Go to the counter left of the stove | STEP 8: Pick up a lettuce slice | STEP 9: Go to the sink | STEP 10: Put the lettuce in the bowl that is in the sink", "output": ["STEP 11: Pick up the bowl"]} +{"id": "trial_T20190919_055435_860257-2%11", "input": "Put a bowl with a lettuce slice and a knife in it into the fridge | STEP 1: Go to the counter right of the stove | STEP 2: Pick up the knife on the left | STEP 3: Go to the counter left of the stove | STEP 4: Cut the lettuce | STEP 5: Go to the sink | STEP 6: Put the knife in the bowl that is in the sink | STEP 7: Go to the counter left of the stove | STEP 8: Pick up a lettuce slice | STEP 9: Go to the sink | STEP 10: Put the lettuce in the bowl that is in the sink | STEP 11: Pick up the bowl", "output": ["STEP 12: Go to the fridge"]} +{"id": "trial_T20190919_055435_860257-2%12", "input": "Put a bowl with a lettuce slice and a knife in it into the fridge | STEP 1: Go to the counter right of the stove | STEP 2: Pick up the knife on the left | STEP 3: Go to the counter left of the stove | STEP 4: Cut the lettuce | STEP 5: Go to the sink | STEP 6: Put the knife in the bowl that is in the sink | STEP 7: Go to the counter left of the stove | STEP 8: Pick up a lettuce slice | STEP 9: Go to the sink | STEP 10: Put the lettuce in the bowl that is in the sink | STEP 11: Pick up the bowl | STEP 12: Go to the fridge", "output": ["STEP 13: Put the bowl in the fridge"]} +{"id": "trial_T20190919_055435_860257-2%13", "input": "Put a bowl with a lettuce slice and a knife in it into the fridge | STEP 1: Go to the counter right of the stove | STEP 2: Pick up the knife on the left | STEP 3: Go to the counter left of the stove | STEP 4: Cut the lettuce | STEP 5: Go to the sink | STEP 6: Put the knife in the bowl that is in the sink | STEP 7: Go to the counter left of the stove | STEP 8: Pick up a lettuce slice | STEP 9: Go to the sink | STEP 10: Put the lettuce in the bowl that is in the sink | STEP 11: Pick up the bowl | STEP 12: Go to the fridge | STEP 13: Put the bowl in the fridge", "output": ["END"]} +{"id": "trial_T20190908_030236_260368-1%0", "input": "Place two potatoes in the microwave.", "output": ["STEP 1: Turn to your right and walk to the counter next to the microwave."]} +{"id": "trial_T20190908_030236_260368-1%1", "input": "Place two potatoes in the microwave. | STEP 1: Turn to your right and walk to the counter next to the microwave.", "output": ["STEP 2: Pick up the potato on the counter. "]} +{"id": "trial_T20190908_030236_260368-1%2", "input": "Place two potatoes in the microwave. | STEP 1: Turn to your right and walk to the counter next to the microwave. | STEP 2: Pick up the potato on the counter. ", "output": ["STEP 3: Approach the microwave on your right."]} +{"id": "trial_T20190908_030236_260368-1%3", "input": "Place two potatoes in the microwave. | STEP 1: Turn to your right and walk to the counter next to the microwave. | STEP 2: Pick up the potato on the counter. | STEP 3: Approach the microwave on your right.", "output": ["STEP 4: Place the potato in the microwave."]} +{"id": "trial_T20190908_030236_260368-1%4", "input": "Place two potatoes in the microwave. | STEP 1: Turn to your right and walk to the counter next to the microwave. | STEP 2: Pick up the potato on the counter. | STEP 3: Approach the microwave on your right. | STEP 4: Place the potato in the microwave.", "output": ["STEP 5: Turn to your left and approach the brown counter in the middle of the room."]} +{"id": "trial_T20190908_030236_260368-1%5", "input": "Place two potatoes in the microwave. | STEP 1: Turn to your right and walk to the counter next to the microwave. | STEP 2: Pick up the potato on the counter. | STEP 3: Approach the microwave on your right. | STEP 4: Place the potato in the microwave. | STEP 5: Turn to your left and approach the brown counter in the middle of the room.", "output": ["STEP 6: Pick up the potato from the counter."]} +{"id": "trial_T20190908_030236_260368-1%6", "input": "Place two potatoes in the microwave. | STEP 1: Turn to your right and walk to the counter next to the microwave. | STEP 2: Pick up the potato on the counter. | STEP 3: Approach the microwave on your right. | STEP 4: Place the potato in the microwave. | STEP 5: Turn to your left and approach the brown counter in the middle of the room. | STEP 6: Pick up the potato from the counter.", "output": ["STEP 7: Turn around and and walk to the microwave."]} +{"id": "trial_T20190908_030236_260368-1%7", "input": "Place two potatoes in the microwave. | STEP 1: Turn to your right and walk to the counter next to the microwave. | STEP 2: Pick up the potato on the counter. | STEP 3: Approach the microwave on your right. | STEP 4: Place the potato in the microwave. | STEP 5: Turn to your left and approach the brown counter in the middle of the room. | STEP 6: Pick up the potato from the counter. | STEP 7: Turn around and and walk to the microwave.", "output": ["STEP 8: Place the potato in the microwave."]} +{"id": "trial_T20190908_030236_260368-1%8", "input": "Place two potatoes in the microwave. | STEP 1: Turn to your right and walk to the counter next to the microwave. | STEP 2: Pick up the potato on the counter. | STEP 3: Approach the microwave on your right. | STEP 4: Place the potato in the microwave. | STEP 5: Turn to your left and approach the brown counter in the middle of the room. | STEP 6: Pick up the potato from the counter. | STEP 7: Turn around and and walk to the microwave. | STEP 8: Place the potato in the microwave.", "output": ["END"]} +{"id": "trial_T20190908_030236_260368-2%0", "input": "Place two potatoes in a microwave.", "output": ["STEP 1: Turn right and walk to the counter on the right side of the stove."]} +{"id": "trial_T20190908_030236_260368-2%1", "input": "Place two potatoes in a microwave. | STEP 1: Turn right and walk to the counter on the right side of the stove.", "output": ["STEP 2: Pick up the potato."]} +{"id": "trial_T20190908_030236_260368-2%2", "input": "Place two potatoes in a microwave. | STEP 1: Turn right and walk to the counter on the right side of the stove. | STEP 2: Pick up the potato.", "output": ["STEP 3: Take a step right to the microwave."]} +{"id": "trial_T20190908_030236_260368-2%3", "input": "Place two potatoes in a microwave. | STEP 1: Turn right and walk to the counter on the right side of the stove. | STEP 2: Pick up the potato. | STEP 3: Take a step right to the microwave.", "output": ["STEP 4: Put the egg in the microwave."]} +{"id": "trial_T20190908_030236_260368-2%4", "input": "Place two potatoes in a microwave. | STEP 1: Turn right and walk to the counter on the right side of the stove. | STEP 2: Pick up the potato. | STEP 3: Take a step right to the microwave. | STEP 4: Put the egg in the microwave.", "output": ["STEP 5: Turn left and walk to the counter to the left of the sink."]} +{"id": "trial_T20190908_030236_260368-2%5", "input": "Place two potatoes in a microwave. | STEP 1: Turn right and walk to the counter on the right side of the stove. | STEP 2: Pick up the potato. | STEP 3: Take a step right to the microwave. | STEP 4: Put the egg in the microwave. | STEP 5: Turn left and walk to the counter to the left of the sink.", "output": ["STEP 6: Pick up the potato on the counter."]} +{"id": "trial_T20190908_030236_260368-2%6", "input": "Place two potatoes in a microwave. | STEP 1: Turn right and walk to the counter on the right side of the stove. | STEP 2: Pick up the potato. | STEP 3: Take a step right to the microwave. | STEP 4: Put the egg in the microwave. | STEP 5: Turn left and walk to the counter to the left of the sink. | STEP 6: Pick up the potato on the counter.", "output": ["STEP 7: Turn around and walk right to the microwave."]} +{"id": "trial_T20190908_030236_260368-2%7", "input": "Place two potatoes in a microwave. | STEP 1: Turn right and walk to the counter on the right side of the stove. | STEP 2: Pick up the potato. | STEP 3: Take a step right to the microwave. | STEP 4: Put the egg in the microwave. | STEP 5: Turn left and walk to the counter to the left of the sink. | STEP 6: Pick up the potato on the counter. | STEP 7: Turn around and walk right to the microwave.", "output": ["STEP 8: Place the potato in the microwave to the left of the other potato."]} +{"id": "trial_T20190908_030236_260368-2%8", "input": "Place two potatoes in a microwave. | STEP 1: Turn right and walk to the counter on the right side of the stove. | STEP 2: Pick up the potato. | STEP 3: Take a step right to the microwave. | STEP 4: Put the egg in the microwave. | STEP 5: Turn left and walk to the counter to the left of the sink. | STEP 6: Pick up the potato on the counter. | STEP 7: Turn around and walk right to the microwave. | STEP 8: Place the potato in the microwave to the left of the other potato.", "output": ["END"]} +{"id": "trial_T20190908_075733_383672-1%0", "input": "Look at a credit card by the light of the lamp.", "output": ["STEP 1: Go to the TV stand."]} +{"id": "trial_T20190908_075733_383672-1%1", "input": "Look at a credit card by the light of the lamp. | STEP 1: Go to the TV stand.", "output": ["STEP 2: Pick up the credit card on the TV stand."]} +{"id": "trial_T20190908_075733_383672-1%2", "input": "Look at a credit card by the light of the lamp. | STEP 1: Go to the TV stand. | STEP 2: Pick up the credit card on the TV stand.", "output": ["STEP 3: Turn around and go across the room to the lamp on the right of the door."]} +{"id": "trial_T20190908_075733_383672-1%3", "input": "Look at a credit card by the light of the lamp. | STEP 1: Go to the TV stand. | STEP 2: Pick up the credit card on the TV stand. | STEP 3: Turn around and go across the room to the lamp on the right of the door.", "output": ["STEP 4: Turn on the lamp."]} +{"id": "trial_T20190908_075733_383672-1%4", "input": "Look at a credit card by the light of the lamp. | STEP 1: Go to the TV stand. | STEP 2: Pick up the credit card on the TV stand. | STEP 3: Turn around and go across the room to the lamp on the right of the door. | STEP 4: Turn on the lamp.", "output": ["END"]} +{"id": "trial_T20190908_075733_383672-2%0", "input": "Pick up red credit card, turn on lamp", "output": ["STEP 1: go to television to the left"]} +{"id": "trial_T20190908_075733_383672-2%1", "input": "Pick up red credit card, turn on lamp | STEP 1: go to television to the left", "output": ["STEP 2: pick up red credit card from right side of television stand"]} +{"id": "trial_T20190908_075733_383672-2%2", "input": "Pick up red credit card, turn on lamp | STEP 1: go to television to the left | STEP 2: pick up red credit card from right side of television stand", "output": ["STEP 3: turn around, go forward to left side of lamp"]} +{"id": "trial_T20190908_075733_383672-2%3", "input": "Pick up red credit card, turn on lamp | STEP 1: go to television to the left | STEP 2: pick up red credit card from right side of television stand | STEP 3: turn around, go forward to left side of lamp", "output": ["STEP 4: look up to lamp shade, turn on lamp"]} +{"id": "trial_T20190908_075733_383672-2%4", "input": "Pick up red credit card, turn on lamp | STEP 1: go to television to the left | STEP 2: pick up red credit card from right side of television stand | STEP 3: turn around, go forward to left side of lamp | STEP 4: look up to lamp shade, turn on lamp", "output": ["END"]} +{"id": "trial_T20190907_002650_468705-2%0", "input": "Put a microwaved a tomato slice in the refrigerator on the top shelf.", "output": ["STEP 1: Turn around and move to the counter to the left of the sink."]} +{"id": "trial_T20190907_002650_468705-2%1", "input": "Put a microwaved a tomato slice in the refrigerator on the top shelf. | STEP 1: Turn around and move to the counter to the left of the sink.", "output": ["STEP 2: Pick up the knife on the counter."]} +{"id": "trial_T20190907_002650_468705-2%2", "input": "Put a microwaved a tomato slice in the refrigerator on the top shelf. | STEP 1: Turn around and move to the counter to the left of the sink. | STEP 2: Pick up the knife on the counter.", "output": ["STEP 3: Move to the sink on the right."]} +{"id": "trial_T20190907_002650_468705-2%3", "input": "Put a microwaved a tomato slice in the refrigerator on the top shelf. | STEP 1: Turn around and move to the counter to the left of the sink. | STEP 2: Pick up the knife on the counter. | STEP 3: Move to the sink on the right.", "output": ["STEP 4: Use the knife to cut the tomato."]} +{"id": "trial_T20190907_002650_468705-2%4", "input": "Put a microwaved a tomato slice in the refrigerator on the top shelf. | STEP 1: Turn around and move to the counter to the left of the sink. | STEP 2: Pick up the knife on the counter. | STEP 3: Move to the sink on the right. | STEP 4: Use the knife to cut the tomato.", "output": ["STEP 5: Move to the refrigerator on the left."]} +{"id": "trial_T20190907_002650_468705-2%5", "input": "Put a microwaved a tomato slice in the refrigerator on the top shelf. | STEP 1: Turn around and move to the counter to the left of the sink. | STEP 2: Pick up the knife on the counter. | STEP 3: Move to the sink on the right. | STEP 4: Use the knife to cut the tomato. | STEP 5: Move to the refrigerator on the left.", "output": ["STEP 6: Open the refrigerator and place the knife on the right side second shelf down."]} +{"id": "trial_T20190907_002650_468705-2%6", "input": "Put a microwaved a tomato slice in the refrigerator on the top shelf. | STEP 1: Turn around and move to the counter to the left of the sink. | STEP 2: Pick up the knife on the counter. | STEP 3: Move to the sink on the right. | STEP 4: Use the knife to cut the tomato. | STEP 5: Move to the refrigerator on the left. | STEP 6: Open the refrigerator and place the knife on the right side second shelf down.", "output": ["STEP 7: Close refrigerator doors and move to the sink on the right."]} +{"id": "trial_T20190907_002650_468705-2%7", "input": "Put a microwaved a tomato slice in the refrigerator on the top shelf. | STEP 1: Turn around and move to the counter to the left of the sink. | STEP 2: Pick up the knife on the counter. | STEP 3: Move to the sink on the right. | STEP 4: Use the knife to cut the tomato. | STEP 5: Move to the refrigerator on the left. | STEP 6: Open the refrigerator and place the knife on the right side second shelf down. | STEP 7: Close refrigerator doors and move to the sink on the right.", "output": ["STEP 8: Pick up the tomato slice from the sink."]} +{"id": "trial_T20190907_002650_468705-2%8", "input": "Put a microwaved a tomato slice in the refrigerator on the top shelf. | STEP 1: Turn around and move to the counter to the left of the sink. | STEP 2: Pick up the knife on the counter. | STEP 3: Move to the sink on the right. | STEP 4: Use the knife to cut the tomato. | STEP 5: Move to the refrigerator on the left. | STEP 6: Open the refrigerator and place the knife on the right side second shelf down. | STEP 7: Close refrigerator doors and move to the sink on the right. | STEP 8: Pick up the tomato slice from the sink.", "output": ["STEP 9: Turn around and move towards to microwave."]} +{"id": "trial_T20190907_002650_468705-2%9", "input": "Put a microwaved a tomato slice in the refrigerator on the top shelf. | STEP 1: Turn around and move to the counter to the left of the sink. | STEP 2: Pick up the knife on the counter. | STEP 3: Move to the sink on the right. | STEP 4: Use the knife to cut the tomato. | STEP 5: Move to the refrigerator on the left. | STEP 6: Open the refrigerator and place the knife on the right side second shelf down. | STEP 7: Close refrigerator doors and move to the sink on the right. | STEP 8: Pick up the tomato slice from the sink. | STEP 9: Turn around and move towards to microwave.", "output": ["STEP 10: Open the microwave and place the tomato slice inside briefly heat it and remove it before closing the door."]} +{"id": "trial_T20190907_002650_468705-2%10", "input": "Put a microwaved a tomato slice in the refrigerator on the top shelf. | STEP 1: Turn around and move to the counter to the left of the sink. | STEP 2: Pick up the knife on the counter. | STEP 3: Move to the sink on the right. | STEP 4: Use the knife to cut the tomato. | STEP 5: Move to the refrigerator on the left. | STEP 6: Open the refrigerator and place the knife on the right side second shelf down. | STEP 7: Close refrigerator doors and move to the sink on the right. | STEP 8: Pick up the tomato slice from the sink. | STEP 9: Turn around and move towards to microwave. | STEP 10: Open the microwave and place the tomato slice inside briefly heat it and remove it before closing the door.", "output": ["STEP 11: Move the the refrigerator on the right. "]} +{"id": "trial_T20190907_002650_468705-2%11", "input": "Put a microwaved a tomato slice in the refrigerator on the top shelf. | STEP 1: Turn around and move to the counter to the left of the sink. | STEP 2: Pick up the knife on the counter. | STEP 3: Move to the sink on the right. | STEP 4: Use the knife to cut the tomato. | STEP 5: Move to the refrigerator on the left. | STEP 6: Open the refrigerator and place the knife on the right side second shelf down. | STEP 7: Close refrigerator doors and move to the sink on the right. | STEP 8: Pick up the tomato slice from the sink. | STEP 9: Turn around and move towards to microwave. | STEP 10: Open the microwave and place the tomato slice inside briefly heat it and remove it before closing the door. | STEP 11: Move the the refrigerator on the right. ", "output": ["STEP 12: Open refrigerator and place tomato slice on top shelf and close door."]} +{"id": "trial_T20190907_002650_468705-2%12", "input": "Put a microwaved a tomato slice in the refrigerator on the top shelf. | STEP 1: Turn around and move to the counter to the left of the sink. | STEP 2: Pick up the knife on the counter. | STEP 3: Move to the sink on the right. | STEP 4: Use the knife to cut the tomato. | STEP 5: Move to the refrigerator on the left. | STEP 6: Open the refrigerator and place the knife on the right side second shelf down. | STEP 7: Close refrigerator doors and move to the sink on the right. | STEP 8: Pick up the tomato slice from the sink. | STEP 9: Turn around and move towards to microwave. | STEP 10: Open the microwave and place the tomato slice inside briefly heat it and remove it before closing the door. | STEP 11: Move the the refrigerator on the right. | STEP 12: Open refrigerator and place tomato slice on top shelf and close door.", "output": ["END"]} +{"id": "trial_T20190907_211822_396311-0%0", "input": "Put a statue in front of a television.", "output": ["STEP 1: Turn around and cross the room to face the black shelves with the statue on it."]} +{"id": "trial_T20190907_211822_396311-0%1", "input": "Put a statue in front of a television. | STEP 1: Turn around and cross the room to face the black shelves with the statue on it.", "output": ["STEP 2: Pick the statue up from the cabinet."]} +{"id": "trial_T20190907_211822_396311-0%2", "input": "Put a statue in front of a television. | STEP 1: Turn around and cross the room to face the black shelves with the statue on it. | STEP 2: Pick the statue up from the cabinet.", "output": ["STEP 3: Go to the left to face the stand with the television on it."]} +{"id": "trial_T20190907_211822_396311-0%3", "input": "Put a statue in front of a television. | STEP 1: Turn around and cross the room to face the black shelves with the statue on it. | STEP 2: Pick the statue up from the cabinet. | STEP 3: Go to the left to face the stand with the television on it.", "output": ["STEP 4: Put the statue in front of the television."]} +{"id": "trial_T20190907_211822_396311-0%4", "input": "Put a statue in front of a television. | STEP 1: Turn around and cross the room to face the black shelves with the statue on it. | STEP 2: Pick the statue up from the cabinet. | STEP 3: Go to the left to face the stand with the television on it. | STEP 4: Put the statue in front of the television.", "output": ["END"]} +{"id": "trial_T20190909_075542_549772-0%0", "input": "To move a tissue box to the back of the toilet. ", "output": ["STEP 1: Turn and walk to the shelves on the left, and look up at the top shelf. "]} +{"id": "trial_T20190909_075542_549772-0%1", "input": "To move a tissue box to the back of the toilet. | STEP 1: Turn and walk to the shelves on the left, and look up at the top shelf. ", "output": ["STEP 2: Pick up the tissue box to the right of the rag. "]} +{"id": "trial_T20190909_075542_549772-0%2", "input": "To move a tissue box to the back of the toilet. | STEP 1: Turn and walk to the shelves on the left, and look up at the top shelf. | STEP 2: Pick up the tissue box to the right of the rag. ", "output": ["STEP 3: Walk over to the toilet and face the back of the toilet. "]} +{"id": "trial_T20190909_075542_549772-0%3", "input": "To move a tissue box to the back of the toilet. | STEP 1: Turn and walk to the shelves on the left, and look up at the top shelf. | STEP 2: Pick up the tissue box to the right of the rag. | STEP 3: Walk over to the toilet and face the back of the toilet. ", "output": ["STEP 4: Put the tissue box down behind the spray bottle on the back of the toilet. "]} +{"id": "trial_T20190909_075542_549772-0%4", "input": "To move a tissue box to the back of the toilet. | STEP 1: Turn and walk to the shelves on the left, and look up at the top shelf. | STEP 2: Pick up the tissue box to the right of the rag. | STEP 3: Walk over to the toilet and face the back of the toilet. | STEP 4: Put the tissue box down behind the spray bottle on the back of the toilet. ", "output": ["END"]} +{"id": "trial_T20190909_075542_549772-2%0", "input": "place tissue box behind purple bottle on toilet", "output": ["STEP 1: turn around, go to top white shelf above blue bottle"]} +{"id": "trial_T20190909_075542_549772-2%1", "input": "place tissue box behind purple bottle on toilet | STEP 1: turn around, go to top white shelf above blue bottle", "output": ["STEP 2: pick up tissue box from top shelf"]} +{"id": "trial_T20190909_075542_549772-2%2", "input": "place tissue box behind purple bottle on toilet | STEP 1: turn around, go to top white shelf above blue bottle | STEP 2: pick up tissue box from top shelf", "output": ["STEP 3: turn around, go to right side of toilet"]} +{"id": "trial_T20190909_075542_549772-2%3", "input": "place tissue box behind purple bottle on toilet | STEP 1: turn around, go to top white shelf above blue bottle | STEP 2: pick up tissue box from top shelf | STEP 3: turn around, go to right side of toilet", "output": ["STEP 4: place tissue box on toilet behind purple bottle"]} +{"id": "trial_T20190909_075542_549772-2%4", "input": "place tissue box behind purple bottle on toilet | STEP 1: turn around, go to top white shelf above blue bottle | STEP 2: pick up tissue box from top shelf | STEP 3: turn around, go to right side of toilet | STEP 4: place tissue box on toilet behind purple bottle", "output": ["END"]} +{"id": "trial_T20190907_065320_915449-1%0", "input": "Place two table knives on the round grey table", "output": ["STEP 1: Move forward until after the stove, then turn right and cross to the opposite counter, then turn right, and look down at the counter above the dishwasher."]} +{"id": "trial_T20190907_065320_915449-1%1", "input": "Place two table knives on the round grey table | STEP 1: Move forward until after the stove, then turn right and cross to the opposite counter, then turn right, and look down at the counter above the dishwasher.", "output": ["STEP 2: take the knife from the counter"]} +{"id": "trial_T20190907_065320_915449-1%2", "input": "Place two table knives on the round grey table | STEP 1: Move forward until after the stove, then turn right and cross to the opposite counter, then turn right, and look down at the counter above the dishwasher. | STEP 2: take the knife from the counter", "output": ["STEP 3: move forward to the window, then turn left and move forward to the round grey table"]} +{"id": "trial_T20190907_065320_915449-1%3", "input": "Place two table knives on the round grey table | STEP 1: Move forward until after the stove, then turn right and cross to the opposite counter, then turn right, and look down at the counter above the dishwasher. | STEP 2: take the knife from the counter | STEP 3: move forward to the window, then turn left and move forward to the round grey table", "output": ["STEP 4: place the knife on the table, perpendicular to the knife already on the table"]} +{"id": "trial_T20190907_065320_915449-1%4", "input": "Place two table knives on the round grey table | STEP 1: Move forward until after the stove, then turn right and cross to the opposite counter, then turn right, and look down at the counter above the dishwasher. | STEP 2: take the knife from the counter | STEP 3: move forward to the window, then turn left and move forward to the round grey table | STEP 4: place the knife on the table, perpendicular to the knife already on the table", "output": ["STEP 5: turn left and cross the room to the counter that is just beyond the stove. Face the counter next to the stove."]} +{"id": "trial_T20190907_065320_915449-1%5", "input": "Place two table knives on the round grey table | STEP 1: Move forward until after the stove, then turn right and cross to the opposite counter, then turn right, and look down at the counter above the dishwasher. | STEP 2: take the knife from the counter | STEP 3: move forward to the window, then turn left and move forward to the round grey table | STEP 4: place the knife on the table, perpendicular to the knife already on the table | STEP 5: turn left and cross the room to the counter that is just beyond the stove. Face the counter next to the stove.", "output": ["STEP 6: Take the knife from the counter next to the stove"]} +{"id": "trial_T20190907_065320_915449-1%6", "input": "Place two table knives on the round grey table | STEP 1: Move forward until after the stove, then turn right and cross to the opposite counter, then turn right, and look down at the counter above the dishwasher. | STEP 2: take the knife from the counter | STEP 3: move forward to the window, then turn left and move forward to the round grey table | STEP 4: place the knife on the table, perpendicular to the knife already on the table | STEP 5: turn left and cross the room to the counter that is just beyond the stove. Face the counter next to the stove. | STEP 6: Take the knife from the counter next to the stove", "output": ["STEP 7: cross the room and return to in front of the round grey table"]} +{"id": "trial_T20190907_065320_915449-1%7", "input": "Place two table knives on the round grey table | STEP 1: Move forward until after the stove, then turn right and cross to the opposite counter, then turn right, and look down at the counter above the dishwasher. | STEP 2: take the knife from the counter | STEP 3: move forward to the window, then turn left and move forward to the round grey table | STEP 4: place the knife on the table, perpendicular to the knife already on the table | STEP 5: turn left and cross the room to the counter that is just beyond the stove. Face the counter next to the stove. | STEP 6: Take the knife from the counter next to the stove | STEP 7: cross the room and return to in front of the round grey table", "output": ["STEP 8: place the knife on the table leaning on the table knife you put there and the glass."]} +{"id": "trial_T20190907_065320_915449-1%8", "input": "Place two table knives on the round grey table | STEP 1: Move forward until after the stove, then turn right and cross to the opposite counter, then turn right, and look down at the counter above the dishwasher. | STEP 2: take the knife from the counter | STEP 3: move forward to the window, then turn left and move forward to the round grey table | STEP 4: place the knife on the table, perpendicular to the knife already on the table | STEP 5: turn left and cross the room to the counter that is just beyond the stove. Face the counter next to the stove. | STEP 6: Take the knife from the counter next to the stove | STEP 7: cross the room and return to in front of the round grey table | STEP 8: place the knife on the table leaning on the table knife you put there and the glass.", "output": ["END"]} +{"id": "trial_T20190907_065320_915449-3%0", "input": "Put a couple of knives down on a kitchen table", "output": ["STEP 1: Walk forwards, past the dishwasher and then turn around"]} +{"id": "trial_T20190907_065320_915449-3%1", "input": "Put a couple of knives down on a kitchen table | STEP 1: Walk forwards, past the dishwasher and then turn around", "output": ["STEP 2: Pick up a knife off of the kitchen counter"]} +{"id": "trial_T20190907_065320_915449-3%2", "input": "Put a couple of knives down on a kitchen table | STEP 1: Walk forwards, past the dishwasher and then turn around | STEP 2: Pick up a knife off of the kitchen counter", "output": ["STEP 3: Walk forwards and then turn to your left to face a table"]} +{"id": "trial_T20190907_065320_915449-3%3", "input": "Put a couple of knives down on a kitchen table | STEP 1: Walk forwards, past the dishwasher and then turn around | STEP 2: Pick up a knife off of the kitchen counter | STEP 3: Walk forwards and then turn to your left to face a table", "output": ["STEP 4: Put the knife down on the table"]} +{"id": "trial_T20190907_065320_915449-3%4", "input": "Put a couple of knives down on a kitchen table | STEP 1: Walk forwards, past the dishwasher and then turn around | STEP 2: Pick up a knife off of the kitchen counter | STEP 3: Walk forwards and then turn to your left to face a table | STEP 4: Put the knife down on the table", "output": ["STEP 5: Head back to your last position, but face right this time towards the other counter top"]} +{"id": "trial_T20190907_065320_915449-3%5", "input": "Put a couple of knives down on a kitchen table | STEP 1: Walk forwards, past the dishwasher and then turn around | STEP 2: Pick up a knife off of the kitchen counter | STEP 3: Walk forwards and then turn to your left to face a table | STEP 4: Put the knife down on the table | STEP 5: Head back to your last position, but face right this time towards the other counter top", "output": ["STEP 6: Pick another knife up off of the kitchen counter top"]} +{"id": "trial_T20190907_065320_915449-3%6", "input": "Put a couple of knives down on a kitchen table | STEP 1: Walk forwards, past the dishwasher and then turn around | STEP 2: Pick up a knife off of the kitchen counter | STEP 3: Walk forwards and then turn to your left to face a table | STEP 4: Put the knife down on the table | STEP 5: Head back to your last position, but face right this time towards the other counter top | STEP 6: Pick another knife up off of the kitchen counter top", "output": ["STEP 7: Head back to the kitchen table on your left"]} +{"id": "trial_T20190907_065320_915449-3%7", "input": "Put a couple of knives down on a kitchen table | STEP 1: Walk forwards, past the dishwasher and then turn around | STEP 2: Pick up a knife off of the kitchen counter | STEP 3: Walk forwards and then turn to your left to face a table | STEP 4: Put the knife down on the table | STEP 5: Head back to your last position, but face right this time towards the other counter top | STEP 6: Pick another knife up off of the kitchen counter top | STEP 7: Head back to the kitchen table on your left", "output": ["STEP 8: Put the other knife down on the table"]} +{"id": "trial_T20190907_065320_915449-3%8", "input": "Put a couple of knives down on a kitchen table | STEP 1: Walk forwards, past the dishwasher and then turn around | STEP 2: Pick up a knife off of the kitchen counter | STEP 3: Walk forwards and then turn to your left to face a table | STEP 4: Put the knife down on the table | STEP 5: Head back to your last position, but face right this time towards the other counter top | STEP 6: Pick another knife up off of the kitchen counter top | STEP 7: Head back to the kitchen table on your left | STEP 8: Put the other knife down on the table", "output": ["END"]} +{"id": "trial_T20190906_201430_163470-1%0", "input": "Put a mug with a pen in it on a small cabinet.", "output": ["STEP 1: Turn left and walk to the desk then turn right and walk to the dresser then turn left and walk to the wall then turn right to face the dresser."]} +{"id": "trial_T20190906_201430_163470-1%1", "input": "Put a mug with a pen in it on a small cabinet. | STEP 1: Turn left and walk to the desk then turn right and walk to the dresser then turn left and walk to the wall then turn right to face the dresser.", "output": ["STEP 2: Pick up the pen you see on top of the dresser."]} +{"id": "trial_T20190906_201430_163470-1%2", "input": "Put a mug with a pen in it on a small cabinet. | STEP 1: Turn left and walk to the desk then turn right and walk to the dresser then turn left and walk to the wall then turn right to face the dresser. | STEP 2: Pick up the pen you see on top of the dresser.", "output": ["STEP 3: Turn around and walk to the desk."]} +{"id": "trial_T20190906_201430_163470-1%3", "input": "Put a mug with a pen in it on a small cabinet. | STEP 1: Turn left and walk to the desk then turn right and walk to the dresser then turn left and walk to the wall then turn right to face the dresser. | STEP 2: Pick up the pen you see on top of the dresser. | STEP 3: Turn around and walk to the desk.", "output": ["STEP 4: Put the pen in the mug that's left of the light."]} +{"id": "trial_T20190906_201430_163470-1%4", "input": "Put a mug with a pen in it on a small cabinet. | STEP 1: Turn left and walk to the desk then turn right and walk to the dresser then turn left and walk to the wall then turn right to face the dresser. | STEP 2: Pick up the pen you see on top of the dresser. | STEP 3: Turn around and walk to the desk. | STEP 4: Put the pen in the mug that's left of the light.", "output": ["STEP 5: Pick up the mug with the pen in it."]} +{"id": "trial_T20190906_201430_163470-1%5", "input": "Put a mug with a pen in it on a small cabinet. | STEP 1: Turn left and walk to the desk then turn right and walk to the dresser then turn left and walk to the wall then turn right to face the dresser. | STEP 2: Pick up the pen you see on top of the dresser. | STEP 3: Turn around and walk to the desk. | STEP 4: Put the pen in the mug that's left of the light. | STEP 5: Pick up the mug with the pen in it.", "output": ["STEP 6: Turn left and walk to the bed then turn right and walk to the wall and turn right."]} +{"id": "trial_T20190906_201430_163470-1%6", "input": "Put a mug with a pen in it on a small cabinet. | STEP 1: Turn left and walk to the desk then turn right and walk to the dresser then turn left and walk to the wall then turn right to face the dresser. | STEP 2: Pick up the pen you see on top of the dresser. | STEP 3: Turn around and walk to the desk. | STEP 4: Put the pen in the mug that's left of the light. | STEP 5: Pick up the mug with the pen in it. | STEP 6: Turn left and walk to the bed then turn right and walk to the wall and turn right.", "output": ["STEP 7: Look near the floor and you will see a small brown cabinet with three drawers please put the mug on top of it near it's right corner."]} +{"id": "trial_T20190906_201430_163470-1%7", "input": "Put a mug with a pen in it on a small cabinet. | STEP 1: Turn left and walk to the desk then turn right and walk to the dresser then turn left and walk to the wall then turn right to face the dresser. | STEP 2: Pick up the pen you see on top of the dresser. | STEP 3: Turn around and walk to the desk. | STEP 4: Put the pen in the mug that's left of the light. | STEP 5: Pick up the mug with the pen in it. | STEP 6: Turn left and walk to the bed then turn right and walk to the wall and turn right. | STEP 7: Look near the floor and you will see a small brown cabinet with three drawers please put the mug on top of it near it's right corner.", "output": ["END"]} +{"id": "trial_T20190919_043538_864766-1%0", "input": "Put two eggs in a microwave.", "output": ["STEP 1: Go forward a step then turn right to the counter to the left of the stove top."]} +{"id": "trial_T20190919_043538_864766-1%1", "input": "Put two eggs in a microwave. | STEP 1: Go forward a step then turn right to the counter to the left of the stove top.", "output": ["STEP 2: Take the egg from the counter."]} +{"id": "trial_T20190919_043538_864766-1%2", "input": "Put two eggs in a microwave. | STEP 1: Go forward a step then turn right to the counter to the left of the stove top. | STEP 2: Take the egg from the counter.", "output": ["STEP 3: Turn right, go forward to the wall, turn left, look up at the microwave."]} +{"id": "trial_T20190919_043538_864766-1%3", "input": "Put two eggs in a microwave. | STEP 1: Go forward a step then turn right to the counter to the left of the stove top. | STEP 2: Take the egg from the counter. | STEP 3: Turn right, go forward to the wall, turn left, look up at the microwave.", "output": ["STEP 4: Put the egg in the microwave."]} +{"id": "trial_T20190919_043538_864766-1%4", "input": "Put two eggs in a microwave. | STEP 1: Go forward a step then turn right to the counter to the left of the stove top. | STEP 2: Take the egg from the counter. | STEP 3: Turn right, go forward to the wall, turn left, look up at the microwave. | STEP 4: Put the egg in the microwave.", "output": ["STEP 5: Turn left, go forward, turn left towards the sink. Go to the sink."]} +{"id": "trial_T20190919_043538_864766-1%5", "input": "Put two eggs in a microwave. | STEP 1: Go forward a step then turn right to the counter to the left of the stove top. | STEP 2: Take the egg from the counter. | STEP 3: Turn right, go forward to the wall, turn left, look up at the microwave. | STEP 4: Put the egg in the microwave. | STEP 5: Turn left, go forward, turn left towards the sink. Go to the sink.", "output": ["STEP 6: Take the closest egg from the sink."]} +{"id": "trial_T20190919_043538_864766-1%6", "input": "Put two eggs in a microwave. | STEP 1: Go forward a step then turn right to the counter to the left of the stove top. | STEP 2: Take the egg from the counter. | STEP 3: Turn right, go forward to the wall, turn left, look up at the microwave. | STEP 4: Put the egg in the microwave. | STEP 5: Turn left, go forward, turn left towards the sink. Go to the sink. | STEP 6: Take the closest egg from the sink.", "output": ["STEP 7: Turn right, go forward to the wall, turn left, look up at the microwave."]} +{"id": "trial_T20190919_043538_864766-1%7", "input": "Put two eggs in a microwave. | STEP 1: Go forward a step then turn right to the counter to the left of the stove top. | STEP 2: Take the egg from the counter. | STEP 3: Turn right, go forward to the wall, turn left, look up at the microwave. | STEP 4: Put the egg in the microwave. | STEP 5: Turn left, go forward, turn left towards the sink. Go to the sink. | STEP 6: Take the closest egg from the sink. | STEP 7: Turn right, go forward to the wall, turn left, look up at the microwave.", "output": ["STEP 8: Put the egg in the microwave."]} +{"id": "trial_T20190919_043538_864766-1%8", "input": "Put two eggs in a microwave. | STEP 1: Go forward a step then turn right to the counter to the left of the stove top. | STEP 2: Take the egg from the counter. | STEP 3: Turn right, go forward to the wall, turn left, look up at the microwave. | STEP 4: Put the egg in the microwave. | STEP 5: Turn left, go forward, turn left towards the sink. Go to the sink. | STEP 6: Take the closest egg from the sink. | STEP 7: Turn right, go forward to the wall, turn left, look up at the microwave. | STEP 8: Put the egg in the microwave.", "output": ["END"]} +{"id": "trial_T20190919_043538_864766-2%0", "input": "Putting two eggs in the microwave", "output": ["STEP 1: Turn right and face the counter to the left of the stove"]} +{"id": "trial_T20190919_043538_864766-2%1", "input": "Putting two eggs in the microwave | STEP 1: Turn right and face the counter to the left of the stove", "output": ["STEP 2: Grab the egg off of the counter"]} +{"id": "trial_T20190919_043538_864766-2%2", "input": "Putting two eggs in the microwave | STEP 1: Turn right and face the counter to the left of the stove | STEP 2: Grab the egg off of the counter", "output": ["STEP 3: Turn right and go to the microwave"]} +{"id": "trial_T20190919_043538_864766-2%3", "input": "Putting two eggs in the microwave | STEP 1: Turn right and face the counter to the left of the stove | STEP 2: Grab the egg off of the counter | STEP 3: Turn right and go to the microwave", "output": ["STEP 4: Put the egg in the microwave"]} +{"id": "trial_T20190919_043538_864766-2%4", "input": "Putting two eggs in the microwave | STEP 1: Turn right and face the counter to the left of the stove | STEP 2: Grab the egg off of the counter | STEP 3: Turn right and go to the microwave | STEP 4: Put the egg in the microwave", "output": ["STEP 5: Turn left and stop at the sink"]} +{"id": "trial_T20190919_043538_864766-2%5", "input": "Putting two eggs in the microwave | STEP 1: Turn right and face the counter to the left of the stove | STEP 2: Grab the egg off of the counter | STEP 3: Turn right and go to the microwave | STEP 4: Put the egg in the microwave | STEP 5: Turn left and stop at the sink", "output": ["STEP 6: Grab the egg out of the sink"]} +{"id": "trial_T20190919_043538_864766-2%6", "input": "Putting two eggs in the microwave | STEP 1: Turn right and face the counter to the left of the stove | STEP 2: Grab the egg off of the counter | STEP 3: Turn right and go to the microwave | STEP 4: Put the egg in the microwave | STEP 5: Turn left and stop at the sink | STEP 6: Grab the egg out of the sink", "output": ["STEP 7: Turn left and go to the microwave"]} +{"id": "trial_T20190919_043538_864766-2%7", "input": "Putting two eggs in the microwave | STEP 1: Turn right and face the counter to the left of the stove | STEP 2: Grab the egg off of the counter | STEP 3: Turn right and go to the microwave | STEP 4: Put the egg in the microwave | STEP 5: Turn left and stop at the sink | STEP 6: Grab the egg out of the sink | STEP 7: Turn left and go to the microwave", "output": ["STEP 8: Put the egg in the microwave"]} +{"id": "trial_T20190919_043538_864766-2%8", "input": "Putting two eggs in the microwave | STEP 1: Turn right and face the counter to the left of the stove | STEP 2: Grab the egg off of the counter | STEP 3: Turn right and go to the microwave | STEP 4: Put the egg in the microwave | STEP 5: Turn left and stop at the sink | STEP 6: Grab the egg out of the sink | STEP 7: Turn left and go to the microwave | STEP 8: Put the egg in the microwave", "output": ["END"]} +{"id": "trial_T20190909_020627_033491-2%0", "input": "Put a cooked potato on the counter.", "output": ["STEP 1: Turn right and walk to the counter then turn right and walk to the counter."]} +{"id": "trial_T20190909_020627_033491-2%1", "input": "Put a cooked potato on the counter. | STEP 1: Turn right and walk to the counter then turn right and walk to the counter.", "output": ["STEP 2: Pick up the potato that's in front of you. above the knife"]} +{"id": "trial_T20190909_020627_033491-2%2", "input": "Put a cooked potato on the counter. | STEP 1: Turn right and walk to the counter then turn right and walk to the counter. | STEP 2: Pick up the potato that's in front of you. above the knife", "output": ["STEP 3: Turn right and walk to the wall then turn left and take a small step backwards."]} +{"id": "trial_T20190909_020627_033491-2%3", "input": "Put a cooked potato on the counter. | STEP 1: Turn right and walk to the counter then turn right and walk to the counter. | STEP 2: Pick up the potato that's in front of you. above the knife | STEP 3: Turn right and walk to the wall then turn left and take a small step backwards.", "output": ["STEP 4: Cook the potato in the microwave then take it back out and close the door."]} +{"id": "trial_T20190909_020627_033491-2%4", "input": "Put a cooked potato on the counter. | STEP 1: Turn right and walk to the counter then turn right and walk to the counter. | STEP 2: Pick up the potato that's in front of you. above the knife | STEP 3: Turn right and walk to the wall then turn left and take a small step backwards. | STEP 4: Cook the potato in the microwave then take it back out and close the door.", "output": ["STEP 5: Take a step to your left to face the toaster again."]} +{"id": "trial_T20190909_020627_033491-2%5", "input": "Put a cooked potato on the counter. | STEP 1: Turn right and walk to the counter then turn right and walk to the counter. | STEP 2: Pick up the potato that's in front of you. above the knife | STEP 3: Turn right and walk to the wall then turn left and take a small step backwards. | STEP 4: Cook the potato in the microwave then take it back out and close the door. | STEP 5: Take a step to your left to face the toaster again.", "output": ["STEP 6: Put the potato above the knife but closer to it then where you picked it up from."]} +{"id": "trial_T20190909_020627_033491-2%6", "input": "Put a cooked potato on the counter. | STEP 1: Turn right and walk to the counter then turn right and walk to the counter. | STEP 2: Pick up the potato that's in front of you. above the knife | STEP 3: Turn right and walk to the wall then turn left and take a small step backwards. | STEP 4: Cook the potato in the microwave then take it back out and close the door. | STEP 5: Take a step to your left to face the toaster again. | STEP 6: Put the potato above the knife but closer to it then where you picked it up from.", "output": ["END"]} +{"id": "trial_T20190908_070308_963087-0%0", "input": "Put a metal pan with a butter knife in it in the sink.", "output": ["STEP 1: Walk forward, then hang a right and walk over to the counter."]} +{"id": "trial_T20190908_070308_963087-0%1", "input": "Put a metal pan with a butter knife in it in the sink. | STEP 1: Walk forward, then hang a right and walk over to the counter.", "output": ["STEP 2: Pick up the butter knife off of the counter."]} +{"id": "trial_T20190908_070308_963087-0%2", "input": "Put a metal pan with a butter knife in it in the sink. | STEP 1: Walk forward, then hang a right and walk over to the counter. | STEP 2: Pick up the butter knife off of the counter.", "output": ["STEP 3: Turn left and over to the stove."]} +{"id": "trial_T20190908_070308_963087-0%3", "input": "Put a metal pan with a butter knife in it in the sink. | STEP 1: Walk forward, then hang a right and walk over to the counter. | STEP 2: Pick up the butter knife off of the counter. | STEP 3: Turn left and over to the stove.", "output": ["STEP 4: Put the butter knife in the metal pan that is on the front right burner of the stove."]} +{"id": "trial_T20190908_070308_963087-0%4", "input": "Put a metal pan with a butter knife in it in the sink. | STEP 1: Walk forward, then hang a right and walk over to the counter. | STEP 2: Pick up the butter knife off of the counter. | STEP 3: Turn left and over to the stove. | STEP 4: Put the butter knife in the metal pan that is on the front right burner of the stove.", "output": ["STEP 5: Pick up the metal pan with the butter knife in it."]} +{"id": "trial_T20190908_070308_963087-0%5", "input": "Put a metal pan with a butter knife in it in the sink. | STEP 1: Walk forward, then hang a right and walk over to the counter. | STEP 2: Pick up the butter knife off of the counter. | STEP 3: Turn left and over to the stove. | STEP 4: Put the butter knife in the metal pan that is on the front right burner of the stove. | STEP 5: Pick up the metal pan with the butter knife in it.", "output": ["STEP 6: Walk over to the sink."]} +{"id": "trial_T20190908_070308_963087-0%6", "input": "Put a metal pan with a butter knife in it in the sink. | STEP 1: Walk forward, then hang a right and walk over to the counter. | STEP 2: Pick up the butter knife off of the counter. | STEP 3: Turn left and over to the stove. | STEP 4: Put the butter knife in the metal pan that is on the front right burner of the stove. | STEP 5: Pick up the metal pan with the butter knife in it. | STEP 6: Walk over to the sink.", "output": ["STEP 7: Put the metal pan with the butter knife in it in the sink."]} +{"id": "trial_T20190908_070308_963087-0%7", "input": "Put a metal pan with a butter knife in it in the sink. | STEP 1: Walk forward, then hang a right and walk over to the counter. | STEP 2: Pick up the butter knife off of the counter. | STEP 3: Turn left and over to the stove. | STEP 4: Put the butter knife in the metal pan that is on the front right burner of the stove. | STEP 5: Pick up the metal pan with the butter knife in it. | STEP 6: Walk over to the sink. | STEP 7: Put the metal pan with the butter knife in it in the sink.", "output": ["END"]} +{"id": "trial_T20190908_070308_963087-2%0", "input": "Place a pan with a knife in it in a sink.", "output": ["STEP 1: Turn right and walk to the counter."]} +{"id": "trial_T20190908_070308_963087-2%1", "input": "Place a pan with a knife in it in a sink. | STEP 1: Turn right and walk to the counter.", "output": ["STEP 2: Pick up the knife on the counter."]} +{"id": "trial_T20190908_070308_963087-2%2", "input": "Place a pan with a knife in it in a sink. | STEP 1: Turn right and walk to the counter. | STEP 2: Pick up the knife on the counter.", "output": ["STEP 3: Take a step left to the stove."]} +{"id": "trial_T20190908_070308_963087-2%3", "input": "Place a pan with a knife in it in a sink. | STEP 1: Turn right and walk to the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step left to the stove.", "output": ["STEP 4: Place the knife on the pan on the front right burner."]} +{"id": "trial_T20190908_070308_963087-2%4", "input": "Place a pan with a knife in it in a sink. | STEP 1: Turn right and walk to the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step left to the stove. | STEP 4: Place the knife on the pan on the front right burner.", "output": ["STEP 5: Pick up the pan."]} +{"id": "trial_T20190908_070308_963087-2%5", "input": "Place a pan with a knife in it in a sink. | STEP 1: Turn right and walk to the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step left to the stove. | STEP 4: Place the knife on the pan on the front right burner. | STEP 5: Pick up the pan.", "output": ["STEP 6: Turn around and walk to the sink."]} +{"id": "trial_T20190908_070308_963087-2%6", "input": "Place a pan with a knife in it in a sink. | STEP 1: Turn right and walk to the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step left to the stove. | STEP 4: Place the knife on the pan on the front right burner. | STEP 5: Pick up the pan. | STEP 6: Turn around and walk to the sink.", "output": ["STEP 7: Place the pan in the sink."]} +{"id": "trial_T20190908_070308_963087-2%7", "input": "Place a pan with a knife in it in a sink. | STEP 1: Turn right and walk to the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step left to the stove. | STEP 4: Place the knife on the pan on the front right burner. | STEP 5: Pick up the pan. | STEP 6: Turn around and walk to the sink. | STEP 7: Place the pan in the sink.", "output": ["END"]} +{"id": "trial_T20190909_080306_789956-0%0", "input": "Cut an apple, wash it and put it in the microwave", "output": ["STEP 1: Turn around, go forward, turn left to the counter"]} +{"id": "trial_T20190909_080306_789956-0%1", "input": "Cut an apple, wash it and put it in the microwave | STEP 1: Turn around, go forward, turn left to the counter", "output": ["STEP 2: Pick up the knife on the counter"]} +{"id": "trial_T20190909_080306_789956-0%2", "input": "Cut an apple, wash it and put it in the microwave | STEP 1: Turn around, go forward, turn left to the counter | STEP 2: Pick up the knife on the counter", "output": ["STEP 3: Turn left, go to the edge of the counter, turn right"]} +{"id": "trial_T20190909_080306_789956-0%3", "input": "Cut an apple, wash it and put it in the microwave | STEP 1: Turn around, go forward, turn left to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go to the edge of the counter, turn right", "output": ["STEP 4: Cut the apple on the counter"]} +{"id": "trial_T20190909_080306_789956-0%4", "input": "Cut an apple, wash it and put it in the microwave | STEP 1: Turn around, go forward, turn left to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go to the edge of the counter, turn right | STEP 4: Cut the apple on the counter", "output": ["STEP 5: Turn right, go to the microwave"]} +{"id": "trial_T20190909_080306_789956-0%5", "input": "Cut an apple, wash it and put it in the microwave | STEP 1: Turn around, go forward, turn left to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go to the edge of the counter, turn right | STEP 4: Cut the apple on the counter | STEP 5: Turn right, go to the microwave", "output": ["STEP 6: Put the knife in the microwave"]} +{"id": "trial_T20190909_080306_789956-0%6", "input": "Cut an apple, wash it and put it in the microwave | STEP 1: Turn around, go forward, turn left to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go to the edge of the counter, turn right | STEP 4: Cut the apple on the counter | STEP 5: Turn right, go to the microwave | STEP 6: Put the knife in the microwave", "output": ["STEP 7: Turn left, go to the edge of the counter, turn right"]} +{"id": "trial_T20190909_080306_789956-0%7", "input": "Cut an apple, wash it and put it in the microwave | STEP 1: Turn around, go forward, turn left to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go to the edge of the counter, turn right | STEP 4: Cut the apple on the counter | STEP 5: Turn right, go to the microwave | STEP 6: Put the knife in the microwave | STEP 7: Turn left, go to the edge of the counter, turn right", "output": ["STEP 8: Pick up an apple piece from the counter"]} +{"id": "trial_T20190909_080306_789956-0%8", "input": "Cut an apple, wash it and put it in the microwave | STEP 1: Turn around, go forward, turn left to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go to the edge of the counter, turn right | STEP 4: Cut the apple on the counter | STEP 5: Turn right, go to the microwave | STEP 6: Put the knife in the microwave | STEP 7: Turn left, go to the edge of the counter, turn right | STEP 8: Pick up an apple piece from the counter", "output": ["STEP 9: Turn around, go to the sink"]} +{"id": "trial_T20190909_080306_789956-0%9", "input": "Cut an apple, wash it and put it in the microwave | STEP 1: Turn around, go forward, turn left to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go to the edge of the counter, turn right | STEP 4: Cut the apple on the counter | STEP 5: Turn right, go to the microwave | STEP 6: Put the knife in the microwave | STEP 7: Turn left, go to the edge of the counter, turn right | STEP 8: Pick up an apple piece from the counter | STEP 9: Turn around, go to the sink", "output": ["STEP 10: Put the apple piece in the sink, wash the apple piece with water, pick up the apple piece from the sink"]} +{"id": "trial_T20190909_080306_789956-0%10", "input": "Cut an apple, wash it and put it in the microwave | STEP 1: Turn around, go forward, turn left to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go to the edge of the counter, turn right | STEP 4: Cut the apple on the counter | STEP 5: Turn right, go to the microwave | STEP 6: Put the knife in the microwave | STEP 7: Turn left, go to the edge of the counter, turn right | STEP 8: Pick up an apple piece from the counter | STEP 9: Turn around, go to the sink | STEP 10: Put the apple piece in the sink, wash the apple piece with water, pick up the apple piece from the sink", "output": ["STEP 11: Turn around, go to the microwave"]} +{"id": "trial_T20190909_080306_789956-0%11", "input": "Cut an apple, wash it and put it in the microwave | STEP 1: Turn around, go forward, turn left to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go to the edge of the counter, turn right | STEP 4: Cut the apple on the counter | STEP 5: Turn right, go to the microwave | STEP 6: Put the knife in the microwave | STEP 7: Turn left, go to the edge of the counter, turn right | STEP 8: Pick up an apple piece from the counter | STEP 9: Turn around, go to the sink | STEP 10: Put the apple piece in the sink, wash the apple piece with water, pick up the apple piece from the sink | STEP 11: Turn around, go to the microwave", "output": ["STEP 12: Put the apple piece in the microwave"]} +{"id": "trial_T20190909_080306_789956-0%12", "input": "Cut an apple, wash it and put it in the microwave | STEP 1: Turn around, go forward, turn left to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go to the edge of the counter, turn right | STEP 4: Cut the apple on the counter | STEP 5: Turn right, go to the microwave | STEP 6: Put the knife in the microwave | STEP 7: Turn left, go to the edge of the counter, turn right | STEP 8: Pick up an apple piece from the counter | STEP 9: Turn around, go to the sink | STEP 10: Put the apple piece in the sink, wash the apple piece with water, pick up the apple piece from the sink | STEP 11: Turn around, go to the microwave | STEP 12: Put the apple piece in the microwave", "output": ["END"]} +{"id": "trial_T20190906_175911_563263-0%0", "input": "Put a clean rag on the bench.", "output": ["STEP 1: Turn left and walk over to the bath mat. Then turn right and face the bath tub."]} +{"id": "trial_T20190906_175911_563263-0%1", "input": "Put a clean rag on the bench. | STEP 1: Turn left and walk over to the bath mat. Then turn right and face the bath tub.", "output": ["STEP 2: Pick up the yellow rag from the bath tub."]} +{"id": "trial_T20190906_175911_563263-0%2", "input": "Put a clean rag on the bench. | STEP 1: Turn left and walk over to the bath mat. Then turn right and face the bath tub. | STEP 2: Pick up the yellow rag from the bath tub.", "output": ["STEP 3: Turn around and walk towards the toilet, then turn left and move towards the sink."]} +{"id": "trial_T20190906_175911_563263-0%3", "input": "Put a clean rag on the bench. | STEP 1: Turn left and walk over to the bath mat. Then turn right and face the bath tub. | STEP 2: Pick up the yellow rag from the bath tub. | STEP 3: Turn around and walk towards the toilet, then turn left and move towards the sink.", "output": ["STEP 4: Drop the rag in the sink and wash it off with water."]} +{"id": "trial_T20190906_175911_563263-0%4", "input": "Put a clean rag on the bench. | STEP 1: Turn left and walk over to the bath mat. Then turn right and face the bath tub. | STEP 2: Pick up the yellow rag from the bath tub. | STEP 3: Turn around and walk towards the toilet, then turn left and move towards the sink. | STEP 4: Drop the rag in the sink and wash it off with water.", "output": ["STEP 5: Turn around and walk to the bench on floor against the wall on the other side of the room."]} +{"id": "trial_T20190906_175911_563263-0%5", "input": "Put a clean rag on the bench. | STEP 1: Turn left and walk over to the bath mat. Then turn right and face the bath tub. | STEP 2: Pick up the yellow rag from the bath tub. | STEP 3: Turn around and walk towards the toilet, then turn left and move towards the sink. | STEP 4: Drop the rag in the sink and wash it off with water. | STEP 5: Turn around and walk to the bench on floor against the wall on the other side of the room.", "output": ["STEP 6: Put the rag on the bench next to the candle."]} +{"id": "trial_T20190906_175911_563263-0%6", "input": "Put a clean rag on the bench. | STEP 1: Turn left and walk over to the bath mat. Then turn right and face the bath tub. | STEP 2: Pick up the yellow rag from the bath tub. | STEP 3: Turn around and walk towards the toilet, then turn left and move towards the sink. | STEP 4: Drop the rag in the sink and wash it off with water. | STEP 5: Turn around and walk to the bench on floor against the wall on the other side of the room. | STEP 6: Put the rag on the bench next to the candle.", "output": ["END"]} +{"id": "trial_T20190906_175911_563263-2%0", "input": "Put a cleaned yellow cloth on a shelf close to the floor.", "output": ["STEP 1: Move slightly to the left and stand in front of the bath tub."]} +{"id": "trial_T20190906_175911_563263-2%1", "input": "Put a cleaned yellow cloth on a shelf close to the floor. | STEP 1: Move slightly to the left and stand in front of the bath tub.", "output": ["STEP 2: Pick up the yellow cloth from the bath tub basin."]} +{"id": "trial_T20190906_175911_563263-2%2", "input": "Put a cleaned yellow cloth on a shelf close to the floor. | STEP 1: Move slightly to the left and stand in front of the bath tub. | STEP 2: Pick up the yellow cloth from the bath tub basin.", "output": ["STEP 3: Turn right and walk to the sink."]} +{"id": "trial_T20190906_175911_563263-2%3", "input": "Put a cleaned yellow cloth on a shelf close to the floor. | STEP 1: Move slightly to the left and stand in front of the bath tub. | STEP 2: Pick up the yellow cloth from the bath tub basin. | STEP 3: Turn right and walk to the sink.", "output": ["STEP 4: Put the cloth in the sink, rinse it off, and take it out of the sink."]} +{"id": "trial_T20190906_175911_563263-2%4", "input": "Put a cleaned yellow cloth on a shelf close to the floor. | STEP 1: Move slightly to the left and stand in front of the bath tub. | STEP 2: Pick up the yellow cloth from the bath tub basin. | STEP 3: Turn right and walk to the sink. | STEP 4: Put the cloth in the sink, rinse it off, and take it out of the sink.", "output": ["STEP 5: Turn around and walk forward to the shelf close to the floor containing the candle."]} +{"id": "trial_T20190906_175911_563263-2%5", "input": "Put a cleaned yellow cloth on a shelf close to the floor. | STEP 1: Move slightly to the left and stand in front of the bath tub. | STEP 2: Pick up the yellow cloth from the bath tub basin. | STEP 3: Turn right and walk to the sink. | STEP 4: Put the cloth in the sink, rinse it off, and take it out of the sink. | STEP 5: Turn around and walk forward to the shelf close to the floor containing the candle.", "output": ["STEP 6: Put the cloth on the shelf, to the left of the candle."]} +{"id": "trial_T20190906_175911_563263-2%6", "input": "Put a cleaned yellow cloth on a shelf close to the floor. | STEP 1: Move slightly to the left and stand in front of the bath tub. | STEP 2: Pick up the yellow cloth from the bath tub basin. | STEP 3: Turn right and walk to the sink. | STEP 4: Put the cloth in the sink, rinse it off, and take it out of the sink. | STEP 5: Turn around and walk forward to the shelf close to the floor containing the candle. | STEP 6: Put the cloth on the shelf, to the left of the candle.", "output": ["END"]} +{"id": "trial_T20190906_175911_563263-4%0", "input": "Put the washed yellow cloth on the shelf", "output": ["STEP 1: Move slightly left then turn back right to face the bathtub"]} +{"id": "trial_T20190906_175911_563263-4%1", "input": "Put the washed yellow cloth on the shelf | STEP 1: Move slightly left then turn back right to face the bathtub", "output": ["STEP 2: Pick up the yellow cloth from the tub"]} +{"id": "trial_T20190906_175911_563263-4%2", "input": "Put the washed yellow cloth on the shelf | STEP 1: Move slightly left then turn back right to face the bathtub | STEP 2: Pick up the yellow cloth from the tub", "output": ["STEP 3: Turn around and walk up to the sink"]} +{"id": "trial_T20190906_175911_563263-4%3", "input": "Put the washed yellow cloth on the shelf | STEP 1: Move slightly left then turn back right to face the bathtub | STEP 2: Pick up the yellow cloth from the tub | STEP 3: Turn around and walk up to the sink", "output": ["STEP 4: Wash the yellow cloth under water in the sink then remove it"]} +{"id": "trial_T20190906_175911_563263-4%4", "input": "Put the washed yellow cloth on the shelf | STEP 1: Move slightly left then turn back right to face the bathtub | STEP 2: Pick up the yellow cloth from the tub | STEP 3: Turn around and walk up to the sink | STEP 4: Wash the yellow cloth under water in the sink then remove it", "output": ["STEP 5: Turn around and walk up to the white shelves against the wall"]} +{"id": "trial_T20190906_175911_563263-4%5", "input": "Put the washed yellow cloth on the shelf | STEP 1: Move slightly left then turn back right to face the bathtub | STEP 2: Pick up the yellow cloth from the tub | STEP 3: Turn around and walk up to the sink | STEP 4: Wash the yellow cloth under water in the sink then remove it | STEP 5: Turn around and walk up to the white shelves against the wall", "output": ["STEP 6: Put the cloth down on the bottom shelf"]} +{"id": "trial_T20190906_175911_563263-4%6", "input": "Put the washed yellow cloth on the shelf | STEP 1: Move slightly left then turn back right to face the bathtub | STEP 2: Pick up the yellow cloth from the tub | STEP 3: Turn around and walk up to the sink | STEP 4: Wash the yellow cloth under water in the sink then remove it | STEP 5: Turn around and walk up to the white shelves against the wall | STEP 6: Put the cloth down on the bottom shelf", "output": ["END"]} +{"id": "trial_T20190906_175911_563263-5%0", "input": "Put a wet wash cloth on a shelf in the bathroom.", "output": ["STEP 1: Turn left and move to the center of the tub."]} +{"id": "trial_T20190906_175911_563263-5%1", "input": "Put a wet wash cloth on a shelf in the bathroom. | STEP 1: Turn left and move to the center of the tub.", "output": ["STEP 2: Pick up the yellow wash cloth in the tub."]} +{"id": "trial_T20190906_175911_563263-5%2", "input": "Put a wet wash cloth on a shelf in the bathroom. | STEP 1: Turn left and move to the center of the tub. | STEP 2: Pick up the yellow wash cloth in the tub.", "output": ["STEP 3: Turn around and face the waste paper basket between the sink and the tub."]} +{"id": "trial_T20190906_175911_563263-5%3", "input": "Put a wet wash cloth on a shelf in the bathroom. | STEP 1: Turn left and move to the center of the tub. | STEP 2: Pick up the yellow wash cloth in the tub. | STEP 3: Turn around and face the waste paper basket between the sink and the tub.", "output": ["STEP 4: Put the wash cloth in the sink and get it wet."]} +{"id": "trial_T20190906_175911_563263-5%4", "input": "Put a wet wash cloth on a shelf in the bathroom. | STEP 1: Turn left and move to the center of the tub. | STEP 2: Pick up the yellow wash cloth in the tub. | STEP 3: Turn around and face the waste paper basket between the sink and the tub. | STEP 4: Put the wash cloth in the sink and get it wet.", "output": ["STEP 5: Turn left and walk until you hit the tub and then turn and walk to the shelf near the floor."]} +{"id": "trial_T20190906_175911_563263-5%5", "input": "Put a wet wash cloth on a shelf in the bathroom. | STEP 1: Turn left and move to the center of the tub. | STEP 2: Pick up the yellow wash cloth in the tub. | STEP 3: Turn around and face the waste paper basket between the sink and the tub. | STEP 4: Put the wash cloth in the sink and get it wet. | STEP 5: Turn left and walk until you hit the tub and then turn and walk to the shelf near the floor.", "output": ["STEP 6: Put the wash cloth to the left of the white and orange object."]} +{"id": "trial_T20190906_175911_563263-5%6", "input": "Put a wet wash cloth on a shelf in the bathroom. | STEP 1: Turn left and move to the center of the tub. | STEP 2: Pick up the yellow wash cloth in the tub. | STEP 3: Turn around and face the waste paper basket between the sink and the tub. | STEP 4: Put the wash cloth in the sink and get it wet. | STEP 5: Turn left and walk until you hit the tub and then turn and walk to the shelf near the floor. | STEP 6: Put the wash cloth to the left of the white and orange object.", "output": ["END"]} +{"id": "trial_T20190907_174500_858143-1%0", "input": "Clean the rag to put back in the tub", "output": ["STEP 1: Turn to your right walk straight then left face the tub"]} +{"id": "trial_T20190907_174500_858143-1%1", "input": "Clean the rag to put back in the tub | STEP 1: Turn to your right walk straight then left face the tub", "output": ["STEP 2: Pick up the right rag on the tub"]} +{"id": "trial_T20190907_174500_858143-1%2", "input": "Clean the rag to put back in the tub | STEP 1: Turn to your right walk straight then left face the tub | STEP 2: Pick up the right rag on the tub", "output": ["STEP 3: Turn to your right and head to the sink"]} +{"id": "trial_T20190907_174500_858143-1%3", "input": "Clean the rag to put back in the tub | STEP 1: Turn to your right walk straight then left face the tub | STEP 2: Pick up the right rag on the tub | STEP 3: Turn to your right and head to the sink", "output": ["STEP 4: Put the rag in the sink and rinse it"]} +{"id": "trial_T20190907_174500_858143-1%4", "input": "Clean the rag to put back in the tub | STEP 1: Turn to your right walk straight then left face the tub | STEP 2: Pick up the right rag on the tub | STEP 3: Turn to your right and head to the sink | STEP 4: Put the rag in the sink and rinse it", "output": ["STEP 5: Turn to your left and head to the tub"]} +{"id": "trial_T20190907_174500_858143-1%5", "input": "Clean the rag to put back in the tub | STEP 1: Turn to your right walk straight then left face the tub | STEP 2: Pick up the right rag on the tub | STEP 3: Turn to your right and head to the sink | STEP 4: Put the rag in the sink and rinse it | STEP 5: Turn to your left and head to the tub", "output": ["STEP 6: Put the clean rag in the tub"]} +{"id": "trial_T20190907_174500_858143-1%6", "input": "Clean the rag to put back in the tub | STEP 1: Turn to your right walk straight then left face the tub | STEP 2: Pick up the right rag on the tub | STEP 3: Turn to your right and head to the sink | STEP 4: Put the rag in the sink and rinse it | STEP 5: Turn to your left and head to the tub | STEP 6: Put the clean rag in the tub", "output": ["END"]} +{"id": "trial_T20190907_230423_678128-1%0", "input": "Place the box in between the 2 sinks on top of the toilet.", "output": ["STEP 1: Turn to the left, go straight, then to the left again to face the counter top between the two sinks."]} +{"id": "trial_T20190907_230423_678128-1%1", "input": "Place the box in between the 2 sinks on top of the toilet. | STEP 1: Turn to the left, go straight, then to the left again to face the counter top between the two sinks.", "output": ["STEP 2: Pick up the tissue box to the left."]} +{"id": "trial_T20190907_230423_678128-1%2", "input": "Place the box in between the 2 sinks on top of the toilet. | STEP 1: Turn to the left, go straight, then to the left again to face the counter top between the two sinks. | STEP 2: Pick up the tissue box to the left.", "output": ["STEP 3: Turn to the left and head straight to face the glass shower door."]} +{"id": "trial_T20190907_230423_678128-1%3", "input": "Place the box in between the 2 sinks on top of the toilet. | STEP 1: Turn to the left, go straight, then to the left again to face the counter top between the two sinks. | STEP 2: Pick up the tissue box to the left. | STEP 3: Turn to the left and head straight to face the glass shower door.", "output": ["STEP 4: Place the tissue box on the top of the toilet to the left of the glass shower door."]} +{"id": "trial_T20190907_230423_678128-1%4", "input": "Place the box in between the 2 sinks on top of the toilet. | STEP 1: Turn to the left, go straight, then to the left again to face the counter top between the two sinks. | STEP 2: Pick up the tissue box to the left. | STEP 3: Turn to the left and head straight to face the glass shower door. | STEP 4: Place the tissue box on the top of the toilet to the left of the glass shower door.", "output": ["END"]} +{"id": "trial_T20190907_230423_678128-2%0", "input": "take a tissue box to the toilet and put it on the tank", "output": ["STEP 1: go around the sink so you are facing it between both bowls"]} +{"id": "trial_T20190907_230423_678128-2%1", "input": "take a tissue box to the toilet and put it on the tank | STEP 1: go around the sink so you are facing it between both bowls", "output": ["STEP 2: pick up the tissue box on the left side"]} +{"id": "trial_T20190907_230423_678128-2%2", "input": "take a tissue box to the toilet and put it on the tank | STEP 1: go around the sink so you are facing it between both bowls | STEP 2: pick up the tissue box on the left side", "output": ["STEP 3: take the tissue box to the toilet"]} +{"id": "trial_T20190907_230423_678128-2%3", "input": "take a tissue box to the toilet and put it on the tank | STEP 1: go around the sink so you are facing it between both bowls | STEP 2: pick up the tissue box on the left side | STEP 3: take the tissue box to the toilet", "output": ["STEP 4: place the tissue box on the toilet tank on its end"]} +{"id": "trial_T20190907_230423_678128-2%4", "input": "take a tissue box to the toilet and put it on the tank | STEP 1: go around the sink so you are facing it between both bowls | STEP 2: pick up the tissue box on the left side | STEP 3: take the tissue box to the toilet | STEP 4: place the tissue box on the toilet tank on its end", "output": ["END"]} +{"id": "trial_T20190908_061650_987513-1%0", "input": "cool the egg with refrigerator, put the egg in the microwave", "output": ["STEP 1: turn right, walk to the sink"]} +{"id": "trial_T20190908_061650_987513-1%1", "input": "cool the egg with refrigerator, put the egg in the microwave | STEP 1: turn right, walk to the sink", "output": ["STEP 2: grab the egg in the sink"]} +{"id": "trial_T20190908_061650_987513-1%2", "input": "cool the egg with refrigerator, put the egg in the microwave | STEP 1: turn right, walk to the sink | STEP 2: grab the egg in the sink", "output": ["STEP 3: turn left walk to the refrigerator"]} +{"id": "trial_T20190908_061650_987513-1%3", "input": "cool the egg with refrigerator, put the egg in the microwave | STEP 1: turn right, walk to the sink | STEP 2: grab the egg in the sink | STEP 3: turn left walk to the refrigerator", "output": ["STEP 4: put the egg in the refrigerator, wait a while, take the egg out"]} +{"id": "trial_T20190908_061650_987513-1%4", "input": "cool the egg with refrigerator, put the egg in the microwave | STEP 1: turn right, walk to the sink | STEP 2: grab the egg in the sink | STEP 3: turn left walk to the refrigerator | STEP 4: put the egg in the refrigerator, wait a while, take the egg out", "output": ["STEP 5: turn right, walk to the microwave on the right"]} +{"id": "trial_T20190908_061650_987513-1%5", "input": "cool the egg with refrigerator, put the egg in the microwave | STEP 1: turn right, walk to the sink | STEP 2: grab the egg in the sink | STEP 3: turn left walk to the refrigerator | STEP 4: put the egg in the refrigerator, wait a while, take the egg out | STEP 5: turn right, walk to the microwave on the right", "output": ["STEP 6: open the microwave, put the egg in "]} +{"id": "trial_T20190908_061650_987513-1%6", "input": "cool the egg with refrigerator, put the egg in the microwave | STEP 1: turn right, walk to the sink | STEP 2: grab the egg in the sink | STEP 3: turn left walk to the refrigerator | STEP 4: put the egg in the refrigerator, wait a while, take the egg out | STEP 5: turn right, walk to the microwave on the right | STEP 6: open the microwave, put the egg in ", "output": ["END"]} +{"id": "trial_T20190908_045822_527043-1%0", "input": "move the candle from the tub to the toilet", "output": ["STEP 1: turn left to the tub"]} +{"id": "trial_T20190908_045822_527043-1%1", "input": "move the candle from the tub to the toilet | STEP 1: turn left to the tub", "output": ["STEP 2: grab the candle by the tub"]} +{"id": "trial_T20190908_045822_527043-1%2", "input": "move the candle from the tub to the toilet | STEP 1: turn left to the tub | STEP 2: grab the candle by the tub", "output": ["STEP 3: turn around, walk across the room to the toilet"]} +{"id": "trial_T20190908_045822_527043-1%3", "input": "move the candle from the tub to the toilet | STEP 1: turn left to the tub | STEP 2: grab the candle by the tub | STEP 3: turn around, walk across the room to the toilet", "output": ["STEP 4: put the candle on the toilet"]} +{"id": "trial_T20190908_045822_527043-1%4", "input": "move the candle from the tub to the toilet | STEP 1: turn left to the tub | STEP 2: grab the candle by the tub | STEP 3: turn around, walk across the room to the toilet | STEP 4: put the candle on the toilet", "output": ["END"]} +{"id": "trial_T20190908_045822_527043-2%0", "input": "move the candle from the tub to the toilet", "output": ["STEP 1: turn left and walk towards the bathtub"]} +{"id": "trial_T20190908_045822_527043-2%1", "input": "move the candle from the tub to the toilet | STEP 1: turn left and walk towards the bathtub", "output": ["STEP 2: pick up the candle from the tub"]} +{"id": "trial_T20190908_045822_527043-2%2", "input": "move the candle from the tub to the toilet | STEP 1: turn left and walk towards the bathtub | STEP 2: pick up the candle from the tub", "output": ["STEP 3: turn around and walk towards the door. make a left and walk forward to the toilet"]} +{"id": "trial_T20190908_045822_527043-2%3", "input": "move the candle from the tub to the toilet | STEP 1: turn left and walk towards the bathtub | STEP 2: pick up the candle from the tub | STEP 3: turn around and walk towards the door. make a left and walk forward to the toilet", "output": ["STEP 4: place the candle on the toilet"]} +{"id": "trial_T20190908_045822_527043-2%4", "input": "move the candle from the tub to the toilet | STEP 1: turn left and walk towards the bathtub | STEP 2: pick up the candle from the tub | STEP 3: turn around and walk towards the door. make a left and walk forward to the toilet | STEP 4: place the candle on the toilet", "output": ["END"]} +{"id": "trial_T20190907_160807_658218-1%0", "input": "Move an empty box to the sofa", "output": ["STEP 1: Move to the wood desk to the left of the brown chair"]} +{"id": "trial_T20190907_160807_658218-1%1", "input": "Move an empty box to the sofa | STEP 1: Move to the wood desk to the left of the brown chair", "output": ["STEP 2: Pick up the empty box under the desk on the floor"]} +{"id": "trial_T20190907_160807_658218-1%2", "input": "Move an empty box to the sofa | STEP 1: Move to the wood desk to the left of the brown chair | STEP 2: Pick up the empty box under the desk on the floor", "output": ["STEP 3: Carry the box to the large brown sofa"]} +{"id": "trial_T20190907_160807_658218-1%3", "input": "Move an empty box to the sofa | STEP 1: Move to the wood desk to the left of the brown chair | STEP 2: Pick up the empty box under the desk on the floor | STEP 3: Carry the box to the large brown sofa", "output": ["STEP 4: Place the box in the middle of the sofa"]} +{"id": "trial_T20190907_160807_658218-1%4", "input": "Move an empty box to the sofa | STEP 1: Move to the wood desk to the left of the brown chair | STEP 2: Pick up the empty box under the desk on the floor | STEP 3: Carry the box to the large brown sofa | STEP 4: Place the box in the middle of the sofa", "output": ["END"]} +{"id": "trial_T20190909_085314_444549-2%0", "input": "Pick up the newspaper from the coffee table and turn on the light on the end table.", "output": ["STEP 1: Go around to the other side of the coffee table."]} +{"id": "trial_T20190909_085314_444549-2%1", "input": "Pick up the newspaper from the coffee table and turn on the light on the end table. | STEP 1: Go around to the other side of the coffee table.", "output": ["STEP 2: Pick up the newspaper from the coffee table."]} +{"id": "trial_T20190909_085314_444549-2%2", "input": "Pick up the newspaper from the coffee table and turn on the light on the end table. | STEP 1: Go around to the other side of the coffee table. | STEP 2: Pick up the newspaper from the coffee table.", "output": ["STEP 3: Go to the end table to your left."]} +{"id": "trial_T20190909_085314_444549-2%3", "input": "Pick up the newspaper from the coffee table and turn on the light on the end table. | STEP 1: Go around to the other side of the coffee table. | STEP 2: Pick up the newspaper from the coffee table. | STEP 3: Go to the end table to your left.", "output": ["STEP 4: Turn the light on that's on the end table."]} +{"id": "trial_T20190909_085314_444549-2%4", "input": "Pick up the newspaper from the coffee table and turn on the light on the end table. | STEP 1: Go around to the other side of the coffee table. | STEP 2: Pick up the newspaper from the coffee table. | STEP 3: Go to the end table to your left. | STEP 4: Turn the light on that's on the end table.", "output": ["END"]} +{"id": "trial_T20190908_225459_907405-0%0", "input": "Put a clean bar of soap on the counter.", "output": ["STEP 1: Turn around and face the side of the cabinet with the sink."]} +{"id": "trial_T20190908_225459_907405-0%1", "input": "Put a clean bar of soap on the counter. | STEP 1: Turn around and face the side of the cabinet with the sink.", "output": ["STEP 2: Pick the bar of soap up from the counter."]} +{"id": "trial_T20190908_225459_907405-0%2", "input": "Put a clean bar of soap on the counter. | STEP 1: Turn around and face the side of the cabinet with the sink. | STEP 2: Pick the bar of soap up from the counter.", "output": ["STEP 3: Go around to the front of the cabinet and stand in front of the sink on the left."]} +{"id": "trial_T20190908_225459_907405-0%3", "input": "Put a clean bar of soap on the counter. | STEP 1: Turn around and face the side of the cabinet with the sink. | STEP 2: Pick the bar of soap up from the counter. | STEP 3: Go around to the front of the cabinet and stand in front of the sink on the left.", "output": ["STEP 4: Put the soap in the sink and turn the water on and then turn it off and take the soap back out of the sink."]} +{"id": "trial_T20190908_225459_907405-0%4", "input": "Put a clean bar of soap on the counter. | STEP 1: Turn around and face the side of the cabinet with the sink. | STEP 2: Pick the bar of soap up from the counter. | STEP 3: Go around to the front of the cabinet and stand in front of the sink on the left. | STEP 4: Put the soap in the sink and turn the water on and then turn it off and take the soap back out of the sink.", "output": ["STEP 5: Go to the left and turn to face the side of the cabinet with the sink in it."]} +{"id": "trial_T20190908_225459_907405-0%5", "input": "Put a clean bar of soap on the counter. | STEP 1: Turn around and face the side of the cabinet with the sink. | STEP 2: Pick the bar of soap up from the counter. | STEP 3: Go around to the front of the cabinet and stand in front of the sink on the left. | STEP 4: Put the soap in the sink and turn the water on and then turn it off and take the soap back out of the sink. | STEP 5: Go to the left and turn to face the side of the cabinet with the sink in it.", "output": ["STEP 6: Put the bar of soap in the counter."]} +{"id": "trial_T20190908_225459_907405-0%6", "input": "Put a clean bar of soap on the counter. | STEP 1: Turn around and face the side of the cabinet with the sink. | STEP 2: Pick the bar of soap up from the counter. | STEP 3: Go around to the front of the cabinet and stand in front of the sink on the left. | STEP 4: Put the soap in the sink and turn the water on and then turn it off and take the soap back out of the sink. | STEP 5: Go to the left and turn to face the side of the cabinet with the sink in it. | STEP 6: Put the bar of soap in the counter.", "output": ["END"]} +{"id": "trial_T20190908_225459_907405-1%0", "input": "place cleaned pink sponge on counter to the left of blue bottle", "output": ["STEP 1: turn right, go to left end of sink counter, face blue bottle on counter"]} +{"id": "trial_T20190908_225459_907405-1%1", "input": "place cleaned pink sponge on counter to the left of blue bottle | STEP 1: turn right, go to left end of sink counter, face blue bottle on counter", "output": ["STEP 2: pick up pink sponge on counter"]} +{"id": "trial_T20190908_225459_907405-1%2", "input": "place cleaned pink sponge on counter to the left of blue bottle | STEP 1: turn right, go to left end of sink counter, face blue bottle on counter | STEP 2: pick up pink sponge on counter", "output": ["STEP 3: go to sink, face sink"]} +{"id": "trial_T20190908_225459_907405-1%3", "input": "place cleaned pink sponge on counter to the left of blue bottle | STEP 1: turn right, go to left end of sink counter, face blue bottle on counter | STEP 2: pick up pink sponge on counter | STEP 3: go to sink, face sink", "output": ["STEP 4: place pink sponge in sink, turn on water, pick up pink sponge from sink"]} +{"id": "trial_T20190908_225459_907405-1%4", "input": "place cleaned pink sponge on counter to the left of blue bottle | STEP 1: turn right, go to left end of sink counter, face blue bottle on counter | STEP 2: pick up pink sponge on counter | STEP 3: go to sink, face sink | STEP 4: place pink sponge in sink, turn on water, pick up pink sponge from sink", "output": ["STEP 5: turn left, go to left end of counter"]} +{"id": "trial_T20190908_225459_907405-1%5", "input": "place cleaned pink sponge on counter to the left of blue bottle | STEP 1: turn right, go to left end of sink counter, face blue bottle on counter | STEP 2: pick up pink sponge on counter | STEP 3: go to sink, face sink | STEP 4: place pink sponge in sink, turn on water, pick up pink sponge from sink | STEP 5: turn left, go to left end of counter", "output": ["STEP 6: place pink sponge on counter to the left of blue bottle"]} +{"id": "trial_T20190908_225459_907405-1%6", "input": "place cleaned pink sponge on counter to the left of blue bottle | STEP 1: turn right, go to left end of sink counter, face blue bottle on counter | STEP 2: pick up pink sponge on counter | STEP 3: go to sink, face sink | STEP 4: place pink sponge in sink, turn on water, pick up pink sponge from sink | STEP 5: turn left, go to left end of counter | STEP 6: place pink sponge on counter to the left of blue bottle", "output": ["END"]} +{"id": "trial_T20190908_034837_690433-0%0", "input": "Place two alarm clocks on a shelf.", "output": ["STEP 1: Turn around and walk to the front of the black dresser."]} +{"id": "trial_T20190908_034837_690433-0%1", "input": "Place two alarm clocks on a shelf. | STEP 1: Turn around and walk to the front of the black dresser.", "output": ["STEP 2: Pick up the alarm on the dresser."]} +{"id": "trial_T20190908_034837_690433-0%2", "input": "Place two alarm clocks on a shelf. | STEP 1: Turn around and walk to the front of the black dresser. | STEP 2: Pick up the alarm on the dresser.", "output": ["STEP 3: Turn right and walk to the shelves in front of you against the wall."]} +{"id": "trial_T20190908_034837_690433-0%3", "input": "Place two alarm clocks on a shelf. | STEP 1: Turn around and walk to the front of the black dresser. | STEP 2: Pick up the alarm on the dresser. | STEP 3: Turn right and walk to the shelves in front of you against the wall.", "output": ["STEP 4: Place the alarm clock on the shelf above where the credit card is."]} +{"id": "trial_T20190908_034837_690433-0%4", "input": "Place two alarm clocks on a shelf. | STEP 1: Turn around and walk to the front of the black dresser. | STEP 2: Pick up the alarm on the dresser. | STEP 3: Turn right and walk to the shelves in front of you against the wall. | STEP 4: Place the alarm clock on the shelf above where the credit card is.", "output": ["STEP 5: Turn around and walk ahead, then veer left to the left side of the other dresser."]} +{"id": "trial_T20190908_034837_690433-0%5", "input": "Place two alarm clocks on a shelf. | STEP 1: Turn around and walk to the front of the black dresser. | STEP 2: Pick up the alarm on the dresser. | STEP 3: Turn right and walk to the shelves in front of you against the wall. | STEP 4: Place the alarm clock on the shelf above where the credit card is. | STEP 5: Turn around and walk ahead, then veer left to the left side of the other dresser.", "output": ["STEP 6: Pick up the alarm clock on the left side of the dresser."]} +{"id": "trial_T20190908_034837_690433-0%6", "input": "Place two alarm clocks on a shelf. | STEP 1: Turn around and walk to the front of the black dresser. | STEP 2: Pick up the alarm on the dresser. | STEP 3: Turn right and walk to the shelves in front of you against the wall. | STEP 4: Place the alarm clock on the shelf above where the credit card is. | STEP 5: Turn around and walk ahead, then veer left to the left side of the other dresser. | STEP 6: Pick up the alarm clock on the left side of the dresser.", "output": ["STEP 7: Walk right around the dresser and then veer right to the shelves along the far wall."]} +{"id": "trial_T20190908_034837_690433-0%7", "input": "Place two alarm clocks on a shelf. | STEP 1: Turn around and walk to the front of the black dresser. | STEP 2: Pick up the alarm on the dresser. | STEP 3: Turn right and walk to the shelves in front of you against the wall. | STEP 4: Place the alarm clock on the shelf above where the credit card is. | STEP 5: Turn around and walk ahead, then veer left to the left side of the other dresser. | STEP 6: Pick up the alarm clock on the left side of the dresser. | STEP 7: Walk right around the dresser and then veer right to the shelves along the far wall.", "output": ["STEP 8: Place the alarm on the shelf to the right of the other alarm clock."]} +{"id": "trial_T20190908_034837_690433-0%8", "input": "Place two alarm clocks on a shelf. | STEP 1: Turn around and walk to the front of the black dresser. | STEP 2: Pick up the alarm on the dresser. | STEP 3: Turn right and walk to the shelves in front of you against the wall. | STEP 4: Place the alarm clock on the shelf above where the credit card is. | STEP 5: Turn around and walk ahead, then veer left to the left side of the other dresser. | STEP 6: Pick up the alarm clock on the left side of the dresser. | STEP 7: Walk right around the dresser and then veer right to the shelves along the far wall. | STEP 8: Place the alarm on the shelf to the right of the other alarm clock.", "output": ["END"]} +{"id": "trial_T20190908_213548_799457-0%0", "input": "To put two watches into the drawer of a desk.", "output": ["STEP 1: Turn right and walk across the room to face the desk."]} +{"id": "trial_T20190908_213548_799457-0%1", "input": "To put two watches into the drawer of a desk. | STEP 1: Turn right and walk across the room to face the desk.", "output": ["STEP 2: Pick up the watch on the back right corner of the desk."]} +{"id": "trial_T20190908_213548_799457-0%2", "input": "To put two watches into the drawer of a desk. | STEP 1: Turn right and walk across the room to face the desk. | STEP 2: Pick up the watch on the back right corner of the desk.", "output": ["STEP 3: Take a step back to face the drawer of the desk."]} +{"id": "trial_T20190908_213548_799457-0%3", "input": "To put two watches into the drawer of a desk. | STEP 1: Turn right and walk across the room to face the desk. | STEP 2: Pick up the watch on the back right corner of the desk. | STEP 3: Take a step back to face the drawer of the desk.", "output": ["STEP 4: Place the watch in the drawer of the desk."]} +{"id": "trial_T20190908_213548_799457-0%4", "input": "To put two watches into the drawer of a desk. | STEP 1: Turn right and walk across the room to face the desk. | STEP 2: Pick up the watch on the back right corner of the desk. | STEP 3: Take a step back to face the drawer of the desk. | STEP 4: Place the watch in the drawer of the desk.", "output": ["STEP 5: Look up to face the watch on the desk."]} +{"id": "trial_T20190908_213548_799457-0%5", "input": "To put two watches into the drawer of a desk. | STEP 1: Turn right and walk across the room to face the desk. | STEP 2: Pick up the watch on the back right corner of the desk. | STEP 3: Take a step back to face the drawer of the desk. | STEP 4: Place the watch in the drawer of the desk. | STEP 5: Look up to face the watch on the desk.", "output": ["STEP 6: Pick up the watch on the back of the desk."]} +{"id": "trial_T20190908_213548_799457-0%6", "input": "To put two watches into the drawer of a desk. | STEP 1: Turn right and walk across the room to face the desk. | STEP 2: Pick up the watch on the back right corner of the desk. | STEP 3: Take a step back to face the drawer of the desk. | STEP 4: Place the watch in the drawer of the desk. | STEP 5: Look up to face the watch on the desk. | STEP 6: Pick up the watch on the back of the desk.", "output": ["STEP 7: Take a step back to face the drawer of the desk."]} +{"id": "trial_T20190908_213548_799457-0%7", "input": "To put two watches into the drawer of a desk. | STEP 1: Turn right and walk across the room to face the desk. | STEP 2: Pick up the watch on the back right corner of the desk. | STEP 3: Take a step back to face the drawer of the desk. | STEP 4: Place the watch in the drawer of the desk. | STEP 5: Look up to face the watch on the desk. | STEP 6: Pick up the watch on the back of the desk. | STEP 7: Take a step back to face the drawer of the desk.", "output": ["STEP 8: Place the watch in the drawer of the desk."]} +{"id": "trial_T20190908_213548_799457-0%8", "input": "To put two watches into the drawer of a desk. | STEP 1: Turn right and walk across the room to face the desk. | STEP 2: Pick up the watch on the back right corner of the desk. | STEP 3: Take a step back to face the drawer of the desk. | STEP 4: Place the watch in the drawer of the desk. | STEP 5: Look up to face the watch on the desk. | STEP 6: Pick up the watch on the back of the desk. | STEP 7: Take a step back to face the drawer of the desk. | STEP 8: Place the watch in the drawer of the desk.", "output": ["END"]} +{"id": "trial_T20190906_231911_356083-1%0", "input": "Put the red pen from the night stand in the dresser with the other pen on the dresser.", "output": ["STEP 1: Turn to the right and move across the room towards the bed. Past the bed turn left then move to the night stand."]} +{"id": "trial_T20190906_231911_356083-1%1", "input": "Put the red pen from the night stand in the dresser with the other pen on the dresser. | STEP 1: Turn to the right and move across the room towards the bed. Past the bed turn left then move to the night stand.", "output": ["STEP 2: Pick up the red pen from the night stand."]} +{"id": "trial_T20190906_231911_356083-1%2", "input": "Put the red pen from the night stand in the dresser with the other pen on the dresser. | STEP 1: Turn to the right and move across the room towards the bed. Past the bed turn left then move to the night stand. | STEP 2: Pick up the red pen from the night stand.", "output": ["STEP 3: Turn around and go towards dresser, turn right and go across room to the tall dresser."]} +{"id": "trial_T20190906_231911_356083-1%3", "input": "Put the red pen from the night stand in the dresser with the other pen on the dresser. | STEP 1: Turn to the right and move across the room towards the bed. Past the bed turn left then move to the night stand. | STEP 2: Pick up the red pen from the night stand. | STEP 3: Turn around and go towards dresser, turn right and go across room to the tall dresser.", "output": ["STEP 4: Open second drawer from bottom put pen inside drawer and close drawer."]} +{"id": "trial_T20190906_231911_356083-1%4", "input": "Put the red pen from the night stand in the dresser with the other pen on the dresser. | STEP 1: Turn to the right and move across the room towards the bed. Past the bed turn left then move to the night stand. | STEP 2: Pick up the red pen from the night stand. | STEP 3: Turn around and go towards dresser, turn right and go across room to the tall dresser. | STEP 4: Open second drawer from bottom put pen inside drawer and close drawer.", "output": ["STEP 5: Go forward then turn left to face tall dresser. "]} +{"id": "trial_T20190906_231911_356083-1%5", "input": "Put the red pen from the night stand in the dresser with the other pen on the dresser. | STEP 1: Turn to the right and move across the room towards the bed. Past the bed turn left then move to the night stand. | STEP 2: Pick up the red pen from the night stand. | STEP 3: Turn around and go towards dresser, turn right and go across room to the tall dresser. | STEP 4: Open second drawer from bottom put pen inside drawer and close drawer. | STEP 5: Go forward then turn left to face tall dresser. ", "output": ["STEP 6: Pick up the pen in the shelf beside the golden bowl."]} +{"id": "trial_T20190906_231911_356083-1%6", "input": "Put the red pen from the night stand in the dresser with the other pen on the dresser. | STEP 1: Turn to the right and move across the room towards the bed. Past the bed turn left then move to the night stand. | STEP 2: Pick up the red pen from the night stand. | STEP 3: Turn around and go towards dresser, turn right and go across room to the tall dresser. | STEP 4: Open second drawer from bottom put pen inside drawer and close drawer. | STEP 5: Go forward then turn left to face tall dresser. | STEP 6: Pick up the pen in the shelf beside the golden bowl.", "output": ["STEP 7: Turn around and face dresser from left side."]} +{"id": "trial_T20190906_231911_356083-1%7", "input": "Put the red pen from the night stand in the dresser with the other pen on the dresser. | STEP 1: Turn to the right and move across the room towards the bed. Past the bed turn left then move to the night stand. | STEP 2: Pick up the red pen from the night stand. | STEP 3: Turn around and go towards dresser, turn right and go across room to the tall dresser. | STEP 4: Open second drawer from bottom put pen inside drawer and close drawer. | STEP 5: Go forward then turn left to face tall dresser. | STEP 6: Pick up the pen in the shelf beside the golden bowl. | STEP 7: Turn around and face dresser from left side.", "output": ["STEP 8: Open second drawer from bottom put pen inside drawer and close drawer."]} +{"id": "trial_T20190906_231911_356083-1%8", "input": "Put the red pen from the night stand in the dresser with the other pen on the dresser. | STEP 1: Turn to the right and move across the room towards the bed. Past the bed turn left then move to the night stand. | STEP 2: Pick up the red pen from the night stand. | STEP 3: Turn around and go towards dresser, turn right and go across room to the tall dresser. | STEP 4: Open second drawer from bottom put pen inside drawer and close drawer. | STEP 5: Go forward then turn left to face tall dresser. | STEP 6: Pick up the pen in the shelf beside the golden bowl. | STEP 7: Turn around and face dresser from left side. | STEP 8: Open second drawer from bottom put pen inside drawer and close drawer.", "output": ["END"]} +{"id": "trial_T20190906_231911_356083-2%0", "input": "Put two pens in the first drawer of the dresser shelf.", "output": ["STEP 1: Move to the end table on the right side of the bed."]} +{"id": "trial_T20190906_231911_356083-2%1", "input": "Put two pens in the first drawer of the dresser shelf. | STEP 1: Move to the end table on the right side of the bed.", "output": ["STEP 2: Pick up the pen off of the end table"]} +{"id": "trial_T20190906_231911_356083-2%2", "input": "Put two pens in the first drawer of the dresser shelf. | STEP 1: Move to the end table on the right side of the bed. | STEP 2: Pick up the pen off of the end table", "output": ["STEP 3: Move to the dresser shelf to the left of the bed down the hall a few feet and stand to the left side of dresser."]} +{"id": "trial_T20190906_231911_356083-2%3", "input": "Put two pens in the first drawer of the dresser shelf. | STEP 1: Move to the end table on the right side of the bed. | STEP 2: Pick up the pen off of the end table | STEP 3: Move to the dresser shelf to the left of the bed down the hall a few feet and stand to the left side of dresser.", "output": ["STEP 4: Open first dress drawer and place pen into the drawer and close it"]} +{"id": "trial_T20190906_231911_356083-2%4", "input": "Put two pens in the first drawer of the dresser shelf. | STEP 1: Move to the end table on the right side of the bed. | STEP 2: Pick up the pen off of the end table | STEP 3: Move to the dresser shelf to the left of the bed down the hall a few feet and stand to the left side of dresser. | STEP 4: Open first dress drawer and place pen into the drawer and close it", "output": ["STEP 5: Move to the front of the dresser shelf"]} +{"id": "trial_T20190906_231911_356083-2%5", "input": "Put two pens in the first drawer of the dresser shelf. | STEP 1: Move to the end table on the right side of the bed. | STEP 2: Pick up the pen off of the end table | STEP 3: Move to the dresser shelf to the left of the bed down the hall a few feet and stand to the left side of dresser. | STEP 4: Open first dress drawer and place pen into the drawer and close it | STEP 5: Move to the front of the dresser shelf", "output": ["STEP 6: Pick up pen from off the shelf"]} +{"id": "trial_T20190906_231911_356083-2%6", "input": "Put two pens in the first drawer of the dresser shelf. | STEP 1: Move to the end table on the right side of the bed. | STEP 2: Pick up the pen off of the end table | STEP 3: Move to the dresser shelf to the left of the bed down the hall a few feet and stand to the left side of dresser. | STEP 4: Open first dress drawer and place pen into the drawer and close it | STEP 5: Move to the front of the dresser shelf | STEP 6: Pick up pen from off the shelf", "output": ["STEP 7: Move to the left side of the dresser shelf "]} +{"id": "trial_T20190906_231911_356083-2%7", "input": "Put two pens in the first drawer of the dresser shelf. | STEP 1: Move to the end table on the right side of the bed. | STEP 2: Pick up the pen off of the end table | STEP 3: Move to the dresser shelf to the left of the bed down the hall a few feet and stand to the left side of dresser. | STEP 4: Open first dress drawer and place pen into the drawer and close it | STEP 5: Move to the front of the dresser shelf | STEP 6: Pick up pen from off the shelf | STEP 7: Move to the left side of the dresser shelf ", "output": ["STEP 8: Open drawer and place pen inside, close drawer again."]} +{"id": "trial_T20190906_231911_356083-2%8", "input": "Put two pens in the first drawer of the dresser shelf. | STEP 1: Move to the end table on the right side of the bed. | STEP 2: Pick up the pen off of the end table | STEP 3: Move to the dresser shelf to the left of the bed down the hall a few feet and stand to the left side of dresser. | STEP 4: Open first dress drawer and place pen into the drawer and close it | STEP 5: Move to the front of the dresser shelf | STEP 6: Pick up pen from off the shelf | STEP 7: Move to the left side of the dresser shelf | STEP 8: Open drawer and place pen inside, close drawer again.", "output": ["END"]} +{"id": "trial_T20190908_111237_774589-1%0", "input": "Move two clocks from the desk to the dresser.", "output": ["STEP 1: Turn and go to the desk."]} +{"id": "trial_T20190908_111237_774589-1%1", "input": "Move two clocks from the desk to the dresser. | STEP 1: Turn and go to the desk.", "output": ["STEP 2: Pick up a clock on the desk."]} +{"id": "trial_T20190908_111237_774589-1%2", "input": "Move two clocks from the desk to the dresser. | STEP 1: Turn and go to the desk. | STEP 2: Pick up a clock on the desk.", "output": ["STEP 3: Turn and go to the dresser"]} +{"id": "trial_T20190908_111237_774589-1%3", "input": "Move two clocks from the desk to the dresser. | STEP 1: Turn and go to the desk. | STEP 2: Pick up a clock on the desk. | STEP 3: Turn and go to the dresser", "output": ["STEP 4: Put the clock on the dresser. "]} +{"id": "trial_T20190908_111237_774589-1%4", "input": "Move two clocks from the desk to the dresser. | STEP 1: Turn and go to the desk. | STEP 2: Pick up a clock on the desk. | STEP 3: Turn and go to the dresser | STEP 4: Put the clock on the dresser. ", "output": ["STEP 5: Turn and go to the desk."]} +{"id": "trial_T20190908_111237_774589-1%5", "input": "Move two clocks from the desk to the dresser. | STEP 1: Turn and go to the desk. | STEP 2: Pick up a clock on the desk. | STEP 3: Turn and go to the dresser | STEP 4: Put the clock on the dresser. | STEP 5: Turn and go to the desk.", "output": ["STEP 6: Pick up the clock on the desk."]} +{"id": "trial_T20190908_111237_774589-1%6", "input": "Move two clocks from the desk to the dresser. | STEP 1: Turn and go to the desk. | STEP 2: Pick up a clock on the desk. | STEP 3: Turn and go to the dresser | STEP 4: Put the clock on the dresser. | STEP 5: Turn and go to the desk. | STEP 6: Pick up the clock on the desk.", "output": ["STEP 7: Turn and go to the dresser."]} +{"id": "trial_T20190908_111237_774589-1%7", "input": "Move two clocks from the desk to the dresser. | STEP 1: Turn and go to the desk. | STEP 2: Pick up a clock on the desk. | STEP 3: Turn and go to the dresser | STEP 4: Put the clock on the dresser. | STEP 5: Turn and go to the desk. | STEP 6: Pick up the clock on the desk. | STEP 7: Turn and go to the dresser.", "output": ["STEP 8: Put the clock on the dresser. "]} +{"id": "trial_T20190908_111237_774589-1%8", "input": "Move two clocks from the desk to the dresser. | STEP 1: Turn and go to the desk. | STEP 2: Pick up a clock on the desk. | STEP 3: Turn and go to the dresser | STEP 4: Put the clock on the dresser. | STEP 5: Turn and go to the desk. | STEP 6: Pick up the clock on the desk. | STEP 7: Turn and go to the dresser. | STEP 8: Put the clock on the dresser. ", "output": ["END"]} +{"id": "trial_T20190908_054840_163969-1%0", "input": "Move a newspaper to a TV stand. ", "output": ["STEP 1: Turn to the left then go forward to the side table with the lamp. "]} +{"id": "trial_T20190908_054840_163969-1%1", "input": "Move a newspaper to a TV stand. | STEP 1: Turn to the left then go forward to the side table with the lamp. ", "output": ["STEP 2: Pick up the newspaper off the side table."]} +{"id": "trial_T20190908_054840_163969-1%2", "input": "Move a newspaper to a TV stand. | STEP 1: Turn to the left then go forward to the side table with the lamp. | STEP 2: Pick up the newspaper off the side table.", "output": ["STEP 3: Turn around completely and walk to the other side of the room, Make a right and go to the TV stand."]} +{"id": "trial_T20190908_054840_163969-1%3", "input": "Move a newspaper to a TV stand. | STEP 1: Turn to the left then go forward to the side table with the lamp. | STEP 2: Pick up the newspaper off the side table. | STEP 3: Turn around completely and walk to the other side of the room, Make a right and go to the TV stand.", "output": ["STEP 4: Place the newspaper on the TV stand."]} +{"id": "trial_T20190908_054840_163969-1%4", "input": "Move a newspaper to a TV stand. | STEP 1: Turn to the left then go forward to the side table with the lamp. | STEP 2: Pick up the newspaper off the side table. | STEP 3: Turn around completely and walk to the other side of the room, Make a right and go to the TV stand. | STEP 4: Place the newspaper on the TV stand.", "output": ["END"]} +{"id": "trial_T20190908_054840_163969-2%0", "input": "Move a newspaper to the TV stand", "output": ["STEP 1: Move to the back right corner where the round table with the newspaper is"]} +{"id": "trial_T20190908_054840_163969-2%1", "input": "Move a newspaper to the TV stand | STEP 1: Move to the back right corner where the round table with the newspaper is", "output": ["STEP 2: Pick up the newspaper on the table"]} +{"id": "trial_T20190908_054840_163969-2%2", "input": "Move a newspaper to the TV stand | STEP 1: Move to the back right corner where the round table with the newspaper is | STEP 2: Pick up the newspaper on the table", "output": ["STEP 3: Carry the newspaper over to the TV stand"]} +{"id": "trial_T20190908_054840_163969-2%3", "input": "Move a newspaper to the TV stand | STEP 1: Move to the back right corner where the round table with the newspaper is | STEP 2: Pick up the newspaper on the table | STEP 3: Carry the newspaper over to the TV stand", "output": ["STEP 4: Place on the newspaper on the top left side of the TV stand"]} +{"id": "trial_T20190908_054840_163969-2%4", "input": "Move a newspaper to the TV stand | STEP 1: Move to the back right corner where the round table with the newspaper is | STEP 2: Pick up the newspaper on the table | STEP 3: Carry the newspaper over to the TV stand | STEP 4: Place on the newspaper on the top left side of the TV stand", "output": ["END"]} +{"id": "trial_T20190907_091520_568867-1%0", "input": "Put a cell phone on the bed.", "output": ["STEP 1: Turn and walk to the dresser."]} +{"id": "trial_T20190907_091520_568867-1%1", "input": "Put a cell phone on the bed. | STEP 1: Turn and walk to the dresser.", "output": ["STEP 2: Pick up the blue cell phone on the dresser."]} +{"id": "trial_T20190907_091520_568867-1%2", "input": "Put a cell phone on the bed. | STEP 1: Turn and walk to the dresser. | STEP 2: Pick up the blue cell phone on the dresser.", "output": ["STEP 3: Turn and walk back to the bed."]} +{"id": "trial_T20190907_091520_568867-1%3", "input": "Put a cell phone on the bed. | STEP 1: Turn and walk to the dresser. | STEP 2: Pick up the blue cell phone on the dresser. | STEP 3: Turn and walk back to the bed.", "output": ["STEP 4: Lay the blue cell phone down on the bed."]} +{"id": "trial_T20190907_091520_568867-1%4", "input": "Put a cell phone on the bed. | STEP 1: Turn and walk to the dresser. | STEP 2: Pick up the blue cell phone on the dresser. | STEP 3: Turn and walk back to the bed. | STEP 4: Lay the blue cell phone down on the bed.", "output": ["END"]} +{"id": "trial_T20190907_091520_568867-2%0", "input": "Put a phone on the bed. ", "output": ["STEP 1: Head to the dresser on the right."]} +{"id": "trial_T20190907_091520_568867-2%1", "input": "Put a phone on the bed. | STEP 1: Head to the dresser on the right.", "output": ["STEP 2: Pick up the phone on the dresser."]} +{"id": "trial_T20190907_091520_568867-2%2", "input": "Put a phone on the bed. | STEP 1: Head to the dresser on the right. | STEP 2: Pick up the phone on the dresser.", "output": ["STEP 3: Turn to the left and bring the phone to the bed. "]} +{"id": "trial_T20190907_091520_568867-2%3", "input": "Put a phone on the bed. | STEP 1: Head to the dresser on the right. | STEP 2: Pick up the phone on the dresser. | STEP 3: Turn to the left and bring the phone to the bed. ", "output": ["STEP 4: Put the phone on the bed. "]} +{"id": "trial_T20190907_091520_568867-2%4", "input": "Put a phone on the bed. | STEP 1: Head to the dresser on the right. | STEP 2: Pick up the phone on the dresser. | STEP 3: Turn to the left and bring the phone to the bed. | STEP 4: Put the phone on the bed. ", "output": ["END"]} +{"id": "trial_T20190912_212950_324294-1%0", "input": "Put a credit card in a blue dish to move it to the coffee table.", "output": ["STEP 1: Walk across the room to the black shelf against the wall."]} +{"id": "trial_T20190912_212950_324294-1%1", "input": "Put a credit card in a blue dish to move it to the coffee table. | STEP 1: Walk across the room to the black shelf against the wall.", "output": ["STEP 2: Pick up the credit card from the shelf."]} +{"id": "trial_T20190912_212950_324294-1%2", "input": "Put a credit card in a blue dish to move it to the coffee table. | STEP 1: Walk across the room to the black shelf against the wall. | STEP 2: Pick up the credit card from the shelf.", "output": ["STEP 3: Turn right and make another right to walk to the far side table to the right of the couch."]} +{"id": "trial_T20190912_212950_324294-1%3", "input": "Put a credit card in a blue dish to move it to the coffee table. | STEP 1: Walk across the room to the black shelf against the wall. | STEP 2: Pick up the credit card from the shelf. | STEP 3: Turn right and make another right to walk to the far side table to the right of the couch.", "output": ["STEP 4: Put the credit card in the blue dish."]} +{"id": "trial_T20190912_212950_324294-1%4", "input": "Put a credit card in a blue dish to move it to the coffee table. | STEP 1: Walk across the room to the black shelf against the wall. | STEP 2: Pick up the credit card from the shelf. | STEP 3: Turn right and make another right to walk to the far side table to the right of the couch. | STEP 4: Put the credit card in the blue dish.", "output": ["STEP 5: Pick up the blue dish with the credit card in it."]} +{"id": "trial_T20190912_212950_324294-1%5", "input": "Put a credit card in a blue dish to move it to the coffee table. | STEP 1: Walk across the room to the black shelf against the wall. | STEP 2: Pick up the credit card from the shelf. | STEP 3: Turn right and make another right to walk to the far side table to the right of the couch. | STEP 4: Put the credit card in the blue dish. | STEP 5: Pick up the blue dish with the credit card in it.", "output": ["STEP 6: Turn around to walk to the coffee table."]} +{"id": "trial_T20190912_212950_324294-1%6", "input": "Put a credit card in a blue dish to move it to the coffee table. | STEP 1: Walk across the room to the black shelf against the wall. | STEP 2: Pick up the credit card from the shelf. | STEP 3: Turn right and make another right to walk to the far side table to the right of the couch. | STEP 4: Put the credit card in the blue dish. | STEP 5: Pick up the blue dish with the credit card in it. | STEP 6: Turn around to walk to the coffee table.", "output": ["STEP 7: Set blue dish and credit card down on the coffee table."]} +{"id": "trial_T20190912_212950_324294-1%7", "input": "Put a credit card in a blue dish to move it to the coffee table. | STEP 1: Walk across the room to the black shelf against the wall. | STEP 2: Pick up the credit card from the shelf. | STEP 3: Turn right and make another right to walk to the far side table to the right of the couch. | STEP 4: Put the credit card in the blue dish. | STEP 5: Pick up the blue dish with the credit card in it. | STEP 6: Turn around to walk to the coffee table. | STEP 7: Set blue dish and credit card down on the coffee table.", "output": ["END"]} +{"id": "trial_T20190908_130238_618424-2%0", "input": "Put a newspaper on a shelf. ", "output": ["STEP 1: Turn around, go forward, hang a right and go to the table where the TV is. "]} +{"id": "trial_T20190908_130238_618424-2%1", "input": "Put a newspaper on a shelf. | STEP 1: Turn around, go forward, hang a right and go to the table where the TV is. ", "output": ["STEP 2: Pick up the newspaper that is under the remote control on the table. "]} +{"id": "trial_T20190908_130238_618424-2%2", "input": "Put a newspaper on a shelf. | STEP 1: Turn around, go forward, hang a right and go to the table where the TV is. | STEP 2: Pick up the newspaper that is under the remote control on the table. ", "output": ["STEP 3: Turn around, go forward to the black shelves on the right where the plant is. "]} +{"id": "trial_T20190908_130238_618424-2%3", "input": "Put a newspaper on a shelf. | STEP 1: Turn around, go forward, hang a right and go to the table where the TV is. | STEP 2: Pick up the newspaper that is under the remote control on the table. | STEP 3: Turn around, go forward to the black shelves on the right where the plant is. ", "output": ["STEP 4: Put the newspaper on the top shelf to the left of the plant. "]} +{"id": "trial_T20190908_130238_618424-2%4", "input": "Put a newspaper on a shelf. | STEP 1: Turn around, go forward, hang a right and go to the table where the TV is. | STEP 2: Pick up the newspaper that is under the remote control on the table. | STEP 3: Turn around, go forward to the black shelves on the right where the plant is. | STEP 4: Put the newspaper on the top shelf to the left of the plant. ", "output": ["END"]} +{"id": "trial_T20190909_151417_461140-1%0", "input": "move the egg to the table", "output": ["STEP 1: cross the kitchen to the counter beside the fridge with the toaster sitting on it"]} +{"id": "trial_T20190909_151417_461140-1%1", "input": "move the egg to the table | STEP 1: cross the kitchen to the counter beside the fridge with the toaster sitting on it", "output": ["STEP 2: pick up the egg sitting by the toaster"]} +{"id": "trial_T20190909_151417_461140-1%2", "input": "move the egg to the table | STEP 1: cross the kitchen to the counter beside the fridge with the toaster sitting on it | STEP 2: pick up the egg sitting by the toaster", "output": ["STEP 3: go to the fridge and open the doors"]} +{"id": "trial_T20190909_151417_461140-1%3", "input": "move the egg to the table | STEP 1: cross the kitchen to the counter beside the fridge with the toaster sitting on it | STEP 2: pick up the egg sitting by the toaster | STEP 3: go to the fridge and open the doors", "output": ["STEP 4: place the egg in the fridge and close the doors then open it and take the egg back out"]} +{"id": "trial_T20190909_151417_461140-1%4", "input": "move the egg to the table | STEP 1: cross the kitchen to the counter beside the fridge with the toaster sitting on it | STEP 2: pick up the egg sitting by the toaster | STEP 3: go to the fridge and open the doors | STEP 4: place the egg in the fridge and close the doors then open it and take the egg back out", "output": ["STEP 5: go across the kitchen to the table by the window"]} +{"id": "trial_T20190909_151417_461140-1%5", "input": "move the egg to the table | STEP 1: cross the kitchen to the counter beside the fridge with the toaster sitting on it | STEP 2: pick up the egg sitting by the toaster | STEP 3: go to the fridge and open the doors | STEP 4: place the egg in the fridge and close the doors then open it and take the egg back out | STEP 5: go across the kitchen to the table by the window", "output": ["STEP 6: place the egg by the salt shaker"]} +{"id": "trial_T20190909_151417_461140-1%6", "input": "move the egg to the table | STEP 1: cross the kitchen to the counter beside the fridge with the toaster sitting on it | STEP 2: pick up the egg sitting by the toaster | STEP 3: go to the fridge and open the doors | STEP 4: place the egg in the fridge and close the doors then open it and take the egg back out | STEP 5: go across the kitchen to the table by the window | STEP 6: place the egg by the salt shaker", "output": ["END"]} +{"id": "trial_T20190909_025305_845942-0%0", "input": "Put a kettle of water on the counter.", "output": ["STEP 1: Walk forward to the stove then turn left when you get to it to face it."]} +{"id": "trial_T20190909_025305_845942-0%1", "input": "Put a kettle of water on the counter. | STEP 1: Walk forward to the stove then turn left when you get to it to face it.", "output": ["STEP 2: Pick up the kettle that's in front of you on the back right burner."]} +{"id": "trial_T20190909_025305_845942-0%2", "input": "Put a kettle of water on the counter. | STEP 1: Walk forward to the stove then turn left when you get to it to face it. | STEP 2: Pick up the kettle that's in front of you on the back right burner.", "output": ["STEP 3: Turn around and walk to the sink."]} +{"id": "trial_T20190909_025305_845942-0%3", "input": "Put a kettle of water on the counter. | STEP 1: Walk forward to the stove then turn left when you get to it to face it. | STEP 2: Pick up the kettle that's in front of you on the back right burner. | STEP 3: Turn around and walk to the sink.", "output": ["STEP 4: Fill the kettle with water then shut off the tap."]} +{"id": "trial_T20190909_025305_845942-0%4", "input": "Put a kettle of water on the counter. | STEP 1: Walk forward to the stove then turn left when you get to it to face it. | STEP 2: Pick up the kettle that's in front of you on the back right burner. | STEP 3: Turn around and walk to the sink. | STEP 4: Fill the kettle with water then shut off the tap.", "output": ["STEP 5: Turn left and walk to the coffee maker then turn right to face it."]} +{"id": "trial_T20190909_025305_845942-0%5", "input": "Put a kettle of water on the counter. | STEP 1: Walk forward to the stove then turn left when you get to it to face it. | STEP 2: Pick up the kettle that's in front of you on the back right burner. | STEP 3: Turn around and walk to the sink. | STEP 4: Fill the kettle with water then shut off the tap. | STEP 5: Turn left and walk to the coffee maker then turn right to face it.", "output": ["STEP 6: Put the kettle on the edge of the counter to the right of the coffee maker."]} +{"id": "trial_T20190909_025305_845942-0%6", "input": "Put a kettle of water on the counter. | STEP 1: Walk forward to the stove then turn left when you get to it to face it. | STEP 2: Pick up the kettle that's in front of you on the back right burner. | STEP 3: Turn around and walk to the sink. | STEP 4: Fill the kettle with water then shut off the tap. | STEP 5: Turn left and walk to the coffee maker then turn right to face it. | STEP 6: Put the kettle on the edge of the counter to the right of the coffee maker.", "output": ["END"]} +{"id": "trial_T20190909_010333_533633-0%0", "input": "Place two pencils on top of the brown drawer set under the table.", "output": ["STEP 1: Turn left for one step, turn right for three steps and stop in front of the white desk."]} +{"id": "trial_T20190909_010333_533633-0%1", "input": "Place two pencils on top of the brown drawer set under the table. | STEP 1: Turn left for one step, turn right for three steps and stop in front of the white desk.", "output": ["STEP 2: Pick up the pencil closest to the front."]} +{"id": "trial_T20190909_010333_533633-0%2", "input": "Place two pencils on top of the brown drawer set under the table. | STEP 1: Turn left for one step, turn right for three steps and stop in front of the white desk. | STEP 2: Pick up the pencil closest to the front.", "output": ["STEP 3: Turn around for one step, turn right then stop in front of the white desk."]} +{"id": "trial_T20190909_010333_533633-0%3", "input": "Place two pencils on top of the brown drawer set under the table. | STEP 1: Turn left for one step, turn right for three steps and stop in front of the white desk. | STEP 2: Pick up the pencil closest to the front. | STEP 3: Turn around for one step, turn right then stop in front of the white desk.", "output": ["STEP 4: Put the pencil on top of the brown drawers to the right of the CD with the lead facing right."]} +{"id": "trial_T20190909_010333_533633-0%4", "input": "Place two pencils on top of the brown drawer set under the table. | STEP 1: Turn left for one step, turn right for three steps and stop in front of the white desk. | STEP 2: Pick up the pencil closest to the front. | STEP 3: Turn around for one step, turn right then stop in front of the white desk. | STEP 4: Put the pencil on top of the brown drawers to the right of the CD with the lead facing right.", "output": ["STEP 5: Turn right for one step and turn left facing the table. "]} +{"id": "trial_T20190909_010333_533633-0%5", "input": "Place two pencils on top of the brown drawer set under the table. | STEP 1: Turn left for one step, turn right for three steps and stop in front of the white desk. | STEP 2: Pick up the pencil closest to the front. | STEP 3: Turn around for one step, turn right then stop in front of the white desk. | STEP 4: Put the pencil on top of the brown drawers to the right of the CD with the lead facing right. | STEP 5: Turn right for one step and turn left facing the table. ", "output": ["STEP 6: Pick up the pencil closest to the front."]} +{"id": "trial_T20190909_010333_533633-0%6", "input": "Place two pencils on top of the brown drawer set under the table. | STEP 1: Turn left for one step, turn right for three steps and stop in front of the white desk. | STEP 2: Pick up the pencil closest to the front. | STEP 3: Turn around for one step, turn right then stop in front of the white desk. | STEP 4: Put the pencil on top of the brown drawers to the right of the CD with the lead facing right. | STEP 5: Turn right for one step and turn left facing the table. | STEP 6: Pick up the pencil closest to the front.", "output": ["STEP 7: Turn around for one step, turn right then stop in front of the white desk."]} +{"id": "trial_T20190909_010333_533633-0%7", "input": "Place two pencils on top of the brown drawer set under the table. | STEP 1: Turn left for one step, turn right for three steps and stop in front of the white desk. | STEP 2: Pick up the pencil closest to the front. | STEP 3: Turn around for one step, turn right then stop in front of the white desk. | STEP 4: Put the pencil on top of the brown drawers to the right of the CD with the lead facing right. | STEP 5: Turn right for one step and turn left facing the table. | STEP 6: Pick up the pencil closest to the front. | STEP 7: Turn around for one step, turn right then stop in front of the white desk.", "output": ["STEP 8: Put the pencil above the pencil on the brown drawers to the right of the CD, with the lead facing up."]} +{"id": "trial_T20190909_010333_533633-0%8", "input": "Place two pencils on top of the brown drawer set under the table. | STEP 1: Turn left for one step, turn right for three steps and stop in front of the white desk. | STEP 2: Pick up the pencil closest to the front. | STEP 3: Turn around for one step, turn right then stop in front of the white desk. | STEP 4: Put the pencil on top of the brown drawers to the right of the CD with the lead facing right. | STEP 5: Turn right for one step and turn left facing the table. | STEP 6: Pick up the pencil closest to the front. | STEP 7: Turn around for one step, turn right then stop in front of the white desk. | STEP 8: Put the pencil above the pencil on the brown drawers to the right of the CD, with the lead facing up.", "output": ["END"]} +{"id": "trial_T20190908_220944_290654-0%0", "input": "Move two newspapers to the brown chair. ", "output": ["STEP 1: Walk to the table to the left of the chair. "]} +{"id": "trial_T20190908_220944_290654-0%1", "input": "Move two newspapers to the brown chair. | STEP 1: Walk to the table to the left of the chair. ", "output": ["STEP 2: Pick up the newspaper from the table. "]} +{"id": "trial_T20190908_220944_290654-0%2", "input": "Move two newspapers to the brown chair. | STEP 1: Walk to the table to the left of the chair. | STEP 2: Pick up the newspaper from the table. ", "output": ["STEP 3: Walk over to the front of the chair to the right of the table. "]} +{"id": "trial_T20190908_220944_290654-0%3", "input": "Move two newspapers to the brown chair. | STEP 1: Walk to the table to the left of the chair. | STEP 2: Pick up the newspaper from the table. | STEP 3: Walk over to the front of the chair to the right of the table. ", "output": ["STEP 4: Put the paper down on the chair. "]} +{"id": "trial_T20190908_220944_290654-0%4", "input": "Move two newspapers to the brown chair. | STEP 1: Walk to the table to the left of the chair. | STEP 2: Pick up the newspaper from the table. | STEP 3: Walk over to the front of the chair to the right of the table. | STEP 4: Put the paper down on the chair. ", "output": ["STEP 5: Walk over to the couch and turn to face the coffee table. "]} +{"id": "trial_T20190908_220944_290654-0%5", "input": "Move two newspapers to the brown chair. | STEP 1: Walk to the table to the left of the chair. | STEP 2: Pick up the newspaper from the table. | STEP 3: Walk over to the front of the chair to the right of the table. | STEP 4: Put the paper down on the chair. | STEP 5: Walk over to the couch and turn to face the coffee table. ", "output": ["STEP 6: Pick up the newspaper from the coffee table. "]} +{"id": "trial_T20190908_220944_290654-0%6", "input": "Move two newspapers to the brown chair. | STEP 1: Walk to the table to the left of the chair. | STEP 2: Pick up the newspaper from the table. | STEP 3: Walk over to the front of the chair to the right of the table. | STEP 4: Put the paper down on the chair. | STEP 5: Walk over to the couch and turn to face the coffee table. | STEP 6: Pick up the newspaper from the coffee table. ", "output": ["STEP 7: Walk back over to the brown chair. "]} +{"id": "trial_T20190908_220944_290654-0%7", "input": "Move two newspapers to the brown chair. | STEP 1: Walk to the table to the left of the chair. | STEP 2: Pick up the newspaper from the table. | STEP 3: Walk over to the front of the chair to the right of the table. | STEP 4: Put the paper down on the chair. | STEP 5: Walk over to the couch and turn to face the coffee table. | STEP 6: Pick up the newspaper from the coffee table. | STEP 7: Walk back over to the brown chair. ", "output": ["STEP 8: Put the newspaper down on the chair to the right of the first newspaper. "]} +{"id": "trial_T20190908_220944_290654-0%8", "input": "Move two newspapers to the brown chair. | STEP 1: Walk to the table to the left of the chair. | STEP 2: Pick up the newspaper from the table. | STEP 3: Walk over to the front of the chair to the right of the table. | STEP 4: Put the paper down on the chair. | STEP 5: Walk over to the couch and turn to face the coffee table. | STEP 6: Pick up the newspaper from the coffee table. | STEP 7: Walk back over to the brown chair. | STEP 8: Put the newspaper down on the chair to the right of the first newspaper. ", "output": ["END"]} +{"id": "trial_T20190908_220944_290654-2%0", "input": "put all the news paper at the couch", "output": ["STEP 1: walks to the left towards the side table."]} +{"id": "trial_T20190908_220944_290654-2%1", "input": "put all the news paper at the couch | STEP 1: walks to the left towards the side table.", "output": ["STEP 2: Pick up the newspaper at the top of the side table."]} +{"id": "trial_T20190908_220944_290654-2%2", "input": "put all the news paper at the couch | STEP 1: walks to the left towards the side table. | STEP 2: Pick up the newspaper at the top of the side table.", "output": ["STEP 3: turn right to face the single couch"]} +{"id": "trial_T20190908_220944_290654-2%3", "input": "put all the news paper at the couch | STEP 1: walks to the left towards the side table. | STEP 2: Pick up the newspaper at the top of the side table. | STEP 3: turn right to face the single couch", "output": ["STEP 4: put the news paper to the couch"]} +{"id": "trial_T20190908_220944_290654-2%4", "input": "put all the news paper at the couch | STEP 1: walks to the left towards the side table. | STEP 2: Pick up the newspaper at the top of the side table. | STEP 3: turn right to face the single couch | STEP 4: put the news paper to the couch", "output": ["STEP 5: Look around and face the center table"]} +{"id": "trial_T20190908_220944_290654-2%5", "input": "put all the news paper at the couch | STEP 1: walks to the left towards the side table. | STEP 2: Pick up the newspaper at the top of the side table. | STEP 3: turn right to face the single couch | STEP 4: put the news paper to the couch | STEP 5: Look around and face the center table", "output": ["STEP 6: at the table, pick up the news paper."]} +{"id": "trial_T20190908_220944_290654-2%6", "input": "put all the news paper at the couch | STEP 1: walks to the left towards the side table. | STEP 2: Pick up the newspaper at the top of the side table. | STEP 3: turn right to face the single couch | STEP 4: put the news paper to the couch | STEP 5: Look around and face the center table | STEP 6: at the table, pick up the news paper.", "output": ["STEP 7: Head towards the couch with the first newspaper"]} +{"id": "trial_T20190908_220944_290654-2%7", "input": "put all the news paper at the couch | STEP 1: walks to the left towards the side table. | STEP 2: Pick up the newspaper at the top of the side table. | STEP 3: turn right to face the single couch | STEP 4: put the news paper to the couch | STEP 5: Look around and face the center table | STEP 6: at the table, pick up the news paper. | STEP 7: Head towards the couch with the first newspaper", "output": ["STEP 8: put the newspaper at the couch beside the first one."]} +{"id": "trial_T20190908_220944_290654-2%8", "input": "put all the news paper at the couch | STEP 1: walks to the left towards the side table. | STEP 2: Pick up the newspaper at the top of the side table. | STEP 3: turn right to face the single couch | STEP 4: put the news paper to the couch | STEP 5: Look around and face the center table | STEP 6: at the table, pick up the news paper. | STEP 7: Head towards the couch with the first newspaper | STEP 8: put the newspaper at the couch beside the first one.", "output": ["END"]} +{"id": "trial_T20190918_150421_485958-1%0", "input": "Put two potatoes in the microwave.", "output": ["STEP 1: Move forward, then turn right to face the counter with the toaster on it."]} +{"id": "trial_T20190918_150421_485958-1%1", "input": "Put two potatoes in the microwave. | STEP 1: Move forward, then turn right to face the counter with the toaster on it.", "output": ["STEP 2: Pick up the potato on the counter."]} +{"id": "trial_T20190918_150421_485958-1%2", "input": "Put two potatoes in the microwave. | STEP 1: Move forward, then turn right to face the counter with the toaster on it. | STEP 2: Pick up the potato on the counter.", "output": ["STEP 3: Go to the microwave to your right."]} +{"id": "trial_T20190918_150421_485958-1%3", "input": "Put two potatoes in the microwave. | STEP 1: Move forward, then turn right to face the counter with the toaster on it. | STEP 2: Pick up the potato on the counter. | STEP 3: Go to the microwave to your right.", "output": ["STEP 4: Put potato in the microwave."]} +{"id": "trial_T20190918_150421_485958-1%4", "input": "Put two potatoes in the microwave. | STEP 1: Move forward, then turn right to face the counter with the toaster on it. | STEP 2: Pick up the potato on the counter. | STEP 3: Go to the microwave to your right. | STEP 4: Put potato in the microwave.", "output": ["STEP 5: Turn left, go forward, then turn left to face the kitchen island."]} +{"id": "trial_T20190918_150421_485958-1%5", "input": "Put two potatoes in the microwave. | STEP 1: Move forward, then turn right to face the counter with the toaster on it. | STEP 2: Pick up the potato on the counter. | STEP 3: Go to the microwave to your right. | STEP 4: Put potato in the microwave. | STEP 5: Turn left, go forward, then turn left to face the kitchen island.", "output": ["STEP 6: Pick up the left most potato on the kitchen island, in front the spoon."]} +{"id": "trial_T20190918_150421_485958-1%6", "input": "Put two potatoes in the microwave. | STEP 1: Move forward, then turn right to face the counter with the toaster on it. | STEP 2: Pick up the potato on the counter. | STEP 3: Go to the microwave to your right. | STEP 4: Put potato in the microwave. | STEP 5: Turn left, go forward, then turn left to face the kitchen island. | STEP 6: Pick up the left most potato on the kitchen island, in front the spoon.", "output": ["STEP 7: Turn left, go forward, then turn left to return to the microwave."]} +{"id": "trial_T20190918_150421_485958-1%7", "input": "Put two potatoes in the microwave. | STEP 1: Move forward, then turn right to face the counter with the toaster on it. | STEP 2: Pick up the potato on the counter. | STEP 3: Go to the microwave to your right. | STEP 4: Put potato in the microwave. | STEP 5: Turn left, go forward, then turn left to face the kitchen island. | STEP 6: Pick up the left most potato on the kitchen island, in front the spoon. | STEP 7: Turn left, go forward, then turn left to return to the microwave.", "output": ["STEP 8: Put the potato in the microwave, to the left of the other potato."]} +{"id": "trial_T20190918_150421_485958-1%8", "input": "Put two potatoes in the microwave. | STEP 1: Move forward, then turn right to face the counter with the toaster on it. | STEP 2: Pick up the potato on the counter. | STEP 3: Go to the microwave to your right. | STEP 4: Put potato in the microwave. | STEP 5: Turn left, go forward, then turn left to face the kitchen island. | STEP 6: Pick up the left most potato on the kitchen island, in front the spoon. | STEP 7: Turn left, go forward, then turn left to return to the microwave. | STEP 8: Put the potato in the microwave, to the left of the other potato.", "output": ["END"]} +{"id": "trial_T20190908_102905_854028-1%0", "input": "Heat an apple and place it in the sink.", "output": ["STEP 1: Turn to the left, then left again to the sink."]} +{"id": "trial_T20190908_102905_854028-1%1", "input": "Heat an apple and place it in the sink. | STEP 1: Turn to the left, then left again to the sink.", "output": ["STEP 2: Pick up the apple to the left of the sink."]} +{"id": "trial_T20190908_102905_854028-1%2", "input": "Heat an apple and place it in the sink. | STEP 1: Turn to the left, then left again to the sink. | STEP 2: Pick up the apple to the left of the sink.", "output": ["STEP 3: Carry the apple and turn to the left, then face the microwave on the left."]} +{"id": "trial_T20190908_102905_854028-1%3", "input": "Heat an apple and place it in the sink. | STEP 1: Turn to the left, then left again to the sink. | STEP 2: Pick up the apple to the left of the sink. | STEP 3: Carry the apple and turn to the left, then face the microwave on the left.", "output": ["STEP 4: Open the microwave and place the apple inside. Shut the door then open it and take the apple out. Shut the door."]} +{"id": "trial_T20190908_102905_854028-1%4", "input": "Heat an apple and place it in the sink. | STEP 1: Turn to the left, then left again to the sink. | STEP 2: Pick up the apple to the left of the sink. | STEP 3: Carry the apple and turn to the left, then face the microwave on the left. | STEP 4: Open the microwave and place the apple inside. Shut the door then open it and take the apple out. Shut the door.", "output": ["STEP 5: Carry the apple and turn to the left and go to the sink."]} +{"id": "trial_T20190908_102905_854028-1%5", "input": "Heat an apple and place it in the sink. | STEP 1: Turn to the left, then left again to the sink. | STEP 2: Pick up the apple to the left of the sink. | STEP 3: Carry the apple and turn to the left, then face the microwave on the left. | STEP 4: Open the microwave and place the apple inside. Shut the door then open it and take the apple out. Shut the door. | STEP 5: Carry the apple and turn to the left and go to the sink.", "output": ["STEP 6: Place the apple in the sink."]} +{"id": "trial_T20190908_102905_854028-1%6", "input": "Heat an apple and place it in the sink. | STEP 1: Turn to the left, then left again to the sink. | STEP 2: Pick up the apple to the left of the sink. | STEP 3: Carry the apple and turn to the left, then face the microwave on the left. | STEP 4: Open the microwave and place the apple inside. Shut the door then open it and take the apple out. Shut the door. | STEP 5: Carry the apple and turn to the left and go to the sink. | STEP 6: Place the apple in the sink.", "output": ["END"]} +{"id": "trial_T20190908_102905_854028-2%0", "input": "Place a heated apple in the sink", "output": ["STEP 1: Go to the center kitchen console"]} +{"id": "trial_T20190908_102905_854028-2%1", "input": "Place a heated apple in the sink | STEP 1: Go to the center kitchen console", "output": ["STEP 2: Pick up the apple in the center kitchen"]} +{"id": "trial_T20190908_102905_854028-2%2", "input": "Place a heated apple in the sink | STEP 1: Go to the center kitchen console | STEP 2: Pick up the apple in the center kitchen", "output": ["STEP 3: Go to the microwave"]} +{"id": "trial_T20190908_102905_854028-2%3", "input": "Place a heated apple in the sink | STEP 1: Go to the center kitchen console | STEP 2: Pick up the apple in the center kitchen | STEP 3: Go to the microwave", "output": ["STEP 4: Heat the apple in the microwave"]} +{"id": "trial_T20190908_102905_854028-2%4", "input": "Place a heated apple in the sink | STEP 1: Go to the center kitchen console | STEP 2: Pick up the apple in the center kitchen | STEP 3: Go to the microwave | STEP 4: Heat the apple in the microwave", "output": ["STEP 5: Go to the sink in the center kitchen console"]} +{"id": "trial_T20190908_102905_854028-2%5", "input": "Place a heated apple in the sink | STEP 1: Go to the center kitchen console | STEP 2: Pick up the apple in the center kitchen | STEP 3: Go to the microwave | STEP 4: Heat the apple in the microwave | STEP 5: Go to the sink in the center kitchen console", "output": ["STEP 6: Place the apple in the sink"]} +{"id": "trial_T20190908_102905_854028-2%6", "input": "Place a heated apple in the sink | STEP 1: Go to the center kitchen console | STEP 2: Pick up the apple in the center kitchen | STEP 3: Go to the microwave | STEP 4: Heat the apple in the microwave | STEP 5: Go to the sink in the center kitchen console | STEP 6: Place the apple in the sink", "output": ["END"]} +{"id": "trial_T20190908_054822_843675-1%0", "input": "move the newspaper from the sofa to the table", "output": ["STEP 1: turn right, walk to the end of the sofa"]} +{"id": "trial_T20190908_054822_843675-1%1", "input": "move the newspaper from the sofa to the table | STEP 1: turn right, walk to the end of the sofa", "output": ["STEP 2: grab the newspaper on the sofa"]} +{"id": "trial_T20190908_054822_843675-1%2", "input": "move the newspaper from the sofa to the table | STEP 1: turn right, walk to the end of the sofa | STEP 2: grab the newspaper on the sofa", "output": ["STEP 3: turn around, walk to the coffee table"]} +{"id": "trial_T20190908_054822_843675-1%3", "input": "move the newspaper from the sofa to the table | STEP 1: turn right, walk to the end of the sofa | STEP 2: grab the newspaper on the sofa | STEP 3: turn around, walk to the coffee table", "output": ["STEP 4: put the newspaper on the table"]} +{"id": "trial_T20190908_054822_843675-1%4", "input": "move the newspaper from the sofa to the table | STEP 1: turn right, walk to the end of the sofa | STEP 2: grab the newspaper on the sofa | STEP 3: turn around, walk to the coffee table | STEP 4: put the newspaper on the table", "output": ["END"]} +{"id": "trial_T20190908_054822_843675-2%0", "input": "move newspaper from couch to coffee table", "output": ["STEP 1: walk forward, turn right between couch and coffee table, walk forward, turn left to face couch"]} +{"id": "trial_T20190908_054822_843675-2%1", "input": "move newspaper from couch to coffee table | STEP 1: walk forward, turn right between couch and coffee table, walk forward, turn left to face couch", "output": ["STEP 2: pick up the newspaper that is on the couch"]} +{"id": "trial_T20190908_054822_843675-2%2", "input": "move newspaper from couch to coffee table | STEP 1: walk forward, turn right between couch and coffee table, walk forward, turn left to face couch | STEP 2: pick up the newspaper that is on the couch", "output": ["STEP 3: turn around, walk forward, turn right after the coffee table, turn right to face coffee table"]} +{"id": "trial_T20190908_054822_843675-2%3", "input": "move newspaper from couch to coffee table | STEP 1: walk forward, turn right between couch and coffee table, walk forward, turn left to face couch | STEP 2: pick up the newspaper that is on the couch | STEP 3: turn around, walk forward, turn right after the coffee table, turn right to face coffee table", "output": ["STEP 4: put newspaper on to the coffee table"]} +{"id": "trial_T20190908_054822_843675-2%4", "input": "move newspaper from couch to coffee table | STEP 1: walk forward, turn right between couch and coffee table, walk forward, turn left to face couch | STEP 2: pick up the newspaper that is on the couch | STEP 3: turn around, walk forward, turn right after the coffee table, turn right to face coffee table | STEP 4: put newspaper on to the coffee table", "output": ["END"]} +{"id": "trial_T20190907_071128_608518-2%0", "input": "Cook the tomato and throw it away.", "output": ["STEP 1: Turn around, head towards the fridge and face the fridge."]} +{"id": "trial_T20190907_071128_608518-2%1", "input": "Cook the tomato and throw it away. | STEP 1: Turn around, head towards the fridge and face the fridge.", "output": ["STEP 2: Open the fridge and take the tomato out, then close the door."]} +{"id": "trial_T20190907_071128_608518-2%2", "input": "Cook the tomato and throw it away. | STEP 1: Turn around, head towards the fridge and face the fridge. | STEP 2: Open the fridge and take the tomato out, then close the door.", "output": ["STEP 3: Turn to the right and head towards the stove, then face the stove."]} +{"id": "trial_T20190907_071128_608518-2%3", "input": "Cook the tomato and throw it away. | STEP 1: Turn around, head towards the fridge and face the fridge. | STEP 2: Open the fridge and take the tomato out, then close the door. | STEP 3: Turn to the right and head towards the stove, then face the stove.", "output": ["STEP 4: Look up at the microwave, place the tomato in the microwave, close the door, cook the tomato, and now take it out."]} +{"id": "trial_T20190907_071128_608518-2%4", "input": "Cook the tomato and throw it away. | STEP 1: Turn around, head towards the fridge and face the fridge. | STEP 2: Open the fridge and take the tomato out, then close the door. | STEP 3: Turn to the right and head towards the stove, then face the stove. | STEP 4: Look up at the microwave, place the tomato in the microwave, close the door, cook the tomato, and now take it out.", "output": ["STEP 5: Turn to the left and head towards the recycle bin."]} +{"id": "trial_T20190907_071128_608518-2%5", "input": "Cook the tomato and throw it away. | STEP 1: Turn around, head towards the fridge and face the fridge. | STEP 2: Open the fridge and take the tomato out, then close the door. | STEP 3: Turn to the right and head towards the stove, then face the stove. | STEP 4: Look up at the microwave, place the tomato in the microwave, close the door, cook the tomato, and now take it out. | STEP 5: Turn to the left and head towards the recycle bin.", "output": ["STEP 6: Place the tomato in the recycle bin."]} +{"id": "trial_T20190907_071128_608518-2%6", "input": "Cook the tomato and throw it away. | STEP 1: Turn around, head towards the fridge and face the fridge. | STEP 2: Open the fridge and take the tomato out, then close the door. | STEP 3: Turn to the right and head towards the stove, then face the stove. | STEP 4: Look up at the microwave, place the tomato in the microwave, close the door, cook the tomato, and now take it out. | STEP 5: Turn to the left and head towards the recycle bin. | STEP 6: Place the tomato in the recycle bin.", "output": ["END"]} +{"id": "trial_T20190908_160649_019846-0%0", "input": "Put a knife in a pot from the stove to place on the circular table.", "output": ["STEP 1: Turn around and walk towards the fridge, stopping to face the countertop in front of it."]} +{"id": "trial_T20190908_160649_019846-0%1", "input": "Put a knife in a pot from the stove to place on the circular table. | STEP 1: Turn around and walk towards the fridge, stopping to face the countertop in front of it.", "output": ["STEP 2: Pick up the knife from the countertop."]} +{"id": "trial_T20190908_160649_019846-0%2", "input": "Put a knife in a pot from the stove to place on the circular table. | STEP 1: Turn around and walk towards the fridge, stopping to face the countertop in front of it. | STEP 2: Pick up the knife from the countertop.", "output": ["STEP 3: Turn left to walk towards the stove."]} +{"id": "trial_T20190908_160649_019846-0%3", "input": "Put a knife in a pot from the stove to place on the circular table. | STEP 1: Turn around and walk towards the fridge, stopping to face the countertop in front of it. | STEP 2: Pick up the knife from the countertop. | STEP 3: Turn left to walk towards the stove.", "output": ["STEP 4: Put the knife in the flattest circular pot on the stove."]} +{"id": "trial_T20190908_160649_019846-0%4", "input": "Put a knife in a pot from the stove to place on the circular table. | STEP 1: Turn around and walk towards the fridge, stopping to face the countertop in front of it. | STEP 2: Pick up the knife from the countertop. | STEP 3: Turn left to walk towards the stove. | STEP 4: Put the knife in the flattest circular pot on the stove.", "output": ["STEP 5: Put up the pot with the knife from the stove."]} +{"id": "trial_T20190908_160649_019846-0%5", "input": "Put a knife in a pot from the stove to place on the circular table. | STEP 1: Turn around and walk towards the fridge, stopping to face the countertop in front of it. | STEP 2: Pick up the knife from the countertop. | STEP 3: Turn left to walk towards the stove. | STEP 4: Put the knife in the flattest circular pot on the stove. | STEP 5: Put up the pot with the knife from the stove.", "output": ["STEP 6: Make a left to walk around the counter towards the circular table."]} +{"id": "trial_T20190908_160649_019846-0%6", "input": "Put a knife in a pot from the stove to place on the circular table. | STEP 1: Turn around and walk towards the fridge, stopping to face the countertop in front of it. | STEP 2: Pick up the knife from the countertop. | STEP 3: Turn left to walk towards the stove. | STEP 4: Put the knife in the flattest circular pot on the stove. | STEP 5: Put up the pot with the knife from the stove. | STEP 6: Make a left to walk around the counter towards the circular table.", "output": ["STEP 7: Put the pot with the knife on top of the table."]} +{"id": "trial_T20190908_160649_019846-0%7", "input": "Put a knife in a pot from the stove to place on the circular table. | STEP 1: Turn around and walk towards the fridge, stopping to face the countertop in front of it. | STEP 2: Pick up the knife from the countertop. | STEP 3: Turn left to walk towards the stove. | STEP 4: Put the knife in the flattest circular pot on the stove. | STEP 5: Put up the pot with the knife from the stove. | STEP 6: Make a left to walk around the counter towards the circular table. | STEP 7: Put the pot with the knife on top of the table.", "output": ["END"]} +{"id": "trial_T20190907_065759_678723-1%0", "input": "Put the pen in the cup on the table, put them on the brown cabinet under the table", "output": ["STEP 1: Turn right, walk to the white table"]} +{"id": "trial_T20190907_065759_678723-1%1", "input": "Put the pen in the cup on the table, put them on the brown cabinet under the table | STEP 1: Turn right, walk to the white table", "output": ["STEP 2: Grab the pen from the table"]} +{"id": "trial_T20190907_065759_678723-1%2", "input": "Put the pen in the cup on the table, put them on the brown cabinet under the table | STEP 1: Turn right, walk to the white table | STEP 2: Grab the pen from the table", "output": ["STEP 3: Walk to the right a little"]} +{"id": "trial_T20190907_065759_678723-1%3", "input": "Put the pen in the cup on the table, put them on the brown cabinet under the table | STEP 1: Turn right, walk to the white table | STEP 2: Grab the pen from the table | STEP 3: Walk to the right a little", "output": ["STEP 4: Put the pen in the cup in the middle of the table"]} +{"id": "trial_T20190907_065759_678723-1%4", "input": "Put the pen in the cup on the table, put them on the brown cabinet under the table | STEP 1: Turn right, walk to the white table | STEP 2: Grab the pen from the table | STEP 3: Walk to the right a little | STEP 4: Put the pen in the cup in the middle of the table", "output": ["STEP 5: Take the cup with pen"]} +{"id": "trial_T20190907_065759_678723-1%5", "input": "Put the pen in the cup on the table, put them on the brown cabinet under the table | STEP 1: Turn right, walk to the white table | STEP 2: Grab the pen from the table | STEP 3: Walk to the right a little | STEP 4: Put the pen in the cup in the middle of the table | STEP 5: Take the cup with pen", "output": ["STEP 6: Turn around, and turn around"]} +{"id": "trial_T20190907_065759_678723-1%6", "input": "Put the pen in the cup on the table, put them on the brown cabinet under the table | STEP 1: Turn right, walk to the white table | STEP 2: Grab the pen from the table | STEP 3: Walk to the right a little | STEP 4: Put the pen in the cup in the middle of the table | STEP 5: Take the cup with pen | STEP 6: Turn around, and turn around", "output": ["STEP 7: Put the cup with pen under the white table on the brown cabinet"]} +{"id": "trial_T20190907_065759_678723-1%7", "input": "Put the pen in the cup on the table, put them on the brown cabinet under the table | STEP 1: Turn right, walk to the white table | STEP 2: Grab the pen from the table | STEP 3: Walk to the right a little | STEP 4: Put the pen in the cup in the middle of the table | STEP 5: Take the cup with pen | STEP 6: Turn around, and turn around | STEP 7: Put the cup with pen under the white table on the brown cabinet", "output": ["END"]} +{"id": "trial_T20190909_113505_871085-2%0", "input": "take the bowl from the cabinet to the fridge then back to the cabinet", "output": ["STEP 1: go to the upper left most cabinet"]} +{"id": "trial_T20190909_113505_871085-2%1", "input": "take the bowl from the cabinet to the fridge then back to the cabinet | STEP 1: go to the upper left most cabinet", "output": ["STEP 2: take the blue bowl from the cabinet"]} +{"id": "trial_T20190909_113505_871085-2%2", "input": "take the bowl from the cabinet to the fridge then back to the cabinet | STEP 1: go to the upper left most cabinet | STEP 2: take the blue bowl from the cabinet", "output": ["STEP 3: take the bowl to the fridge"]} +{"id": "trial_T20190909_113505_871085-2%3", "input": "take the bowl from the cabinet to the fridge then back to the cabinet | STEP 1: go to the upper left most cabinet | STEP 2: take the blue bowl from the cabinet | STEP 3: take the bowl to the fridge", "output": ["STEP 4: put the bowl in the fridge then remove"]} +{"id": "trial_T20190909_113505_871085-2%4", "input": "take the bowl from the cabinet to the fridge then back to the cabinet | STEP 1: go to the upper left most cabinet | STEP 2: take the blue bowl from the cabinet | STEP 3: take the bowl to the fridge | STEP 4: put the bowl in the fridge then remove", "output": ["STEP 5: approach the cabinet on the bottom to the right of the fridge"]} +{"id": "trial_T20190909_113505_871085-2%5", "input": "take the bowl from the cabinet to the fridge then back to the cabinet | STEP 1: go to the upper left most cabinet | STEP 2: take the blue bowl from the cabinet | STEP 3: take the bowl to the fridge | STEP 4: put the bowl in the fridge then remove | STEP 5: approach the cabinet on the bottom to the right of the fridge", "output": ["STEP 6: put the bowl in the fridge"]} +{"id": "trial_T20190909_113505_871085-2%6", "input": "take the bowl from the cabinet to the fridge then back to the cabinet | STEP 1: go to the upper left most cabinet | STEP 2: take the blue bowl from the cabinet | STEP 3: take the bowl to the fridge | STEP 4: put the bowl in the fridge then remove | STEP 5: approach the cabinet on the bottom to the right of the fridge | STEP 6: put the bowl in the fridge", "output": ["END"]} +{"id": "trial_T20190909_014142_644865-1%0", "input": "Put a piece of heated apple in the sink. ", "output": ["STEP 1: Turn around and go to the counter above the dishwasher. "]} +{"id": "trial_T20190909_014142_644865-1%1", "input": "Put a piece of heated apple in the sink. | STEP 1: Turn around and go to the counter above the dishwasher. ", "output": ["STEP 2: Pick up the gray knife on the counter "]} +{"id": "trial_T20190909_014142_644865-1%2", "input": "Put a piece of heated apple in the sink. | STEP 1: Turn around and go to the counter above the dishwasher. | STEP 2: Pick up the gray knife on the counter ", "output": ["STEP 3: Turn left and go to the round table with a gray cover."]} +{"id": "trial_T20190909_014142_644865-1%3", "input": "Put a piece of heated apple in the sink. | STEP 1: Turn around and go to the counter above the dishwasher. | STEP 2: Pick up the gray knife on the counter | STEP 3: Turn left and go to the round table with a gray cover.", "output": ["STEP 4: Cut the red apple on the top of the table. "]} +{"id": "trial_T20190909_014142_644865-1%4", "input": "Put a piece of heated apple in the sink. | STEP 1: Turn around and go to the counter above the dishwasher. | STEP 2: Pick up the gray knife on the counter | STEP 3: Turn left and go to the round table with a gray cover. | STEP 4: Cut the red apple on the top of the table. ", "output": ["STEP 5: Turn around and go to the sink on the right. "]} +{"id": "trial_T20190909_014142_644865-1%5", "input": "Put a piece of heated apple in the sink. | STEP 1: Turn around and go to the counter above the dishwasher. | STEP 2: Pick up the gray knife on the counter | STEP 3: Turn left and go to the round table with a gray cover. | STEP 4: Cut the red apple on the top of the table. | STEP 5: Turn around and go to the sink on the right. ", "output": ["STEP 6: Place the knife in the sink. "]} +{"id": "trial_T20190909_014142_644865-1%6", "input": "Put a piece of heated apple in the sink. | STEP 1: Turn around and go to the counter above the dishwasher. | STEP 2: Pick up the gray knife on the counter | STEP 3: Turn left and go to the round table with a gray cover. | STEP 4: Cut the red apple on the top of the table. | STEP 5: Turn around and go to the sink on the right. | STEP 6: Place the knife in the sink. ", "output": ["STEP 7: Turn right and go back to the round table with the cut apple on top."]} +{"id": "trial_T20190909_014142_644865-1%7", "input": "Put a piece of heated apple in the sink. | STEP 1: Turn around and go to the counter above the dishwasher. | STEP 2: Pick up the gray knife on the counter | STEP 3: Turn left and go to the round table with a gray cover. | STEP 4: Cut the red apple on the top of the table. | STEP 5: Turn around and go to the sink on the right. | STEP 6: Place the knife in the sink. | STEP 7: Turn right and go back to the round table with the cut apple on top.", "output": ["STEP 8: Pick up one piece of the apple. "]} +{"id": "trial_T20190909_014142_644865-1%8", "input": "Put a piece of heated apple in the sink. | STEP 1: Turn around and go to the counter above the dishwasher. | STEP 2: Pick up the gray knife on the counter | STEP 3: Turn left and go to the round table with a gray cover. | STEP 4: Cut the red apple on the top of the table. | STEP 5: Turn around and go to the sink on the right. | STEP 6: Place the knife in the sink. | STEP 7: Turn right and go back to the round table with the cut apple on top. | STEP 8: Pick up one piece of the apple. ", "output": ["STEP 9: Turn around the go to the microwave above the stove. "]} +{"id": "trial_T20190909_014142_644865-1%9", "input": "Put a piece of heated apple in the sink. | STEP 1: Turn around and go to the counter above the dishwasher. | STEP 2: Pick up the gray knife on the counter | STEP 3: Turn left and go to the round table with a gray cover. | STEP 4: Cut the red apple on the top of the table. | STEP 5: Turn around and go to the sink on the right. | STEP 6: Place the knife in the sink. | STEP 7: Turn right and go back to the round table with the cut apple on top. | STEP 8: Pick up one piece of the apple. | STEP 9: Turn around the go to the microwave above the stove. ", "output": ["STEP 10: Remove the apple after heating in the microwave. "]} +{"id": "trial_T20190909_014142_644865-1%10", "input": "Put a piece of heated apple in the sink. | STEP 1: Turn around and go to the counter above the dishwasher. | STEP 2: Pick up the gray knife on the counter | STEP 3: Turn left and go to the round table with a gray cover. | STEP 4: Cut the red apple on the top of the table. | STEP 5: Turn around and go to the sink on the right. | STEP 6: Place the knife in the sink. | STEP 7: Turn right and go back to the round table with the cut apple on top. | STEP 8: Pick up one piece of the apple. | STEP 9: Turn around the go to the microwave above the stove. | STEP 10: Remove the apple after heating in the microwave. ", "output": ["STEP 11: Turn around and go back to the sink. "]} +{"id": "trial_T20190909_014142_644865-1%11", "input": "Put a piece of heated apple in the sink. | STEP 1: Turn around and go to the counter above the dishwasher. | STEP 2: Pick up the gray knife on the counter | STEP 3: Turn left and go to the round table with a gray cover. | STEP 4: Cut the red apple on the top of the table. | STEP 5: Turn around and go to the sink on the right. | STEP 6: Place the knife in the sink. | STEP 7: Turn right and go back to the round table with the cut apple on top. | STEP 8: Pick up one piece of the apple. | STEP 9: Turn around the go to the microwave above the stove. | STEP 10: Remove the apple after heating in the microwave. | STEP 11: Turn around and go back to the sink. ", "output": ["STEP 12: Place the apple piece in the sink. "]} +{"id": "trial_T20190909_014142_644865-1%12", "input": "Put a piece of heated apple in the sink. | STEP 1: Turn around and go to the counter above the dishwasher. | STEP 2: Pick up the gray knife on the counter | STEP 3: Turn left and go to the round table with a gray cover. | STEP 4: Cut the red apple on the top of the table. | STEP 5: Turn around and go to the sink on the right. | STEP 6: Place the knife in the sink. | STEP 7: Turn right and go back to the round table with the cut apple on top. | STEP 8: Pick up one piece of the apple. | STEP 9: Turn around the go to the microwave above the stove. | STEP 10: Remove the apple after heating in the microwave. | STEP 11: Turn around and go back to the sink. | STEP 12: Place the apple piece in the sink. ", "output": ["END"]} +{"id": "trial_T20190907_101626_864447-0%0", "input": "Place a microwave coffee cup in the coffee maker.", "output": ["STEP 1: Turn left and walk to the coffee maker on the right."]} +{"id": "trial_T20190907_101626_864447-0%1", "input": "Place a microwave coffee cup in the coffee maker. | STEP 1: Turn left and walk to the coffee maker on the right.", "output": ["STEP 2: Take the coffee cup from the coffee maker."]} +{"id": "trial_T20190907_101626_864447-0%2", "input": "Place a microwave coffee cup in the coffee maker. | STEP 1: Turn left and walk to the coffee maker on the right. | STEP 2: Take the coffee cup from the coffee maker.", "output": ["STEP 3: Turn right a walk to the stove on the right."]} +{"id": "trial_T20190907_101626_864447-0%3", "input": "Place a microwave coffee cup in the coffee maker. | STEP 1: Turn left and walk to the coffee maker on the right. | STEP 2: Take the coffee cup from the coffee maker. | STEP 3: Turn right a walk to the stove on the right.", "output": ["STEP 4: Put the cup in the microwave above the stove and turn it on. Remove it when it's done and close the door."]} +{"id": "trial_T20190907_101626_864447-0%4", "input": "Place a microwave coffee cup in the coffee maker. | STEP 1: Turn left and walk to the coffee maker on the right. | STEP 2: Take the coffee cup from the coffee maker. | STEP 3: Turn right a walk to the stove on the right. | STEP 4: Put the cup in the microwave above the stove and turn it on. Remove it when it's done and close the door.", "output": ["STEP 5: Turn right and walk back to the coffee maker on the right."]} +{"id": "trial_T20190907_101626_864447-0%5", "input": "Place a microwave coffee cup in the coffee maker. | STEP 1: Turn left and walk to the coffee maker on the right. | STEP 2: Take the coffee cup from the coffee maker. | STEP 3: Turn right a walk to the stove on the right. | STEP 4: Put the cup in the microwave above the stove and turn it on. Remove it when it's done and close the door. | STEP 5: Turn right and walk back to the coffee maker on the right.", "output": ["STEP 6: Put the cup back in the coffee maker."]} +{"id": "trial_T20190907_101626_864447-0%6", "input": "Place a microwave coffee cup in the coffee maker. | STEP 1: Turn left and walk to the coffee maker on the right. | STEP 2: Take the coffee cup from the coffee maker. | STEP 3: Turn right a walk to the stove on the right. | STEP 4: Put the cup in the microwave above the stove and turn it on. Remove it when it's done and close the door. | STEP 5: Turn right and walk back to the coffee maker on the right. | STEP 6: Put the cup back in the coffee maker.", "output": ["END"]} +{"id": "trial_T20190907_101626_864447-2%0", "input": "Put a heated mug on the coffee machine. ", "output": ["STEP 1: Turn around, head to the middle of the room, turn right, head down to the coffee machine on the right counter. "]} +{"id": "trial_T20190907_101626_864447-2%1", "input": "Put a heated mug on the coffee machine. | STEP 1: Turn around, head to the middle of the room, turn right, head down to the coffee machine on the right counter. ", "output": ["STEP 2: Pick up the mug on the coffee machine."]} +{"id": "trial_T20190907_101626_864447-2%2", "input": "Put a heated mug on the coffee machine. | STEP 1: Turn around, head to the middle of the room, turn right, head down to the coffee machine on the right counter. | STEP 2: Pick up the mug on the coffee machine.", "output": ["STEP 3: Turn around and bring the mug to the microwave above the stove. "]} +{"id": "trial_T20190907_101626_864447-2%3", "input": "Put a heated mug on the coffee machine. | STEP 1: Turn around, head to the middle of the room, turn right, head down to the coffee machine on the right counter. | STEP 2: Pick up the mug on the coffee machine. | STEP 3: Turn around and bring the mug to the microwave above the stove. ", "output": ["STEP 4: Heat the mug in the microwave."]} +{"id": "trial_T20190907_101626_864447-2%4", "input": "Put a heated mug on the coffee machine. | STEP 1: Turn around, head to the middle of the room, turn right, head down to the coffee machine on the right counter. | STEP 2: Pick up the mug on the coffee machine. | STEP 3: Turn around and bring the mug to the microwave above the stove. | STEP 4: Heat the mug in the microwave.", "output": ["STEP 5: Take the heated mug from the microwave, turn around, and bring it back to the coffee machine on the counter. "]} +{"id": "trial_T20190907_101626_864447-2%5", "input": "Put a heated mug on the coffee machine. | STEP 1: Turn around, head to the middle of the room, turn right, head down to the coffee machine on the right counter. | STEP 2: Pick up the mug on the coffee machine. | STEP 3: Turn around and bring the mug to the microwave above the stove. | STEP 4: Heat the mug in the microwave. | STEP 5: Take the heated mug from the microwave, turn around, and bring it back to the coffee machine on the counter. ", "output": ["STEP 6: Put the heated mug on the coffee machine. "]} +{"id": "trial_T20190907_101626_864447-2%6", "input": "Put a heated mug on the coffee machine. | STEP 1: Turn around, head to the middle of the room, turn right, head down to the coffee machine on the right counter. | STEP 2: Pick up the mug on the coffee machine. | STEP 3: Turn around and bring the mug to the microwave above the stove. | STEP 4: Heat the mug in the microwave. | STEP 5: Take the heated mug from the microwave, turn around, and bring it back to the coffee machine on the counter. | STEP 6: Put the heated mug on the coffee machine. ", "output": ["END"]} +{"id": "trial_T20190907_020601_961716-1%0", "input": "Examine a metallic item by the light of a table lamp.", "output": ["STEP 1: Turn around and walk to the three shelves by the wall."]} +{"id": "trial_T20190907_020601_961716-1%1", "input": "Examine a metallic item by the light of a table lamp. | STEP 1: Turn around and walk to the three shelves by the wall.", "output": ["STEP 2: Pick up the metallic item from the bottom shelf."]} +{"id": "trial_T20190907_020601_961716-1%2", "input": "Examine a metallic item by the light of a table lamp. | STEP 1: Turn around and walk to the three shelves by the wall. | STEP 2: Pick up the metallic item from the bottom shelf.", "output": ["STEP 3: Turn around and walk to the lamp that is to the left of the couch."]} +{"id": "trial_T20190907_020601_961716-1%3", "input": "Examine a metallic item by the light of a table lamp. | STEP 1: Turn around and walk to the three shelves by the wall. | STEP 2: Pick up the metallic item from the bottom shelf. | STEP 3: Turn around and walk to the lamp that is to the left of the couch.", "output": ["STEP 4: Turn on the lamp."]} +{"id": "trial_T20190907_020601_961716-1%4", "input": "Examine a metallic item by the light of a table lamp. | STEP 1: Turn around and walk to the three shelves by the wall. | STEP 2: Pick up the metallic item from the bottom shelf. | STEP 3: Turn around and walk to the lamp that is to the left of the couch. | STEP 4: Turn on the lamp.", "output": ["END"]} +{"id": "trial_T20190907_230435_742240-0%0", "input": "Put a box of tissues on the toilet.", "output": ["STEP 1: Turn left and walk to the counter."]} +{"id": "trial_T20190907_230435_742240-0%1", "input": "Put a box of tissues on the toilet. | STEP 1: Turn left and walk to the counter.", "output": ["STEP 2: Pick up the box of tissues."]} +{"id": "trial_T20190907_230435_742240-0%2", "input": "Put a box of tissues on the toilet. | STEP 1: Turn left and walk to the counter. | STEP 2: Pick up the box of tissues.", "output": ["STEP 3: Turn around and walk to the door then turn right and walk to the toilet."]} +{"id": "trial_T20190907_230435_742240-0%3", "input": "Put a box of tissues on the toilet. | STEP 1: Turn left and walk to the counter. | STEP 2: Pick up the box of tissues. | STEP 3: Turn around and walk to the door then turn right and walk to the toilet.", "output": ["STEP 4: Stand the box of tissues on end on the back of the toilet."]} +{"id": "trial_T20190907_230435_742240-0%4", "input": "Put a box of tissues on the toilet. | STEP 1: Turn left and walk to the counter. | STEP 2: Pick up the box of tissues. | STEP 3: Turn around and walk to the door then turn right and walk to the toilet. | STEP 4: Stand the box of tissues on end on the back of the toilet.", "output": ["END"]} +{"id": "trial_T20190907_230435_742240-2%0", "input": "Move a box of tissues from counter to back of toilet.", "output": ["STEP 1: Turn left, proceed to counter and sink."]} +{"id": "trial_T20190907_230435_742240-2%1", "input": "Move a box of tissues from counter to back of toilet. | STEP 1: Turn left, proceed to counter and sink.", "output": ["STEP 2: Pick up box of tissues between pump bottle and sink."]} +{"id": "trial_T20190907_230435_742240-2%2", "input": "Move a box of tissues from counter to back of toilet. | STEP 1: Turn left, proceed to counter and sink. | STEP 2: Pick up box of tissues between pump bottle and sink.", "output": ["STEP 3: Turn left, proceed to toilet."]} +{"id": "trial_T20190907_230435_742240-2%3", "input": "Move a box of tissues from counter to back of toilet. | STEP 1: Turn left, proceed to counter and sink. | STEP 2: Pick up box of tissues between pump bottle and sink. | STEP 3: Turn left, proceed to toilet.", "output": ["STEP 4: Place box of tissues, on its side, on the back of the toilet."]} +{"id": "trial_T20190907_230435_742240-2%4", "input": "Move a box of tissues from counter to back of toilet. | STEP 1: Turn left, proceed to counter and sink. | STEP 2: Pick up box of tissues between pump bottle and sink. | STEP 3: Turn left, proceed to toilet. | STEP 4: Place box of tissues, on its side, on the back of the toilet.", "output": ["END"]} +{"id": "trial_T20190907_040952_408437-1%0", "input": "Place the dirty spatula in the kitchen sink.", "output": ["STEP 1: Turn around, turn left, walk straight, turn right to face the stove."]} +{"id": "trial_T20190907_040952_408437-1%1", "input": "Place the dirty spatula in the kitchen sink. | STEP 1: Turn around, turn left, walk straight, turn right to face the stove.", "output": ["STEP 2: Grab the spatula on top of the counter."]} +{"id": "trial_T20190907_040952_408437-1%2", "input": "Place the dirty spatula in the kitchen sink. | STEP 1: Turn around, turn left, walk straight, turn right to face the stove. | STEP 2: Grab the spatula on top of the counter.", "output": ["STEP 3: Turn left, walk straight, turn left to face the kitchen sink and walk to the sink."]} +{"id": "trial_T20190907_040952_408437-1%3", "input": "Place the dirty spatula in the kitchen sink. | STEP 1: Turn around, turn left, walk straight, turn right to face the stove. | STEP 2: Grab the spatula on top of the counter. | STEP 3: Turn left, walk straight, turn left to face the kitchen sink and walk to the sink.", "output": ["STEP 4: Place the spatula in the sink."]} +{"id": "trial_T20190907_040952_408437-1%4", "input": "Place the dirty spatula in the kitchen sink. | STEP 1: Turn around, turn left, walk straight, turn right to face the stove. | STEP 2: Grab the spatula on top of the counter. | STEP 3: Turn left, walk straight, turn left to face the kitchen sink and walk to the sink. | STEP 4: Place the spatula in the sink.", "output": ["END"]} +{"id": "trial_T20190907_040952_408437-2%0", "input": "Move the spatula to the sink. ", "output": ["STEP 1: Turn left and go to the counter by the stove."]} +{"id": "trial_T20190907_040952_408437-2%1", "input": "Move the spatula to the sink. | STEP 1: Turn left and go to the counter by the stove.", "output": ["STEP 2: Pick up the spatula by the toaster. "]} +{"id": "trial_T20190907_040952_408437-2%2", "input": "Move the spatula to the sink. | STEP 1: Turn left and go to the counter by the stove. | STEP 2: Pick up the spatula by the toaster. ", "output": ["STEP 3: Turn around and go to the sink"]} +{"id": "trial_T20190907_040952_408437-2%3", "input": "Move the spatula to the sink. | STEP 1: Turn left and go to the counter by the stove. | STEP 2: Pick up the spatula by the toaster. | STEP 3: Turn around and go to the sink", "output": ["STEP 4: Put the spatula in the sink. "]} +{"id": "trial_T20190907_040952_408437-2%4", "input": "Move the spatula to the sink. | STEP 1: Turn left and go to the counter by the stove. | STEP 2: Pick up the spatula by the toaster. | STEP 3: Turn around and go to the sink | STEP 4: Put the spatula in the sink. ", "output": ["END"]} +{"id": "trial_T20190908_060843_405274-0%0", "input": "move empty toilet paper roll from back of toilet to holder", "output": ["STEP 1: turn right, turn right, take a few steps, turn left to face toilet"]} +{"id": "trial_T20190908_060843_405274-0%1", "input": "move empty toilet paper roll from back of toilet to holder | STEP 1: turn right, turn right, take a few steps, turn left to face toilet", "output": ["STEP 2: take the empty toilet paper roll off the back of the toilet"]} +{"id": "trial_T20190908_060843_405274-0%2", "input": "move empty toilet paper roll from back of toilet to holder | STEP 1: turn right, turn right, take a few steps, turn left to face toilet | STEP 2: take the empty toilet paper roll off the back of the toilet", "output": ["STEP 3: take two steps to the right"]} +{"id": "trial_T20190908_060843_405274-0%3", "input": "move empty toilet paper roll from back of toilet to holder | STEP 1: turn right, turn right, take a few steps, turn left to face toilet | STEP 2: take the empty toilet paper roll off the back of the toilet | STEP 3: take two steps to the right", "output": ["STEP 4: put empty toilet paper roll on the toilet paper holder"]} +{"id": "trial_T20190908_060843_405274-0%4", "input": "move empty toilet paper roll from back of toilet to holder | STEP 1: turn right, turn right, take a few steps, turn left to face toilet | STEP 2: take the empty toilet paper roll off the back of the toilet | STEP 3: take two steps to the right | STEP 4: put empty toilet paper roll on the toilet paper holder", "output": ["END"]} +{"id": "trial_T20190908_061613_867896-0%0", "input": "Cool an egg, put it into the microwave", "output": ["STEP 1: Go forward, turn left in front of the sink"]} +{"id": "trial_T20190908_061613_867896-0%1", "input": "Cool an egg, put it into the microwave | STEP 1: Go forward, turn left in front of the sink", "output": ["STEP 2: Pick up the egg in the sink"]} +{"id": "trial_T20190908_061613_867896-0%2", "input": "Cool an egg, put it into the microwave | STEP 1: Go forward, turn left in front of the sink | STEP 2: Pick up the egg in the sink", "output": ["STEP 3: Turn around, go forward a bit, turn right, go forward, turn right in front of the fridge"]} +{"id": "trial_T20190908_061613_867896-0%3", "input": "Cool an egg, put it into the microwave | STEP 1: Go forward, turn left in front of the sink | STEP 2: Pick up the egg in the sink | STEP 3: Turn around, go forward a bit, turn right, go forward, turn right in front of the fridge", "output": ["STEP 4: Put the egg into the fridge, wait, pick up the egg from the fridge"]} +{"id": "trial_T20190908_061613_867896-0%4", "input": "Cool an egg, put it into the microwave | STEP 1: Go forward, turn left in front of the sink | STEP 2: Pick up the egg in the sink | STEP 3: Turn around, go forward a bit, turn right, go forward, turn right in front of the fridge | STEP 4: Put the egg into the fridge, wait, pick up the egg from the fridge", "output": ["STEP 5: Turn right, go forward, turn right in front of the stove"]} +{"id": "trial_T20190908_061613_867896-0%5", "input": "Cool an egg, put it into the microwave | STEP 1: Go forward, turn left in front of the sink | STEP 2: Pick up the egg in the sink | STEP 3: Turn around, go forward a bit, turn right, go forward, turn right in front of the fridge | STEP 4: Put the egg into the fridge, wait, pick up the egg from the fridge | STEP 5: Turn right, go forward, turn right in front of the stove", "output": ["STEP 6: Put the egg into the microwave"]} +{"id": "trial_T20190908_061613_867896-0%6", "input": "Cool an egg, put it into the microwave | STEP 1: Go forward, turn left in front of the sink | STEP 2: Pick up the egg in the sink | STEP 3: Turn around, go forward a bit, turn right, go forward, turn right in front of the fridge | STEP 4: Put the egg into the fridge, wait, pick up the egg from the fridge | STEP 5: Turn right, go forward, turn right in front of the stove | STEP 6: Put the egg into the microwave", "output": ["END"]} +{"id": "trial_T20190908_061613_867896-1%0", "input": "Chill an onion and put in microwave. ", "output": ["STEP 1: Walk forward then make a left at the sink."]} +{"id": "trial_T20190908_061613_867896-1%1", "input": "Chill an onion and put in microwave. | STEP 1: Walk forward then make a left at the sink.", "output": ["STEP 2: Pick up the onion from the sink."]} +{"id": "trial_T20190908_061613_867896-1%2", "input": "Chill an onion and put in microwave. | STEP 1: Walk forward then make a left at the sink. | STEP 2: Pick up the onion from the sink.", "output": ["STEP 3: Turn to the left and walk forward to the fridge."]} +{"id": "trial_T20190908_061613_867896-1%3", "input": "Chill an onion and put in microwave. | STEP 1: Walk forward then make a left at the sink. | STEP 2: Pick up the onion from the sink. | STEP 3: Turn to the left and walk forward to the fridge.", "output": ["STEP 4: Open the fridge and place the onion inside. Chill the onion and then take it out of the fridge. "]} +{"id": "trial_T20190908_061613_867896-1%4", "input": "Chill an onion and put in microwave. | STEP 1: Walk forward then make a left at the sink. | STEP 2: Pick up the onion from the sink. | STEP 3: Turn to the left and walk forward to the fridge. | STEP 4: Open the fridge and place the onion inside. Chill the onion and then take it out of the fridge. ", "output": ["STEP 5: Turn to the right and walk to the oven. Make a right again to face it. Look above the oven to the microwave."]} +{"id": "trial_T20190908_061613_867896-1%5", "input": "Chill an onion and put in microwave. | STEP 1: Walk forward then make a left at the sink. | STEP 2: Pick up the onion from the sink. | STEP 3: Turn to the left and walk forward to the fridge. | STEP 4: Open the fridge and place the onion inside. Chill the onion and then take it out of the fridge. | STEP 5: Turn to the right and walk to the oven. Make a right again to face it. Look above the oven to the microwave.", "output": ["STEP 6: Place the onion inside the microwave and close it."]} +{"id": "trial_T20190908_061613_867896-1%6", "input": "Chill an onion and put in microwave. | STEP 1: Walk forward then make a left at the sink. | STEP 2: Pick up the onion from the sink. | STEP 3: Turn to the left and walk forward to the fridge. | STEP 4: Open the fridge and place the onion inside. Chill the onion and then take it out of the fridge. | STEP 5: Turn to the right and walk to the oven. Make a right again to face it. Look above the oven to the microwave. | STEP 6: Place the onion inside the microwave and close it.", "output": ["END"]} +{"id": "trial_T20190907_182015_912423-0%0", "input": "To move 2 sets of keys from their original positions to the couch.", "output": ["STEP 1: Turn around and walk to face the table in the middle of the living room."]} +{"id": "trial_T20190907_182015_912423-0%1", "input": "To move 2 sets of keys from their original positions to the couch. | STEP 1: Turn around and walk to face the table in the middle of the living room.", "output": ["STEP 2: Pick up the keys on the table in the living room."]} +{"id": "trial_T20190907_182015_912423-0%2", "input": "To move 2 sets of keys from their original positions to the couch. | STEP 1: Turn around and walk to face the table in the middle of the living room. | STEP 2: Pick up the keys on the table in the living room.", "output": ["STEP 3: Turn around and face the couch."]} +{"id": "trial_T20190907_182015_912423-0%3", "input": "To move 2 sets of keys from their original positions to the couch. | STEP 1: Turn around and walk to face the table in the middle of the living room. | STEP 2: Pick up the keys on the table in the living room. | STEP 3: Turn around and face the couch.", "output": ["STEP 4: Place the keys on the edge of the couch."]} +{"id": "trial_T20190907_182015_912423-0%4", "input": "To move 2 sets of keys from their original positions to the couch. | STEP 1: Turn around and walk to face the table in the middle of the living room. | STEP 2: Pick up the keys on the table in the living room. | STEP 3: Turn around and face the couch. | STEP 4: Place the keys on the edge of the couch.", "output": ["STEP 5: Turn to the left and walk across the room to the shelving."]} +{"id": "trial_T20190907_182015_912423-0%5", "input": "To move 2 sets of keys from their original positions to the couch. | STEP 1: Turn around and walk to face the table in the middle of the living room. | STEP 2: Pick up the keys on the table in the living room. | STEP 3: Turn around and face the couch. | STEP 4: Place the keys on the edge of the couch. | STEP 5: Turn to the left and walk across the room to the shelving.", "output": ["STEP 6: Pick up the keys from the second shelf from the bottom."]} +{"id": "trial_T20190907_182015_912423-0%6", "input": "To move 2 sets of keys from their original positions to the couch. | STEP 1: Turn around and walk to face the table in the middle of the living room. | STEP 2: Pick up the keys on the table in the living room. | STEP 3: Turn around and face the couch. | STEP 4: Place the keys on the edge of the couch. | STEP 5: Turn to the left and walk across the room to the shelving. | STEP 6: Pick up the keys from the second shelf from the bottom.", "output": ["STEP 7: Turn to the right and walk forward, then turn right and walk forward and then turn left to face the couch."]} +{"id": "trial_T20190907_182015_912423-0%7", "input": "To move 2 sets of keys from their original positions to the couch. | STEP 1: Turn around and walk to face the table in the middle of the living room. | STEP 2: Pick up the keys on the table in the living room. | STEP 3: Turn around and face the couch. | STEP 4: Place the keys on the edge of the couch. | STEP 5: Turn to the left and walk across the room to the shelving. | STEP 6: Pick up the keys from the second shelf from the bottom. | STEP 7: Turn to the right and walk forward, then turn right and walk forward and then turn left to face the couch.", "output": ["STEP 8: Place the keys next to the other keys on the couch."]} +{"id": "trial_T20190907_182015_912423-0%8", "input": "To move 2 sets of keys from their original positions to the couch. | STEP 1: Turn around and walk to face the table in the middle of the living room. | STEP 2: Pick up the keys on the table in the living room. | STEP 3: Turn around and face the couch. | STEP 4: Place the keys on the edge of the couch. | STEP 5: Turn to the left and walk across the room to the shelving. | STEP 6: Pick up the keys from the second shelf from the bottom. | STEP 7: Turn to the right and walk forward, then turn right and walk forward and then turn left to face the couch. | STEP 8: Place the keys next to the other keys on the couch.", "output": ["END"]} +{"id": "trial_T20190907_182015_912423-1%0", "input": "Move two keys to the sofa. ", "output": ["STEP 1: Turn and go to the coffee table."]} +{"id": "trial_T20190907_182015_912423-1%1", "input": "Move two keys to the sofa. | STEP 1: Turn and go to the coffee table.", "output": ["STEP 2: Pick up the keys on the coffee table. "]} +{"id": "trial_T20190907_182015_912423-1%2", "input": "Move two keys to the sofa. | STEP 1: Turn and go to the coffee table. | STEP 2: Pick up the keys on the coffee table. ", "output": ["STEP 3: Turn around and go to the sofa."]} +{"id": "trial_T20190907_182015_912423-1%3", "input": "Move two keys to the sofa. | STEP 1: Turn and go to the coffee table. | STEP 2: Pick up the keys on the coffee table. | STEP 3: Turn around and go to the sofa.", "output": ["STEP 4: Put the keys on the sofa. "]} +{"id": "trial_T20190907_182015_912423-1%4", "input": "Move two keys to the sofa. | STEP 1: Turn and go to the coffee table. | STEP 2: Pick up the keys on the coffee table. | STEP 3: Turn around and go to the sofa. | STEP 4: Put the keys on the sofa. ", "output": ["STEP 5: Turn and go to the shelves"]} +{"id": "trial_T20190907_182015_912423-1%5", "input": "Move two keys to the sofa. | STEP 1: Turn and go to the coffee table. | STEP 2: Pick up the keys on the coffee table. | STEP 3: Turn around and go to the sofa. | STEP 4: Put the keys on the sofa. | STEP 5: Turn and go to the shelves", "output": ["STEP 6: Pick up the keys on the shelves."]} +{"id": "trial_T20190907_182015_912423-1%6", "input": "Move two keys to the sofa. | STEP 1: Turn and go to the coffee table. | STEP 2: Pick up the keys on the coffee table. | STEP 3: Turn around and go to the sofa. | STEP 4: Put the keys on the sofa. | STEP 5: Turn and go to the shelves | STEP 6: Pick up the keys on the shelves.", "output": ["STEP 7: Turn around and go to the sofa. "]} +{"id": "trial_T20190907_182015_912423-1%7", "input": "Move two keys to the sofa. | STEP 1: Turn and go to the coffee table. | STEP 2: Pick up the keys on the coffee table. | STEP 3: Turn around and go to the sofa. | STEP 4: Put the keys on the sofa. | STEP 5: Turn and go to the shelves | STEP 6: Pick up the keys on the shelves. | STEP 7: Turn around and go to the sofa. ", "output": ["STEP 8: Put the keys on the sofa. "]} +{"id": "trial_T20190907_182015_912423-1%8", "input": "Move two keys to the sofa. | STEP 1: Turn and go to the coffee table. | STEP 2: Pick up the keys on the coffee table. | STEP 3: Turn around and go to the sofa. | STEP 4: Put the keys on the sofa. | STEP 5: Turn and go to the shelves | STEP 6: Pick up the keys on the shelves. | STEP 7: Turn around and go to the sofa. | STEP 8: Put the keys on the sofa. ", "output": ["END"]} +{"id": "trial_T20190908_095759_472792-0%0", "input": "Move the watering can from the shelf to the coffee table.", "output": ["STEP 1: Walk forward to the shelf in front of you."]} +{"id": "trial_T20190908_095759_472792-0%1", "input": "Move the watering can from the shelf to the coffee table. | STEP 1: Walk forward to the shelf in front of you.", "output": ["STEP 2: Pick up the watering can from the bottom shelf."]} +{"id": "trial_T20190908_095759_472792-0%2", "input": "Move the watering can from the shelf to the coffee table. | STEP 1: Walk forward to the shelf in front of you. | STEP 2: Pick up the watering can from the bottom shelf.", "output": ["STEP 3: Turn around and go to the coffee table."]} +{"id": "trial_T20190908_095759_472792-0%3", "input": "Move the watering can from the shelf to the coffee table. | STEP 1: Walk forward to the shelf in front of you. | STEP 2: Pick up the watering can from the bottom shelf. | STEP 3: Turn around and go to the coffee table.", "output": ["STEP 4: Put the watering can on the coffee table."]} +{"id": "trial_T20190908_095759_472792-0%4", "input": "Move the watering can from the shelf to the coffee table. | STEP 1: Walk forward to the shelf in front of you. | STEP 2: Pick up the watering can from the bottom shelf. | STEP 3: Turn around and go to the coffee table. | STEP 4: Put the watering can on the coffee table.", "output": ["END"]} +{"id": "trial_T20190908_095759_472792-2%0", "input": "Move the white tea kettle from the bookshelf to the coffee table.", "output": ["STEP 1: Walk to the black bookshelf."]} +{"id": "trial_T20190908_095759_472792-2%1", "input": "Move the white tea kettle from the bookshelf to the coffee table. | STEP 1: Walk to the black bookshelf.", "output": ["STEP 2: Pick up the white tea kettle from the bottom shelf of the bookshelf."]} +{"id": "trial_T20190908_095759_472792-2%2", "input": "Move the white tea kettle from the bookshelf to the coffee table. | STEP 1: Walk to the black bookshelf. | STEP 2: Pick up the white tea kettle from the bottom shelf of the bookshelf.", "output": ["STEP 3: Turn around and walk to the brown coffee table."]} +{"id": "trial_T20190908_095759_472792-2%3", "input": "Move the white tea kettle from the bookshelf to the coffee table. | STEP 1: Walk to the black bookshelf. | STEP 2: Pick up the white tea kettle from the bottom shelf of the bookshelf. | STEP 3: Turn around and walk to the brown coffee table.", "output": ["STEP 4: Set the white tea kettle down on the brown coffee table."]} +{"id": "trial_T20190908_095759_472792-2%4", "input": "Move the white tea kettle from the bookshelf to the coffee table. | STEP 1: Walk to the black bookshelf. | STEP 2: Pick up the white tea kettle from the bottom shelf of the bookshelf. | STEP 3: Turn around and walk to the brown coffee table. | STEP 4: Set the white tea kettle down on the brown coffee table.", "output": ["END"]} +{"id": "trial_T20190907_175003_704671-1%0", "input": "Put a heated egg inside the sink.", "output": ["STEP 1: Move to the left of the cook top"]} +{"id": "trial_T20190907_175003_704671-1%1", "input": "Put a heated egg inside the sink. | STEP 1: Move to the left of the cook top", "output": ["STEP 2: Pick up a egg from the counter"]} +{"id": "trial_T20190907_175003_704671-1%2", "input": "Put a heated egg inside the sink. | STEP 1: Move to the left of the cook top | STEP 2: Pick up a egg from the counter", "output": ["STEP 3: Move to the microwave to the right of the cook top"]} +{"id": "trial_T20190907_175003_704671-1%3", "input": "Put a heated egg inside the sink. | STEP 1: Move to the left of the cook top | STEP 2: Pick up a egg from the counter | STEP 3: Move to the microwave to the right of the cook top", "output": ["STEP 4: Heat the egg and get it back then close the door to the microwave"]} +{"id": "trial_T20190907_175003_704671-1%4", "input": "Put a heated egg inside the sink. | STEP 1: Move to the left of the cook top | STEP 2: Pick up a egg from the counter | STEP 3: Move to the microwave to the right of the cook top | STEP 4: Heat the egg and get it back then close the door to the microwave", "output": ["STEP 5: Move to the sink to the left of the cook top"]} +{"id": "trial_T20190907_175003_704671-1%5", "input": "Put a heated egg inside the sink. | STEP 1: Move to the left of the cook top | STEP 2: Pick up a egg from the counter | STEP 3: Move to the microwave to the right of the cook top | STEP 4: Heat the egg and get it back then close the door to the microwave | STEP 5: Move to the sink to the left of the cook top", "output": ["STEP 6: Put the egg in the sink"]} +{"id": "trial_T20190907_175003_704671-1%6", "input": "Put a heated egg inside the sink. | STEP 1: Move to the left of the cook top | STEP 2: Pick up a egg from the counter | STEP 3: Move to the microwave to the right of the cook top | STEP 4: Heat the egg and get it back then close the door to the microwave | STEP 5: Move to the sink to the left of the cook top | STEP 6: Put the egg in the sink", "output": ["END"]} +{"id": "trial_T20190906_211838_949211-1%0", "input": "Place a bowl with a watch in it on a coffee table.", "output": ["STEP 1: Walk forward and then right along the length of the couch until you come to a corner table."]} +{"id": "trial_T20190906_211838_949211-1%1", "input": "Place a bowl with a watch in it on a coffee table. | STEP 1: Walk forward and then right along the length of the couch until you come to a corner table.", "output": ["STEP 2: Pick up the watch off the table."]} +{"id": "trial_T20190906_211838_949211-1%2", "input": "Place a bowl with a watch in it on a coffee table. | STEP 1: Walk forward and then right along the length of the couch until you come to a corner table. | STEP 2: Pick up the watch off the table.", "output": ["STEP 3: Turn around and walk to the shelves on the wall."]} +{"id": "trial_T20190906_211838_949211-1%3", "input": "Place a bowl with a watch in it on a coffee table. | STEP 1: Walk forward and then right along the length of the couch until you come to a corner table. | STEP 2: Pick up the watch off the table. | STEP 3: Turn around and walk to the shelves on the wall.", "output": ["STEP 4: Put the watch in the rightmost blue bowl."]} +{"id": "trial_T20190906_211838_949211-1%4", "input": "Place a bowl with a watch in it on a coffee table. | STEP 1: Walk forward and then right along the length of the couch until you come to a corner table. | STEP 2: Pick up the watch off the table. | STEP 3: Turn around and walk to the shelves on the wall. | STEP 4: Put the watch in the rightmost blue bowl.", "output": ["STEP 5: Pick up the bowl."]} +{"id": "trial_T20190906_211838_949211-1%5", "input": "Place a bowl with a watch in it on a coffee table. | STEP 1: Walk forward and then right along the length of the couch until you come to a corner table. | STEP 2: Pick up the watch off the table. | STEP 3: Turn around and walk to the shelves on the wall. | STEP 4: Put the watch in the rightmost blue bowl. | STEP 5: Pick up the bowl.", "output": ["STEP 6: Turn around and take a couple steps to the coffee table to the right of the laptop."]} +{"id": "trial_T20190906_211838_949211-1%6", "input": "Place a bowl with a watch in it on a coffee table. | STEP 1: Walk forward and then right along the length of the couch until you come to a corner table. | STEP 2: Pick up the watch off the table. | STEP 3: Turn around and walk to the shelves on the wall. | STEP 4: Put the watch in the rightmost blue bowl. | STEP 5: Pick up the bowl. | STEP 6: Turn around and take a couple steps to the coffee table to the right of the laptop.", "output": ["STEP 7: Place the bowl on the coffee table."]} +{"id": "trial_T20190906_211838_949211-1%7", "input": "Place a bowl with a watch in it on a coffee table. | STEP 1: Walk forward and then right along the length of the couch until you come to a corner table. | STEP 2: Pick up the watch off the table. | STEP 3: Turn around and walk to the shelves on the wall. | STEP 4: Put the watch in the rightmost blue bowl. | STEP 5: Pick up the bowl. | STEP 6: Turn around and take a couple steps to the coffee table to the right of the laptop. | STEP 7: Place the bowl on the coffee table.", "output": ["END"]} +{"id": "trial_T20190906_175831_724598-0%0", "input": "Place the clean cloth on the lower shelf", "output": ["STEP 1: Walk over to the shelf left of the bath tub"]} +{"id": "trial_T20190906_175831_724598-0%1", "input": "Place the clean cloth on the lower shelf | STEP 1: Walk over to the shelf left of the bath tub", "output": ["STEP 2: Pick up the yellow cloth from the shelf"]} +{"id": "trial_T20190906_175831_724598-0%2", "input": "Place the clean cloth on the lower shelf | STEP 1: Walk over to the shelf left of the bath tub | STEP 2: Pick up the yellow cloth from the shelf", "output": ["STEP 3: Turn around and go to the sink"]} +{"id": "trial_T20190906_175831_724598-0%3", "input": "Place the clean cloth on the lower shelf | STEP 1: Walk over to the shelf left of the bath tub | STEP 2: Pick up the yellow cloth from the shelf | STEP 3: Turn around and go to the sink", "output": ["STEP 4: Wash the cloth in the sink and pick it up again"]} +{"id": "trial_T20190906_175831_724598-0%4", "input": "Place the clean cloth on the lower shelf | STEP 1: Walk over to the shelf left of the bath tub | STEP 2: Pick up the yellow cloth from the shelf | STEP 3: Turn around and go to the sink | STEP 4: Wash the cloth in the sink and pick it up again", "output": ["STEP 5: Turn around and walk back to the white shelf"]} +{"id": "trial_T20190906_175831_724598-0%5", "input": "Place the clean cloth on the lower shelf | STEP 1: Walk over to the shelf left of the bath tub | STEP 2: Pick up the yellow cloth from the shelf | STEP 3: Turn around and go to the sink | STEP 4: Wash the cloth in the sink and pick it up again | STEP 5: Turn around and walk back to the white shelf", "output": ["STEP 6: Put the yellow cloth on the lower shelf left of the spray bottle"]} +{"id": "trial_T20190906_175831_724598-0%6", "input": "Place the clean cloth on the lower shelf | STEP 1: Walk over to the shelf left of the bath tub | STEP 2: Pick up the yellow cloth from the shelf | STEP 3: Turn around and go to the sink | STEP 4: Wash the cloth in the sink and pick it up again | STEP 5: Turn around and walk back to the white shelf | STEP 6: Put the yellow cloth on the lower shelf left of the spray bottle", "output": ["END"]} +{"id": "trial_T20190906_175831_724598-1%0", "input": "Put a clean rag on a shelf.", "output": ["STEP 1: Walk forward and to the right to face the two shelves."]} +{"id": "trial_T20190906_175831_724598-1%1", "input": "Put a clean rag on a shelf. | STEP 1: Walk forward and to the right to face the two shelves.", "output": ["STEP 2: Pick the yellow rag up off the top shelf."]} +{"id": "trial_T20190906_175831_724598-1%2", "input": "Put a clean rag on a shelf. | STEP 1: Walk forward and to the right to face the two shelves. | STEP 2: Pick the yellow rag up off the top shelf.", "output": ["STEP 3: Turn around and veer left to the sink."]} +{"id": "trial_T20190906_175831_724598-1%3", "input": "Put a clean rag on a shelf. | STEP 1: Walk forward and to the right to face the two shelves. | STEP 2: Pick the yellow rag up off the top shelf. | STEP 3: Turn around and veer left to the sink.", "output": ["STEP 4: Wash the rag in the sink and pick it back up."]} +{"id": "trial_T20190906_175831_724598-1%4", "input": "Put a clean rag on a shelf. | STEP 1: Walk forward and to the right to face the two shelves. | STEP 2: Pick the yellow rag up off the top shelf. | STEP 3: Turn around and veer left to the sink. | STEP 4: Wash the rag in the sink and pick it back up.", "output": ["STEP 5: Turn around and go back to the wall with the two shelves."]} +{"id": "trial_T20190906_175831_724598-1%5", "input": "Put a clean rag on a shelf. | STEP 1: Walk forward and to the right to face the two shelves. | STEP 2: Pick the yellow rag up off the top shelf. | STEP 3: Turn around and veer left to the sink. | STEP 4: Wash the rag in the sink and pick it back up. | STEP 5: Turn around and go back to the wall with the two shelves.", "output": ["STEP 6: Place the yellow rag to the left of the purple bottom on the bottom shelf."]} +{"id": "trial_T20190906_175831_724598-1%6", "input": "Put a clean rag on a shelf. | STEP 1: Walk forward and to the right to face the two shelves. | STEP 2: Pick the yellow rag up off the top shelf. | STEP 3: Turn around and veer left to the sink. | STEP 4: Wash the rag in the sink and pick it back up. | STEP 5: Turn around and go back to the wall with the two shelves. | STEP 6: Place the yellow rag to the left of the purple bottom on the bottom shelf.", "output": ["END"]} +{"id": "trial_T20190906_175831_724598-3%0", "input": "Put a cleaned rag on the bottom shelf. ", "output": ["STEP 1: Turn right, head towards the tub, then turn left and go to the yellow rag on the white shelf."]} +{"id": "trial_T20190906_175831_724598-3%1", "input": "Put a cleaned rag on the bottom shelf. | STEP 1: Turn right, head towards the tub, then turn left and go to the yellow rag on the white shelf.", "output": ["STEP 2: Pick up the yellow rag on the shelf. "]} +{"id": "trial_T20190906_175831_724598-3%2", "input": "Put a cleaned rag on the bottom shelf. | STEP 1: Turn right, head towards the tub, then turn left and go to the yellow rag on the white shelf. | STEP 2: Pick up the yellow rag on the shelf. ", "output": ["STEP 3: Turn around, bring the rag to the sink. "]} +{"id": "trial_T20190906_175831_724598-3%3", "input": "Put a cleaned rag on the bottom shelf. | STEP 1: Turn right, head towards the tub, then turn left and go to the yellow rag on the white shelf. | STEP 2: Pick up the yellow rag on the shelf. | STEP 3: Turn around, bring the rag to the sink. ", "output": ["STEP 4: Wash the rag in the sink with water. "]} +{"id": "trial_T20190906_175831_724598-3%4", "input": "Put a cleaned rag on the bottom shelf. | STEP 1: Turn right, head towards the tub, then turn left and go to the yellow rag on the white shelf. | STEP 2: Pick up the yellow rag on the shelf. | STEP 3: Turn around, bring the rag to the sink. | STEP 4: Wash the rag in the sink with water. ", "output": ["STEP 5: Take the cleaned rag back to the white shelf."]} +{"id": "trial_T20190906_175831_724598-3%5", "input": "Put a cleaned rag on the bottom shelf. | STEP 1: Turn right, head towards the tub, then turn left and go to the yellow rag on the white shelf. | STEP 2: Pick up the yellow rag on the shelf. | STEP 3: Turn around, bring the rag to the sink. | STEP 4: Wash the rag in the sink with water. | STEP 5: Take the cleaned rag back to the white shelf.", "output": ["STEP 6: Put the cleaned rag on the bottom shelf next to the spray bottle. "]} +{"id": "trial_T20190906_175831_724598-3%6", "input": "Put a cleaned rag on the bottom shelf. | STEP 1: Turn right, head towards the tub, then turn left and go to the yellow rag on the white shelf. | STEP 2: Pick up the yellow rag on the shelf. | STEP 3: Turn around, bring the rag to the sink. | STEP 4: Wash the rag in the sink with water. | STEP 5: Take the cleaned rag back to the white shelf. | STEP 6: Put the cleaned rag on the bottom shelf next to the spray bottle. ", "output": ["END"]} +{"id": "trial_T20190906_175831_724598-4%0", "input": "Put a cleaned yellow cloth on a shelf near the floor.", "output": ["STEP 1: Walk forward and slightly to the right towards the yellow cloth by the wall."]} +{"id": "trial_T20190906_175831_724598-4%1", "input": "Put a cleaned yellow cloth on a shelf near the floor. | STEP 1: Walk forward and slightly to the right towards the yellow cloth by the wall.", "output": ["STEP 2: Pick up the yellow cloth from the shelf."]} +{"id": "trial_T20190906_175831_724598-4%2", "input": "Put a cleaned yellow cloth on a shelf near the floor. | STEP 1: Walk forward and slightly to the right towards the yellow cloth by the wall. | STEP 2: Pick up the yellow cloth from the shelf.", "output": ["STEP 3: Turn around and walk to the sink."]} +{"id": "trial_T20190906_175831_724598-4%3", "input": "Put a cleaned yellow cloth on a shelf near the floor. | STEP 1: Walk forward and slightly to the right towards the yellow cloth by the wall. | STEP 2: Pick up the yellow cloth from the shelf. | STEP 3: Turn around and walk to the sink.", "output": ["STEP 4: Put the cloth in the sink, rinse it off, and take it out of the sink."]} +{"id": "trial_T20190906_175831_724598-4%4", "input": "Put a cleaned yellow cloth on a shelf near the floor. | STEP 1: Walk forward and slightly to the right towards the yellow cloth by the wall. | STEP 2: Pick up the yellow cloth from the shelf. | STEP 3: Turn around and walk to the sink. | STEP 4: Put the cloth in the sink, rinse it off, and take it out of the sink.", "output": ["STEP 5: Turn around and walk to the spray bottle on the shelf near the floor."]} +{"id": "trial_T20190906_175831_724598-4%5", "input": "Put a cleaned yellow cloth on a shelf near the floor. | STEP 1: Walk forward and slightly to the right towards the yellow cloth by the wall. | STEP 2: Pick up the yellow cloth from the shelf. | STEP 3: Turn around and walk to the sink. | STEP 4: Put the cloth in the sink, rinse it off, and take it out of the sink. | STEP 5: Turn around and walk to the spray bottle on the shelf near the floor.", "output": ["STEP 6: Put the cloth on that shelf, in front of and between the spray bottle and empty roll of toilet paper."]} +{"id": "trial_T20190906_175831_724598-4%6", "input": "Put a cleaned yellow cloth on a shelf near the floor. | STEP 1: Walk forward and slightly to the right towards the yellow cloth by the wall. | STEP 2: Pick up the yellow cloth from the shelf. | STEP 3: Turn around and walk to the sink. | STEP 4: Put the cloth in the sink, rinse it off, and take it out of the sink. | STEP 5: Turn around and walk to the spray bottle on the shelf near the floor. | STEP 6: Put the cloth on that shelf, in front of and between the spray bottle and empty roll of toilet paper.", "output": ["END"]} +{"id": "trial_T20190908_060916_827277-1%0", "input": "Put the empty toilet paper roll back on the holder. ", "output": ["STEP 1: Turn left to go to th sink on the right. "]} +{"id": "trial_T20190908_060916_827277-1%1", "input": "Put the empty toilet paper roll back on the holder. | STEP 1: Turn left to go to th sink on the right. ", "output": ["STEP 2: Pick up the empty toilet paper roll on the left of the sink"]} +{"id": "trial_T20190908_060916_827277-1%2", "input": "Put the empty toilet paper roll back on the holder. | STEP 1: Turn left to go to th sink on the right. | STEP 2: Pick up the empty toilet paper roll on the left of the sink", "output": ["STEP 3: Turn left and go to the right side of the toilet. "]} +{"id": "trial_T20190908_060916_827277-1%3", "input": "Put the empty toilet paper roll back on the holder. | STEP 1: Turn left to go to th sink on the right. | STEP 2: Pick up the empty toilet paper roll on the left of the sink | STEP 3: Turn left and go to the right side of the toilet. ", "output": ["STEP 4: Put the empty toilet paper roll on the holder. "]} +{"id": "trial_T20190908_060916_827277-1%4", "input": "Put the empty toilet paper roll back on the holder. | STEP 1: Turn left to go to th sink on the right. | STEP 2: Pick up the empty toilet paper roll on the left of the sink | STEP 3: Turn left and go to the right side of the toilet. | STEP 4: Put the empty toilet paper roll on the holder. ", "output": ["END"]} +{"id": "trial_T20190907_174433_625106-0%0", "input": "Place a clean cloth back into a bath tub basin.", "output": ["STEP 1: Turn around towards the bath tub."]} +{"id": "trial_T20190907_174433_625106-0%1", "input": "Place a clean cloth back into a bath tub basin. | STEP 1: Turn around towards the bath tub.", "output": ["STEP 2: Pick up the yellow cloth from the bath tub."]} +{"id": "trial_T20190907_174433_625106-0%2", "input": "Place a clean cloth back into a bath tub basin. | STEP 1: Turn around towards the bath tub. | STEP 2: Pick up the yellow cloth from the bath tub.", "output": ["STEP 3: Turn right and walk to the sink."]} +{"id": "trial_T20190907_174433_625106-0%3", "input": "Place a clean cloth back into a bath tub basin. | STEP 1: Turn around towards the bath tub. | STEP 2: Pick up the yellow cloth from the bath tub. | STEP 3: Turn right and walk to the sink.", "output": ["STEP 4: Clean the cloth in the sink."]} +{"id": "trial_T20190907_174433_625106-0%4", "input": "Place a clean cloth back into a bath tub basin. | STEP 1: Turn around towards the bath tub. | STEP 2: Pick up the yellow cloth from the bath tub. | STEP 3: Turn right and walk to the sink. | STEP 4: Clean the cloth in the sink.", "output": ["STEP 5: Turn left and walk back to the bath tub."]} +{"id": "trial_T20190907_174433_625106-0%5", "input": "Place a clean cloth back into a bath tub basin. | STEP 1: Turn around towards the bath tub. | STEP 2: Pick up the yellow cloth from the bath tub. | STEP 3: Turn right and walk to the sink. | STEP 4: Clean the cloth in the sink. | STEP 5: Turn left and walk back to the bath tub.", "output": ["STEP 6: Put the cloth back into the bath tub basin."]} +{"id": "trial_T20190907_174433_625106-0%6", "input": "Place a clean cloth back into a bath tub basin. | STEP 1: Turn around towards the bath tub. | STEP 2: Pick up the yellow cloth from the bath tub. | STEP 3: Turn right and walk to the sink. | STEP 4: Clean the cloth in the sink. | STEP 5: Turn left and walk back to the bath tub. | STEP 6: Put the cloth back into the bath tub basin.", "output": ["END"]} +{"id": "trial_T20190907_174433_625106-2%0", "input": "Put a clean rag in the tub.", "output": ["STEP 1: Move to the tub to the left of the sink"]} +{"id": "trial_T20190907_174433_625106-2%1", "input": "Put a clean rag in the tub. | STEP 1: Move to the tub to the left of the sink", "output": ["STEP 2: Pick up a rag from the tub"]} +{"id": "trial_T20190907_174433_625106-2%2", "input": "Put a clean rag in the tub. | STEP 1: Move to the tub to the left of the sink | STEP 2: Pick up a rag from the tub", "output": ["STEP 3: Move to the sink to the right of you"]} +{"id": "trial_T20190907_174433_625106-2%3", "input": "Put a clean rag in the tub. | STEP 1: Move to the tub to the left of the sink | STEP 2: Pick up a rag from the tub | STEP 3: Move to the sink to the right of you", "output": ["STEP 4: Place the rag in the sink and run some water before turning off the water and picking up the rag"]} +{"id": "trial_T20190907_174433_625106-2%4", "input": "Put a clean rag in the tub. | STEP 1: Move to the tub to the left of the sink | STEP 2: Pick up a rag from the tub | STEP 3: Move to the sink to the right of you | STEP 4: Place the rag in the sink and run some water before turning off the water and picking up the rag", "output": ["STEP 5: Move to the tub to the left of the sink"]} +{"id": "trial_T20190907_174433_625106-2%5", "input": "Put a clean rag in the tub. | STEP 1: Move to the tub to the left of the sink | STEP 2: Pick up a rag from the tub | STEP 3: Move to the sink to the right of you | STEP 4: Place the rag in the sink and run some water before turning off the water and picking up the rag | STEP 5: Move to the tub to the left of the sink", "output": ["STEP 6: Place the rag in the tub"]} +{"id": "trial_T20190907_174433_625106-2%6", "input": "Put a clean rag in the tub. | STEP 1: Move to the tub to the left of the sink | STEP 2: Pick up a rag from the tub | STEP 3: Move to the sink to the right of you | STEP 4: Place the rag in the sink and run some water before turning off the water and picking up the rag | STEP 5: Move to the tub to the left of the sink | STEP 6: Place the rag in the tub", "output": ["END"]} +{"id": "trial_T20190908_050652_202542-1%0", "input": "Slice potato in the sink, put knife and potato slice in the bowl, put bowl in the microwave", "output": ["STEP 1: Walk to the right towards the counter"]} +{"id": "trial_T20190908_050652_202542-1%1", "input": "Slice potato in the sink, put knife and potato slice in the bowl, put bowl in the microwave | STEP 1: Walk to the right towards the counter", "output": ["STEP 2: Grab the knife from the counter"]} +{"id": "trial_T20190908_050652_202542-1%2", "input": "Slice potato in the sink, put knife and potato slice in the bowl, put bowl in the microwave | STEP 1: Walk to the right towards the counter | STEP 2: Grab the knife from the counter", "output": ["STEP 3: Walk with the knife towards the sink"]} +{"id": "trial_T20190908_050652_202542-1%3", "input": "Slice potato in the sink, put knife and potato slice in the bowl, put bowl in the microwave | STEP 1: Walk to the right towards the counter | STEP 2: Grab the knife from the counter | STEP 3: Walk with the knife towards the sink", "output": ["STEP 4: Slice the potato in the sink"]} +{"id": "trial_T20190908_050652_202542-1%4", "input": "Slice potato in the sink, put knife and potato slice in the bowl, put bowl in the microwave | STEP 1: Walk to the right towards the counter | STEP 2: Grab the knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Slice the potato in the sink", "output": ["STEP 5: Walk towards the round table"]} +{"id": "trial_T20190908_050652_202542-1%5", "input": "Slice potato in the sink, put knife and potato slice in the bowl, put bowl in the microwave | STEP 1: Walk to the right towards the counter | STEP 2: Grab the knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Slice the potato in the sink | STEP 5: Walk towards the round table", "output": ["STEP 6: Put the knife in the bowl"]} +{"id": "trial_T20190908_050652_202542-1%6", "input": "Slice potato in the sink, put knife and potato slice in the bowl, put bowl in the microwave | STEP 1: Walk to the right towards the counter | STEP 2: Grab the knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Slice the potato in the sink | STEP 5: Walk towards the round table | STEP 6: Put the knife in the bowl", "output": ["STEP 7: Walk towards the sink"]} +{"id": "trial_T20190908_050652_202542-1%7", "input": "Slice potato in the sink, put knife and potato slice in the bowl, put bowl in the microwave | STEP 1: Walk to the right towards the counter | STEP 2: Grab the knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Slice the potato in the sink | STEP 5: Walk towards the round table | STEP 6: Put the knife in the bowl | STEP 7: Walk towards the sink", "output": ["STEP 8: Grab a potato slice from the sink"]} +{"id": "trial_T20190908_050652_202542-1%8", "input": "Slice potato in the sink, put knife and potato slice in the bowl, put bowl in the microwave | STEP 1: Walk to the right towards the counter | STEP 2: Grab the knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Slice the potato in the sink | STEP 5: Walk towards the round table | STEP 6: Put the knife in the bowl | STEP 7: Walk towards the sink | STEP 8: Grab a potato slice from the sink", "output": ["STEP 9: Walk with the potato slice towards the round table"]} +{"id": "trial_T20190908_050652_202542-1%9", "input": "Slice potato in the sink, put knife and potato slice in the bowl, put bowl in the microwave | STEP 1: Walk to the right towards the counter | STEP 2: Grab the knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Slice the potato in the sink | STEP 5: Walk towards the round table | STEP 6: Put the knife in the bowl | STEP 7: Walk towards the sink | STEP 8: Grab a potato slice from the sink | STEP 9: Walk with the potato slice towards the round table", "output": ["STEP 10: Put the potato slice in the bowl"]} +{"id": "trial_T20190908_050652_202542-1%10", "input": "Slice potato in the sink, put knife and potato slice in the bowl, put bowl in the microwave | STEP 1: Walk to the right towards the counter | STEP 2: Grab the knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Slice the potato in the sink | STEP 5: Walk towards the round table | STEP 6: Put the knife in the bowl | STEP 7: Walk towards the sink | STEP 8: Grab a potato slice from the sink | STEP 9: Walk with the potato slice towards the round table | STEP 10: Put the potato slice in the bowl", "output": ["STEP 11: Grab the bowl from the table"]} +{"id": "trial_T20190908_050652_202542-1%11", "input": "Slice potato in the sink, put knife and potato slice in the bowl, put bowl in the microwave | STEP 1: Walk to the right towards the counter | STEP 2: Grab the knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Slice the potato in the sink | STEP 5: Walk towards the round table | STEP 6: Put the knife in the bowl | STEP 7: Walk towards the sink | STEP 8: Grab a potato slice from the sink | STEP 9: Walk with the potato slice towards the round table | STEP 10: Put the potato slice in the bowl | STEP 11: Grab the bowl from the table", "output": ["STEP 12: Walk with the bowl towards the microwave"]} +{"id": "trial_T20190908_050652_202542-1%12", "input": "Slice potato in the sink, put knife and potato slice in the bowl, put bowl in the microwave | STEP 1: Walk to the right towards the counter | STEP 2: Grab the knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Slice the potato in the sink | STEP 5: Walk towards the round table | STEP 6: Put the knife in the bowl | STEP 7: Walk towards the sink | STEP 8: Grab a potato slice from the sink | STEP 9: Walk with the potato slice towards the round table | STEP 10: Put the potato slice in the bowl | STEP 11: Grab the bowl from the table | STEP 12: Walk with the bowl towards the microwave", "output": ["STEP 13: Put the bowl inside the microwave"]} +{"id": "trial_T20190908_050652_202542-1%13", "input": "Slice potato in the sink, put knife and potato slice in the bowl, put bowl in the microwave | STEP 1: Walk to the right towards the counter | STEP 2: Grab the knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Slice the potato in the sink | STEP 5: Walk towards the round table | STEP 6: Put the knife in the bowl | STEP 7: Walk towards the sink | STEP 8: Grab a potato slice from the sink | STEP 9: Walk with the potato slice towards the round table | STEP 10: Put the potato slice in the bowl | STEP 11: Grab the bowl from the table | STEP 12: Walk with the bowl towards the microwave | STEP 13: Put the bowl inside the microwave", "output": ["END"]} +{"id": "trial_T20190907_153145_812102-2%0", "input": "Examine a set of keys next to the light of a tall lamp.", "output": ["STEP 1: Turn left towards the shelves on your right."]} +{"id": "trial_T20190907_153145_812102-2%1", "input": "Examine a set of keys next to the light of a tall lamp. | STEP 1: Turn left towards the shelves on your right.", "output": ["STEP 2: Pick up the keys on the second shelf."]} +{"id": "trial_T20190907_153145_812102-2%2", "input": "Examine a set of keys next to the light of a tall lamp. | STEP 1: Turn left towards the shelves on your right. | STEP 2: Pick up the keys on the second shelf.", "output": ["STEP 3: Turn left and head towards the lamp next to the grey bin."]} +{"id": "trial_T20190907_153145_812102-2%3", "input": "Examine a set of keys next to the light of a tall lamp. | STEP 1: Turn left towards the shelves on your right. | STEP 2: Pick up the keys on the second shelf. | STEP 3: Turn left and head towards the lamp next to the grey bin.", "output": ["STEP 4: Turn on the lamp."]} +{"id": "trial_T20190907_153145_812102-2%4", "input": "Examine a set of keys next to the light of a tall lamp. | STEP 1: Turn left towards the shelves on your right. | STEP 2: Pick up the keys on the second shelf. | STEP 3: Turn left and head towards the lamp next to the grey bin. | STEP 4: Turn on the lamp.", "output": ["END"]} +{"id": "trial_T20190907_071854_484962-0%0", "input": "Examine a textbook by the light of a desk lamp.", "output": ["STEP 1: Walk to the right toward the stuffed animal on the bed."]} +{"id": "trial_T20190907_071854_484962-0%1", "input": "Examine a textbook by the light of a desk lamp. | STEP 1: Walk to the right toward the stuffed animal on the bed.", "output": ["STEP 2: Pick up the textbook on the bed which is behind the stuffed animal."]} +{"id": "trial_T20190907_071854_484962-0%2", "input": "Examine a textbook by the light of a desk lamp. | STEP 1: Walk to the right toward the stuffed animal on the bed. | STEP 2: Pick up the textbook on the bed which is behind the stuffed animal.", "output": ["STEP 3: Turn left and walk in front of the lamp which is on the desk."]} +{"id": "trial_T20190907_071854_484962-0%3", "input": "Examine a textbook by the light of a desk lamp. | STEP 1: Walk to the right toward the stuffed animal on the bed. | STEP 2: Pick up the textbook on the bed which is behind the stuffed animal. | STEP 3: Turn left and walk in front of the lamp which is on the desk.", "output": ["STEP 4: Turn on the lamp."]} +{"id": "trial_T20190907_071854_484962-0%4", "input": "Examine a textbook by the light of a desk lamp. | STEP 1: Walk to the right toward the stuffed animal on the bed. | STEP 2: Pick up the textbook on the bed which is behind the stuffed animal. | STEP 3: Turn left and walk in front of the lamp which is on the desk. | STEP 4: Turn on the lamp.", "output": ["END"]} +{"id": "trial_T20190911_215028_273273-0%0", "input": "Place a soap bottle in a trash bin.", "output": ["STEP 1: Turn around and veer right to the right sink."]} +{"id": "trial_T20190911_215028_273273-0%1", "input": "Place a soap bottle in a trash bin. | STEP 1: Turn around and veer right to the right sink.", "output": ["STEP 2: Pick up the soap bottle to the right of the sink."]} +{"id": "trial_T20190911_215028_273273-0%2", "input": "Place a soap bottle in a trash bin. | STEP 1: Turn around and veer right to the right sink. | STEP 2: Pick up the soap bottle to the right of the sink.", "output": ["STEP 3: Turn around and walk to the green bin on the floor."]} +{"id": "trial_T20190911_215028_273273-0%3", "input": "Place a soap bottle in a trash bin. | STEP 1: Turn around and veer right to the right sink. | STEP 2: Pick up the soap bottle to the right of the sink. | STEP 3: Turn around and walk to the green bin on the floor.", "output": ["STEP 4: Place the bottle in the bin."]} +{"id": "trial_T20190911_215028_273273-0%4", "input": "Place a soap bottle in a trash bin. | STEP 1: Turn around and veer right to the right sink. | STEP 2: Pick up the soap bottle to the right of the sink. | STEP 3: Turn around and walk to the green bin on the floor. | STEP 4: Place the bottle in the bin.", "output": ["END"]} +{"id": "trial_T20190908_113437_016867-1%0", "input": "Examine the mug from the light of the lamp", "output": ["STEP 1: Turn right and go to the wall then turn right and go to the dresser"]} +{"id": "trial_T20190908_113437_016867-1%1", "input": "Examine the mug from the light of the lamp | STEP 1: Turn right and go to the wall then turn right and go to the dresser", "output": ["STEP 2: Pick up the mug from the dresser"]} +{"id": "trial_T20190908_113437_016867-1%2", "input": "Examine the mug from the light of the lamp | STEP 1: Turn right and go to the wall then turn right and go to the dresser | STEP 2: Pick up the mug from the dresser", "output": ["STEP 3: Turn around and go to the table"]} +{"id": "trial_T20190908_113437_016867-1%3", "input": "Examine the mug from the light of the lamp | STEP 1: Turn right and go to the wall then turn right and go to the dresser | STEP 2: Pick up the mug from the dresser | STEP 3: Turn around and go to the table", "output": ["STEP 4: Turn on the lamp that is on the table"]} +{"id": "trial_T20190908_113437_016867-1%4", "input": "Examine the mug from the light of the lamp | STEP 1: Turn right and go to the wall then turn right and go to the dresser | STEP 2: Pick up the mug from the dresser | STEP 3: Turn around and go to the table | STEP 4: Turn on the lamp that is on the table", "output": ["END"]} +{"id": "trial_T20190907_040739_849657-1%0", "input": "Move two remote controls from the coffee table to the couch. ", "output": ["STEP 1: Turn around and go to the coffee table."]} +{"id": "trial_T20190907_040739_849657-1%1", "input": "Move two remote controls from the coffee table to the couch. | STEP 1: Turn around and go to the coffee table.", "output": ["STEP 2: Pick up a remote control on the coffee table."]} +{"id": "trial_T20190907_040739_849657-1%2", "input": "Move two remote controls from the coffee table to the couch. | STEP 1: Turn around and go to the coffee table. | STEP 2: Pick up a remote control on the coffee table.", "output": ["STEP 3: Turn around and go to the couch."]} +{"id": "trial_T20190907_040739_849657-1%3", "input": "Move two remote controls from the coffee table to the couch. | STEP 1: Turn around and go to the coffee table. | STEP 2: Pick up a remote control on the coffee table. | STEP 3: Turn around and go to the couch.", "output": ["STEP 4: Put the remote control on the couch."]} +{"id": "trial_T20190907_040739_849657-1%4", "input": "Move two remote controls from the coffee table to the couch. | STEP 1: Turn around and go to the coffee table. | STEP 2: Pick up a remote control on the coffee table. | STEP 3: Turn around and go to the couch. | STEP 4: Put the remote control on the couch.", "output": ["STEP 5: Turn around and go to the coffee table."]} +{"id": "trial_T20190907_040739_849657-1%5", "input": "Move two remote controls from the coffee table to the couch. | STEP 1: Turn around and go to the coffee table. | STEP 2: Pick up a remote control on the coffee table. | STEP 3: Turn around and go to the couch. | STEP 4: Put the remote control on the couch. | STEP 5: Turn around and go to the coffee table.", "output": ["STEP 6: Pick up a remote control on the coffee table."]} +{"id": "trial_T20190907_040739_849657-1%6", "input": "Move two remote controls from the coffee table to the couch. | STEP 1: Turn around and go to the coffee table. | STEP 2: Pick up a remote control on the coffee table. | STEP 3: Turn around and go to the couch. | STEP 4: Put the remote control on the couch. | STEP 5: Turn around and go to the coffee table. | STEP 6: Pick up a remote control on the coffee table.", "output": ["STEP 7: Turn around and go to the couch. "]} +{"id": "trial_T20190907_040739_849657-1%7", "input": "Move two remote controls from the coffee table to the couch. | STEP 1: Turn around and go to the coffee table. | STEP 2: Pick up a remote control on the coffee table. | STEP 3: Turn around and go to the couch. | STEP 4: Put the remote control on the couch. | STEP 5: Turn around and go to the coffee table. | STEP 6: Pick up a remote control on the coffee table. | STEP 7: Turn around and go to the couch. ", "output": ["STEP 8: Put the remote control on the couch."]} +{"id": "trial_T20190907_040739_849657-1%8", "input": "Move two remote controls from the coffee table to the couch. | STEP 1: Turn around and go to the coffee table. | STEP 2: Pick up a remote control on the coffee table. | STEP 3: Turn around and go to the couch. | STEP 4: Put the remote control on the couch. | STEP 5: Turn around and go to the coffee table. | STEP 6: Pick up a remote control on the coffee table. | STEP 7: Turn around and go to the couch. | STEP 8: Put the remote control on the couch.", "output": ["END"]} +{"id": "trial_T20190907_040739_849657-2%0", "input": "Put the remotes on the couch. ", "output": ["STEP 1: Turn to the right, take 2 steps, turn to the right. "]} +{"id": "trial_T20190907_040739_849657-2%1", "input": "Put the remotes on the couch. | STEP 1: Turn to the right, take 2 steps, turn to the right. ", "output": ["STEP 2: Pick up the remote that is next to the laptop on the coffee table."]} +{"id": "trial_T20190907_040739_849657-2%2", "input": "Put the remotes on the couch. | STEP 1: Turn to the right, take 2 steps, turn to the right. | STEP 2: Pick up the remote that is next to the laptop on the coffee table.", "output": ["STEP 3: Turn around to face the couch. "]} +{"id": "trial_T20190907_040739_849657-2%3", "input": "Put the remotes on the couch. | STEP 1: Turn to the right, take 2 steps, turn to the right. | STEP 2: Pick up the remote that is next to the laptop on the coffee table. | STEP 3: Turn around to face the couch. ", "output": ["STEP 4: Set the remote on the edge of the couch cushion."]} +{"id": "trial_T20190907_040739_849657-2%4", "input": "Put the remotes on the couch. | STEP 1: Turn to the right, take 2 steps, turn to the right. | STEP 2: Pick up the remote that is next to the laptop on the coffee table. | STEP 3: Turn around to face the couch. | STEP 4: Set the remote on the edge of the couch cushion.", "output": ["STEP 5: Turn to the left, take a step, turn to the left."]} +{"id": "trial_T20190907_040739_849657-2%5", "input": "Put the remotes on the couch. | STEP 1: Turn to the right, take 2 steps, turn to the right. | STEP 2: Pick up the remote that is next to the laptop on the coffee table. | STEP 3: Turn around to face the couch. | STEP 4: Set the remote on the edge of the couch cushion. | STEP 5: Turn to the left, take a step, turn to the left.", "output": ["STEP 6: Pick up the remote behind the figurine. "]} +{"id": "trial_T20190907_040739_849657-2%6", "input": "Put the remotes on the couch. | STEP 1: Turn to the right, take 2 steps, turn to the right. | STEP 2: Pick up the remote that is next to the laptop on the coffee table. | STEP 3: Turn around to face the couch. | STEP 4: Set the remote on the edge of the couch cushion. | STEP 5: Turn to the left, take a step, turn to the left. | STEP 6: Pick up the remote behind the figurine. ", "output": ["STEP 7: Turn around, take a step, turn to the right, take a step, turn to the left."]} +{"id": "trial_T20190907_040739_849657-2%7", "input": "Put the remotes on the couch. | STEP 1: Turn to the right, take 2 steps, turn to the right. | STEP 2: Pick up the remote that is next to the laptop on the coffee table. | STEP 3: Turn around to face the couch. | STEP 4: Set the remote on the edge of the couch cushion. | STEP 5: Turn to the left, take a step, turn to the left. | STEP 6: Pick up the remote behind the figurine. | STEP 7: Turn around, take a step, turn to the right, take a step, turn to the left.", "output": ["STEP 8: Put the remote on the couch behind the placard. "]} +{"id": "trial_T20190907_040739_849657-2%8", "input": "Put the remotes on the couch. | STEP 1: Turn to the right, take 2 steps, turn to the right. | STEP 2: Pick up the remote that is next to the laptop on the coffee table. | STEP 3: Turn around to face the couch. | STEP 4: Set the remote on the edge of the couch cushion. | STEP 5: Turn to the left, take a step, turn to the left. | STEP 6: Pick up the remote behind the figurine. | STEP 7: Turn around, take a step, turn to the right, take a step, turn to the left. | STEP 8: Put the remote on the couch behind the placard. ", "output": ["END"]} +{"id": "trial_T20190907_040739_849657-3%0", "input": "Put two remotes on the couch.", "output": ["STEP 1: Move to the coffee table in front of the couch"]} +{"id": "trial_T20190907_040739_849657-3%1", "input": "Put two remotes on the couch. | STEP 1: Move to the coffee table in front of the couch", "output": ["STEP 2: pick up the remote from the table"]} +{"id": "trial_T20190907_040739_849657-3%2", "input": "Put two remotes on the couch. | STEP 1: Move to the coffee table in front of the couch | STEP 2: pick up the remote from the table", "output": ["STEP 3: turn around to the couch"]} +{"id": "trial_T20190907_040739_849657-3%3", "input": "Put two remotes on the couch. | STEP 1: Move to the coffee table in front of the couch | STEP 2: pick up the remote from the table | STEP 3: turn around to the couch", "output": ["STEP 4: Put the remote on the couch"]} +{"id": "trial_T20190907_040739_849657-3%4", "input": "Put two remotes on the couch. | STEP 1: Move to the coffee table in front of the couch | STEP 2: pick up the remote from the table | STEP 3: turn around to the couch | STEP 4: Put the remote on the couch", "output": ["STEP 5: Move to the coffee table in front of the couch"]} +{"id": "trial_T20190907_040739_849657-3%5", "input": "Put two remotes on the couch. | STEP 1: Move to the coffee table in front of the couch | STEP 2: pick up the remote from the table | STEP 3: turn around to the couch | STEP 4: Put the remote on the couch | STEP 5: Move to the coffee table in front of the couch", "output": ["STEP 6: pick up the remote from the table"]} +{"id": "trial_T20190907_040739_849657-3%6", "input": "Put two remotes on the couch. | STEP 1: Move to the coffee table in front of the couch | STEP 2: pick up the remote from the table | STEP 3: turn around to the couch | STEP 4: Put the remote on the couch | STEP 5: Move to the coffee table in front of the couch | STEP 6: pick up the remote from the table", "output": ["STEP 7: turn around to the couch"]} +{"id": "trial_T20190907_040739_849657-3%7", "input": "Put two remotes on the couch. | STEP 1: Move to the coffee table in front of the couch | STEP 2: pick up the remote from the table | STEP 3: turn around to the couch | STEP 4: Put the remote on the couch | STEP 5: Move to the coffee table in front of the couch | STEP 6: pick up the remote from the table | STEP 7: turn around to the couch", "output": ["STEP 8: Put the remote on the couch"]} +{"id": "trial_T20190907_040739_849657-3%8", "input": "Put two remotes on the couch. | STEP 1: Move to the coffee table in front of the couch | STEP 2: pick up the remote from the table | STEP 3: turn around to the couch | STEP 4: Put the remote on the couch | STEP 5: Move to the coffee table in front of the couch | STEP 6: pick up the remote from the table | STEP 7: turn around to the couch | STEP 8: Put the remote on the couch", "output": ["END"]} +{"id": "trial_T20190907_040739_849657-4%0", "input": "Place two remotes on a couch.", "output": ["STEP 1: Turn to your left and face the coffee table."]} +{"id": "trial_T20190907_040739_849657-4%1", "input": "Place two remotes on a couch. | STEP 1: Turn to your left and face the coffee table.", "output": ["STEP 2: Pick up the remote from the front of the coffee table."]} +{"id": "trial_T20190907_040739_849657-4%2", "input": "Place two remotes on a couch. | STEP 1: Turn to your left and face the coffee table. | STEP 2: Pick up the remote from the front of the coffee table.", "output": ["STEP 3: Turn around and face the couch."]} +{"id": "trial_T20190907_040739_849657-4%3", "input": "Place two remotes on a couch. | STEP 1: Turn to your left and face the coffee table. | STEP 2: Pick up the remote from the front of the coffee table. | STEP 3: Turn around and face the couch.", "output": ["STEP 4: Place the remote on the left side of the middle cushion of the couch."]} +{"id": "trial_T20190907_040739_849657-4%4", "input": "Place two remotes on a couch. | STEP 1: Turn to your left and face the coffee table. | STEP 2: Pick up the remote from the front of the coffee table. | STEP 3: Turn around and face the couch. | STEP 4: Place the remote on the left side of the middle cushion of the couch.", "output": ["STEP 5: Turn around and face the coffee table."]} +{"id": "trial_T20190907_040739_849657-4%5", "input": "Place two remotes on a couch. | STEP 1: Turn to your left and face the coffee table. | STEP 2: Pick up the remote from the front of the coffee table. | STEP 3: Turn around and face the couch. | STEP 4: Place the remote on the left side of the middle cushion of the couch. | STEP 5: Turn around and face the coffee table.", "output": ["STEP 6: Pick up the remote from the right side of the coffee table."]} +{"id": "trial_T20190907_040739_849657-4%6", "input": "Place two remotes on a couch. | STEP 1: Turn to your left and face the coffee table. | STEP 2: Pick up the remote from the front of the coffee table. | STEP 3: Turn around and face the couch. | STEP 4: Place the remote on the left side of the middle cushion of the couch. | STEP 5: Turn around and face the coffee table. | STEP 6: Pick up the remote from the right side of the coffee table.", "output": ["STEP 7: Turn around and face the couch again."]} +{"id": "trial_T20190907_040739_849657-4%7", "input": "Place two remotes on a couch. | STEP 1: Turn to your left and face the coffee table. | STEP 2: Pick up the remote from the front of the coffee table. | STEP 3: Turn around and face the couch. | STEP 4: Place the remote on the left side of the middle cushion of the couch. | STEP 5: Turn around and face the coffee table. | STEP 6: Pick up the remote from the right side of the coffee table. | STEP 7: Turn around and face the couch again.", "output": ["STEP 8: Place the remote on the back right side of the middle cushion."]} +{"id": "trial_T20190907_040739_849657-4%8", "input": "Place two remotes on a couch. | STEP 1: Turn to your left and face the coffee table. | STEP 2: Pick up the remote from the front of the coffee table. | STEP 3: Turn around and face the couch. | STEP 4: Place the remote on the left side of the middle cushion of the couch. | STEP 5: Turn around and face the coffee table. | STEP 6: Pick up the remote from the right side of the coffee table. | STEP 7: Turn around and face the couch again. | STEP 8: Place the remote on the back right side of the middle cushion.", "output": ["END"]} +{"id": "trial_T20190908_194138_749526-0%0", "input": "Put a microwaved apple by the coffee machine", "output": ["STEP 1: Turn and go to the sink."]} +{"id": "trial_T20190908_194138_749526-0%1", "input": "Put a microwaved apple by the coffee machine | STEP 1: Turn and go to the sink.", "output": ["STEP 2: Pick up an apple in the sink."]} +{"id": "trial_T20190908_194138_749526-0%2", "input": "Put a microwaved apple by the coffee machine | STEP 1: Turn and go to the sink. | STEP 2: Pick up an apple in the sink.", "output": ["STEP 3: Turn and go to the microwave. "]} +{"id": "trial_T20190908_194138_749526-0%3", "input": "Put a microwaved apple by the coffee machine | STEP 1: Turn and go to the sink. | STEP 2: Pick up an apple in the sink. | STEP 3: Turn and go to the microwave. ", "output": ["STEP 4: Heat up the apple in the microwave. "]} +{"id": "trial_T20190908_194138_749526-0%4", "input": "Put a microwaved apple by the coffee machine | STEP 1: Turn and go to the sink. | STEP 2: Pick up an apple in the sink. | STEP 3: Turn and go to the microwave. | STEP 4: Heat up the apple in the microwave. ", "output": ["STEP 5: Turn and go to the coffee machine."]} +{"id": "trial_T20190908_194138_749526-0%5", "input": "Put a microwaved apple by the coffee machine | STEP 1: Turn and go to the sink. | STEP 2: Pick up an apple in the sink. | STEP 3: Turn and go to the microwave. | STEP 4: Heat up the apple in the microwave. | STEP 5: Turn and go to the coffee machine.", "output": ["STEP 6: Put the apple on the counter by the coffee machine."]} +{"id": "trial_T20190908_194138_749526-0%6", "input": "Put a microwaved apple by the coffee machine | STEP 1: Turn and go to the sink. | STEP 2: Pick up an apple in the sink. | STEP 3: Turn and go to the microwave. | STEP 4: Heat up the apple in the microwave. | STEP 5: Turn and go to the coffee machine. | STEP 6: Put the apple on the counter by the coffee machine.", "output": ["END"]} +{"id": "trial_T20190908_194138_749526-2%0", "input": "place microwaved apple in front of coffee maker", "output": ["STEP 1: turn left, face sink with apple to the left"]} +{"id": "trial_T20190908_194138_749526-2%1", "input": "place microwaved apple in front of coffee maker | STEP 1: turn left, face sink with apple to the left", "output": ["STEP 2: pick up red apple from counter"]} +{"id": "trial_T20190908_194138_749526-2%2", "input": "place microwaved apple in front of coffee maker | STEP 1: turn left, face sink with apple to the left | STEP 2: pick up red apple from counter", "output": ["STEP 3: turn around, go to microwave above stove"]} +{"id": "trial_T20190908_194138_749526-2%3", "input": "place microwaved apple in front of coffee maker | STEP 1: turn left, face sink with apple to the left | STEP 2: pick up red apple from counter | STEP 3: turn around, go to microwave above stove", "output": ["STEP 4: open microwave, put apple in microwave, microwave apple, open microwave, pick up apple, close microwave"]} +{"id": "trial_T20190908_194138_749526-2%4", "input": "place microwaved apple in front of coffee maker | STEP 1: turn left, face sink with apple to the left | STEP 2: pick up red apple from counter | STEP 3: turn around, go to microwave above stove | STEP 4: open microwave, put apple in microwave, microwave apple, open microwave, pick up apple, close microwave", "output": ["STEP 5: turn around, go to counter with coffee maker to the left"]} +{"id": "trial_T20190908_194138_749526-2%5", "input": "place microwaved apple in front of coffee maker | STEP 1: turn left, face sink with apple to the left | STEP 2: pick up red apple from counter | STEP 3: turn around, go to microwave above stove | STEP 4: open microwave, put apple in microwave, microwave apple, open microwave, pick up apple, close microwave | STEP 5: turn around, go to counter with coffee maker to the left", "output": ["STEP 6: place apple on counter in front of coffee maker"]} +{"id": "trial_T20190908_194138_749526-2%6", "input": "place microwaved apple in front of coffee maker | STEP 1: turn left, face sink with apple to the left | STEP 2: pick up red apple from counter | STEP 3: turn around, go to microwave above stove | STEP 4: open microwave, put apple in microwave, microwave apple, open microwave, pick up apple, close microwave | STEP 5: turn around, go to counter with coffee maker to the left | STEP 6: place apple on counter in front of coffee maker", "output": ["END"]} +{"id": "trial_T20190907_153002_796630-1%0", "input": "Turn the lamp on while holding the keys.", "output": ["STEP 1: Head straight to the end table next to the sofa."]} +{"id": "trial_T20190907_153002_796630-1%1", "input": "Turn the lamp on while holding the keys. | STEP 1: Head straight to the end table next to the sofa.", "output": ["STEP 2: Pick the keys up from off of the end table."]} +{"id": "trial_T20190907_153002_796630-1%2", "input": "Turn the lamp on while holding the keys. | STEP 1: Head straight to the end table next to the sofa. | STEP 2: Pick the keys up from off of the end table.", "output": ["STEP 3: Go to the right past the door and stand in front of the lamp."]} +{"id": "trial_T20190907_153002_796630-1%3", "input": "Turn the lamp on while holding the keys. | STEP 1: Head straight to the end table next to the sofa. | STEP 2: Pick the keys up from off of the end table. | STEP 3: Go to the right past the door and stand in front of the lamp.", "output": ["STEP 4: Turn the lamp on."]} +{"id": "trial_T20190907_153002_796630-1%4", "input": "Turn the lamp on while holding the keys. | STEP 1: Head straight to the end table next to the sofa. | STEP 2: Pick the keys up from off of the end table. | STEP 3: Go to the right past the door and stand in front of the lamp. | STEP 4: Turn the lamp on.", "output": ["END"]} +{"id": "trial_T20190911_101350_992206-1%0", "input": "Put a microwaved slice of tomato on the counter next to the wall oven", "output": ["STEP 1: Turn right and go up to the sink"]} +{"id": "trial_T20190911_101350_992206-1%1", "input": "Put a microwaved slice of tomato on the counter next to the wall oven | STEP 1: Turn right and go up to the sink", "output": ["STEP 2: Pick up the knife from the sink"]} +{"id": "trial_T20190911_101350_992206-1%2", "input": "Put a microwaved slice of tomato on the counter next to the wall oven | STEP 1: Turn right and go up to the sink | STEP 2: Pick up the knife from the sink", "output": ["STEP 3: Step closer to the sink"]} +{"id": "trial_T20190911_101350_992206-1%3", "input": "Put a microwaved slice of tomato on the counter next to the wall oven | STEP 1: Turn right and go up to the sink | STEP 2: Pick up the knife from the sink | STEP 3: Step closer to the sink", "output": ["STEP 4: Slice the tomato that is on the cutting board over the sink"]} +{"id": "trial_T20190911_101350_992206-1%4", "input": "Put a microwaved slice of tomato on the counter next to the wall oven | STEP 1: Turn right and go up to the sink | STEP 2: Pick up the knife from the sink | STEP 3: Step closer to the sink | STEP 4: Slice the tomato that is on the cutting board over the sink", "output": ["STEP 5: Turn around and face the counter across from the sink"]} +{"id": "trial_T20190911_101350_992206-1%5", "input": "Put a microwaved slice of tomato on the counter next to the wall oven | STEP 1: Turn right and go up to the sink | STEP 2: Pick up the knife from the sink | STEP 3: Step closer to the sink | STEP 4: Slice the tomato that is on the cutting board over the sink | STEP 5: Turn around and face the counter across from the sink", "output": ["STEP 6: Put the knife in the cupboard under the counter"]} +{"id": "trial_T20190911_101350_992206-1%6", "input": "Put a microwaved slice of tomato on the counter next to the wall oven | STEP 1: Turn right and go up to the sink | STEP 2: Pick up the knife from the sink | STEP 3: Step closer to the sink | STEP 4: Slice the tomato that is on the cutting board over the sink | STEP 5: Turn around and face the counter across from the sink | STEP 6: Put the knife in the cupboard under the counter", "output": ["STEP 7: Turn around and go back to the sink"]} +{"id": "trial_T20190911_101350_992206-1%7", "input": "Put a microwaved slice of tomato on the counter next to the wall oven | STEP 1: Turn right and go up to the sink | STEP 2: Pick up the knife from the sink | STEP 3: Step closer to the sink | STEP 4: Slice the tomato that is on the cutting board over the sink | STEP 5: Turn around and face the counter across from the sink | STEP 6: Put the knife in the cupboard under the counter | STEP 7: Turn around and go back to the sink", "output": ["STEP 8: Pick up a slice of tomato"]} +{"id": "trial_T20190911_101350_992206-1%8", "input": "Put a microwaved slice of tomato on the counter next to the wall oven | STEP 1: Turn right and go up to the sink | STEP 2: Pick up the knife from the sink | STEP 3: Step closer to the sink | STEP 4: Slice the tomato that is on the cutting board over the sink | STEP 5: Turn around and face the counter across from the sink | STEP 6: Put the knife in the cupboard under the counter | STEP 7: Turn around and go back to the sink | STEP 8: Pick up a slice of tomato", "output": ["STEP 9: Turn left and go to the wall, then turn left and go to the wall oven with the microwave above it"]} +{"id": "trial_T20190911_101350_992206-1%9", "input": "Put a microwaved slice of tomato on the counter next to the wall oven | STEP 1: Turn right and go up to the sink | STEP 2: Pick up the knife from the sink | STEP 3: Step closer to the sink | STEP 4: Slice the tomato that is on the cutting board over the sink | STEP 5: Turn around and face the counter across from the sink | STEP 6: Put the knife in the cupboard under the counter | STEP 7: Turn around and go back to the sink | STEP 8: Pick up a slice of tomato | STEP 9: Turn left and go to the wall, then turn left and go to the wall oven with the microwave above it", "output": ["STEP 10: Microwave the slice of tomato then remove it from the microwave"]} +{"id": "trial_T20190911_101350_992206-1%10", "input": "Put a microwaved slice of tomato on the counter next to the wall oven | STEP 1: Turn right and go up to the sink | STEP 2: Pick up the knife from the sink | STEP 3: Step closer to the sink | STEP 4: Slice the tomato that is on the cutting board over the sink | STEP 5: Turn around and face the counter across from the sink | STEP 6: Put the knife in the cupboard under the counter | STEP 7: Turn around and go back to the sink | STEP 8: Pick up a slice of tomato | STEP 9: Turn left and go to the wall, then turn left and go to the wall oven with the microwave above it | STEP 10: Microwave the slice of tomato then remove it from the microwave", "output": ["STEP 11: Turn left then turn right and go to the counter to the left of the wall oven"]} +{"id": "trial_T20190911_101350_992206-1%11", "input": "Put a microwaved slice of tomato on the counter next to the wall oven | STEP 1: Turn right and go up to the sink | STEP 2: Pick up the knife from the sink | STEP 3: Step closer to the sink | STEP 4: Slice the tomato that is on the cutting board over the sink | STEP 5: Turn around and face the counter across from the sink | STEP 6: Put the knife in the cupboard under the counter | STEP 7: Turn around and go back to the sink | STEP 8: Pick up a slice of tomato | STEP 9: Turn left and go to the wall, then turn left and go to the wall oven with the microwave above it | STEP 10: Microwave the slice of tomato then remove it from the microwave | STEP 11: Turn left then turn right and go to the counter to the left of the wall oven", "output": ["STEP 12: Put the tomato slice on the counter to the left of the plate"]} +{"id": "trial_T20190911_101350_992206-1%12", "input": "Put a microwaved slice of tomato on the counter next to the wall oven | STEP 1: Turn right and go up to the sink | STEP 2: Pick up the knife from the sink | STEP 3: Step closer to the sink | STEP 4: Slice the tomato that is on the cutting board over the sink | STEP 5: Turn around and face the counter across from the sink | STEP 6: Put the knife in the cupboard under the counter | STEP 7: Turn around and go back to the sink | STEP 8: Pick up a slice of tomato | STEP 9: Turn left and go to the wall, then turn left and go to the wall oven with the microwave above it | STEP 10: Microwave the slice of tomato then remove it from the microwave | STEP 11: Turn left then turn right and go to the counter to the left of the wall oven | STEP 12: Put the tomato slice on the counter to the left of the plate", "output": ["END"]} +{"id": "trial_T20190911_030926_421031-1%0", "input": "Get fork, wash fork, put in drawer.", "output": ["STEP 1: Turn right, go past counter on left. Turn left and proceed to table."]} +{"id": "trial_T20190911_030926_421031-1%1", "input": "Get fork, wash fork, put in drawer. | STEP 1: Turn right, go past counter on left. Turn left and proceed to table.", "output": ["STEP 2: Remove fork from in front of yellow handle knife and sponge from table."]} +{"id": "trial_T20190911_030926_421031-1%2", "input": "Get fork, wash fork, put in drawer. | STEP 1: Turn right, go past counter on left. Turn left and proceed to table. | STEP 2: Remove fork from in front of yellow handle knife and sponge from table.", "output": ["STEP 3: Turn around, go to end of counter. Turn right, go to sink on right. Turn right to face sink."]} +{"id": "trial_T20190911_030926_421031-1%3", "input": "Get fork, wash fork, put in drawer. | STEP 1: Turn right, go past counter on left. Turn left and proceed to table. | STEP 2: Remove fork from in front of yellow handle knife and sponge from table. | STEP 3: Turn around, go to end of counter. Turn right, go to sink on right. Turn right to face sink.", "output": ["STEP 4: Place fork in sink to right of egg, fill with water, empty water, pick up fork."]} +{"id": "trial_T20190911_030926_421031-1%4", "input": "Get fork, wash fork, put in drawer. | STEP 1: Turn right, go past counter on left. Turn left and proceed to table. | STEP 2: Remove fork from in front of yellow handle knife and sponge from table. | STEP 3: Turn around, go to end of counter. Turn right, go to sink on right. Turn right to face sink. | STEP 4: Place fork in sink to right of egg, fill with water, empty water, pick up fork.", "output": ["STEP 5: Turn around, go to counter with bread on it."]} +{"id": "trial_T20190911_030926_421031-1%5", "input": "Get fork, wash fork, put in drawer. | STEP 1: Turn right, go past counter on left. Turn left and proceed to table. | STEP 2: Remove fork from in front of yellow handle knife and sponge from table. | STEP 3: Turn around, go to end of counter. Turn right, go to sink on right. Turn right to face sink. | STEP 4: Place fork in sink to right of egg, fill with water, empty water, pick up fork. | STEP 5: Turn around, go to counter with bread on it.", "output": ["STEP 6: Open drawer under bread, put fork in drawer, in the center. "]} +{"id": "trial_T20190911_030926_421031-1%6", "input": "Get fork, wash fork, put in drawer. | STEP 1: Turn right, go past counter on left. Turn left and proceed to table. | STEP 2: Remove fork from in front of yellow handle knife and sponge from table. | STEP 3: Turn around, go to end of counter. Turn right, go to sink on right. Turn right to face sink. | STEP 4: Place fork in sink to right of egg, fill with water, empty water, pick up fork. | STEP 5: Turn around, go to counter with bread on it. | STEP 6: Open drawer under bread, put fork in drawer, in the center. ", "output": ["END"]} +{"id": "trial_T20190907_065425_701848-0%0", "input": "Put a knife on the table in the kitchen as well at the bowl on top.", "output": ["STEP 1: Move to counter across from the fridge."]} +{"id": "trial_T20190907_065425_701848-0%1", "input": "Put a knife on the table in the kitchen as well at the bowl on top. | STEP 1: Move to counter across from the fridge.", "output": ["STEP 2: Pick up a knife from the counter."]} +{"id": "trial_T20190907_065425_701848-0%2", "input": "Put a knife on the table in the kitchen as well at the bowl on top. | STEP 1: Move to counter across from the fridge. | STEP 2: Pick up a knife from the counter.", "output": ["STEP 3: Move to the table to the left around the wall, across from the door."]} +{"id": "trial_T20190907_065425_701848-0%3", "input": "Put a knife on the table in the kitchen as well at the bowl on top. | STEP 1: Move to counter across from the fridge. | STEP 2: Pick up a knife from the counter. | STEP 3: Move to the table to the left around the wall, across from the door.", "output": ["STEP 4: Place the knife on the table."]} +{"id": "trial_T20190907_065425_701848-0%4", "input": "Put a knife on the table in the kitchen as well at the bowl on top. | STEP 1: Move to counter across from the fridge. | STEP 2: Pick up a knife from the counter. | STEP 3: Move to the table to the left around the wall, across from the door. | STEP 4: Place the knife on the table.", "output": ["STEP 5: Move to the counter across and slightly to the left of the fridge."]} +{"id": "trial_T20190907_065425_701848-0%5", "input": "Put a knife on the table in the kitchen as well at the bowl on top. | STEP 1: Move to counter across from the fridge. | STEP 2: Pick up a knife from the counter. | STEP 3: Move to the table to the left around the wall, across from the door. | STEP 4: Place the knife on the table. | STEP 5: Move to the counter across and slightly to the left of the fridge.", "output": ["STEP 6: Pick up the butter knife from the counter space."]} +{"id": "trial_T20190907_065425_701848-0%6", "input": "Put a knife on the table in the kitchen as well at the bowl on top. | STEP 1: Move to counter across from the fridge. | STEP 2: Pick up a knife from the counter. | STEP 3: Move to the table to the left around the wall, across from the door. | STEP 4: Place the knife on the table. | STEP 5: Move to the counter across and slightly to the left of the fridge. | STEP 6: Pick up the butter knife from the counter space.", "output": ["STEP 7: Move to the table to the left around the wall, across from the door."]} +{"id": "trial_T20190907_065425_701848-0%7", "input": "Put a knife on the table in the kitchen as well at the bowl on top. | STEP 1: Move to counter across from the fridge. | STEP 2: Pick up a knife from the counter. | STEP 3: Move to the table to the left around the wall, across from the door. | STEP 4: Place the knife on the table. | STEP 5: Move to the counter across and slightly to the left of the fridge. | STEP 6: Pick up the butter knife from the counter space. | STEP 7: Move to the table to the left around the wall, across from the door.", "output": ["STEP 8: Place the knife on the table inside the bowl."]} +{"id": "trial_T20190907_065425_701848-0%8", "input": "Put a knife on the table in the kitchen as well at the bowl on top. | STEP 1: Move to counter across from the fridge. | STEP 2: Pick up a knife from the counter. | STEP 3: Move to the table to the left around the wall, across from the door. | STEP 4: Place the knife on the table. | STEP 5: Move to the counter across and slightly to the left of the fridge. | STEP 6: Pick up the butter knife from the counter space. | STEP 7: Move to the table to the left around the wall, across from the door. | STEP 8: Place the knife on the table inside the bowl.", "output": ["END"]} +{"id": "trial_T20190907_065425_701848-1%0", "input": "Put two knifes on the table to the right of the sink.", "output": ["STEP 1: Move to the counter to the right of the stove"]} +{"id": "trial_T20190907_065425_701848-1%1", "input": "Put two knifes on the table to the right of the sink. | STEP 1: Move to the counter to the right of the stove", "output": ["STEP 2: Pick up a knife from the counter"]} +{"id": "trial_T20190907_065425_701848-1%2", "input": "Put two knifes on the table to the right of the sink. | STEP 1: Move to the counter to the right of the stove | STEP 2: Pick up a knife from the counter", "output": ["STEP 3: Move to the table to the right of the sink"]} +{"id": "trial_T20190907_065425_701848-1%3", "input": "Put two knifes on the table to the right of the sink. | STEP 1: Move to the counter to the right of the stove | STEP 2: Pick up a knife from the counter | STEP 3: Move to the table to the right of the sink", "output": ["STEP 4: Place the knife on the table"]} +{"id": "trial_T20190907_065425_701848-1%4", "input": "Put two knifes on the table to the right of the sink. | STEP 1: Move to the counter to the right of the stove | STEP 2: Pick up a knife from the counter | STEP 3: Move to the table to the right of the sink | STEP 4: Place the knife on the table", "output": ["STEP 5: Move to the counter to the right of the stove"]} +{"id": "trial_T20190907_065425_701848-1%5", "input": "Put two knifes on the table to the right of the sink. | STEP 1: Move to the counter to the right of the stove | STEP 2: Pick up a knife from the counter | STEP 3: Move to the table to the right of the sink | STEP 4: Place the knife on the table | STEP 5: Move to the counter to the right of the stove", "output": ["STEP 6: Pick up a knife from the counter"]} +{"id": "trial_T20190907_065425_701848-1%6", "input": "Put two knifes on the table to the right of the sink. | STEP 1: Move to the counter to the right of the stove | STEP 2: Pick up a knife from the counter | STEP 3: Move to the table to the right of the sink | STEP 4: Place the knife on the table | STEP 5: Move to the counter to the right of the stove | STEP 6: Pick up a knife from the counter", "output": ["STEP 7: Move to the table to the right of the sink"]} +{"id": "trial_T20190907_065425_701848-1%7", "input": "Put two knifes on the table to the right of the sink. | STEP 1: Move to the counter to the right of the stove | STEP 2: Pick up a knife from the counter | STEP 3: Move to the table to the right of the sink | STEP 4: Place the knife on the table | STEP 5: Move to the counter to the right of the stove | STEP 6: Pick up a knife from the counter | STEP 7: Move to the table to the right of the sink", "output": ["STEP 8: Place the knife in the bowl on the table"]} +{"id": "trial_T20190907_065425_701848-1%8", "input": "Put two knifes on the table to the right of the sink. | STEP 1: Move to the counter to the right of the stove | STEP 2: Pick up a knife from the counter | STEP 3: Move to the table to the right of the sink | STEP 4: Place the knife on the table | STEP 5: Move to the counter to the right of the stove | STEP 6: Pick up a knife from the counter | STEP 7: Move to the table to the right of the sink | STEP 8: Place the knife in the bowl on the table", "output": ["END"]} +{"id": "trial_T20190907_065425_701848-2%0", "input": "Put two knives on a round table, placing one of them in a blue bowl.", "output": ["STEP 1: Go to the right of the stove the the end of the counter on the left and turn to face the counter."]} +{"id": "trial_T20190907_065425_701848-2%1", "input": "Put two knives on a round table, placing one of them in a blue bowl. | STEP 1: Go to the right of the stove the the end of the counter on the left and turn to face the counter.", "output": ["STEP 2: Pick up the knife at the right end of the counter."]} +{"id": "trial_T20190907_065425_701848-2%2", "input": "Put two knives on a round table, placing one of them in a blue bowl. | STEP 1: Go to the right of the stove the the end of the counter on the left and turn to face the counter. | STEP 2: Pick up the knife at the right end of the counter.", "output": ["STEP 3: Face left and go between the counters to the window, then turn left and go to the round table."]} +{"id": "trial_T20190907_065425_701848-2%3", "input": "Put two knives on a round table, placing one of them in a blue bowl. | STEP 1: Go to the right of the stove the the end of the counter on the left and turn to face the counter. | STEP 2: Pick up the knife at the right end of the counter. | STEP 3: Face left and go between the counters to the window, then turn left and go to the round table.", "output": ["STEP 4: Put the knife on the table, to the right of the blue bowl."]} +{"id": "trial_T20190907_065425_701848-2%4", "input": "Put two knives on a round table, placing one of them in a blue bowl. | STEP 1: Go to the right of the stove the the end of the counter on the left and turn to face the counter. | STEP 2: Pick up the knife at the right end of the counter. | STEP 3: Face left and go between the counters to the window, then turn left and go to the round table. | STEP 4: Put the knife on the table, to the right of the blue bowl.", "output": ["STEP 5: Turn left and go back between the counters to the end of the counter on the left, then face the counter."]} +{"id": "trial_T20190907_065425_701848-2%5", "input": "Put two knives on a round table, placing one of them in a blue bowl. | STEP 1: Go to the right of the stove the the end of the counter on the left and turn to face the counter. | STEP 2: Pick up the knife at the right end of the counter. | STEP 3: Face left and go between the counters to the window, then turn left and go to the round table. | STEP 4: Put the knife on the table, to the right of the blue bowl. | STEP 5: Turn left and go back between the counters to the end of the counter on the left, then face the counter.", "output": ["STEP 6: Pick up the knife that does not have a yellow handle."]} +{"id": "trial_T20190907_065425_701848-2%6", "input": "Put two knives on a round table, placing one of them in a blue bowl. | STEP 1: Go to the right of the stove the the end of the counter on the left and turn to face the counter. | STEP 2: Pick up the knife at the right end of the counter. | STEP 3: Face left and go between the counters to the window, then turn left and go to the round table. | STEP 4: Put the knife on the table, to the right of the blue bowl. | STEP 5: Turn left and go back between the counters to the end of the counter on the left, then face the counter. | STEP 6: Pick up the knife that does not have a yellow handle.", "output": ["STEP 7: Carry the knife back to the round table."]} +{"id": "trial_T20190907_065425_701848-2%7", "input": "Put two knives on a round table, placing one of them in a blue bowl. | STEP 1: Go to the right of the stove the the end of the counter on the left and turn to face the counter. | STEP 2: Pick up the knife at the right end of the counter. | STEP 3: Face left and go between the counters to the window, then turn left and go to the round table. | STEP 4: Put the knife on the table, to the right of the blue bowl. | STEP 5: Turn left and go back between the counters to the end of the counter on the left, then face the counter. | STEP 6: Pick up the knife that does not have a yellow handle. | STEP 7: Carry the knife back to the round table.", "output": ["STEP 8: Put the knife in the blue bowl."]} +{"id": "trial_T20190907_065425_701848-2%8", "input": "Put two knives on a round table, placing one of them in a blue bowl. | STEP 1: Go to the right of the stove the the end of the counter on the left and turn to face the counter. | STEP 2: Pick up the knife at the right end of the counter. | STEP 3: Face left and go between the counters to the window, then turn left and go to the round table. | STEP 4: Put the knife on the table, to the right of the blue bowl. | STEP 5: Turn left and go back between the counters to the end of the counter on the left, then face the counter. | STEP 6: Pick up the knife that does not have a yellow handle. | STEP 7: Carry the knife back to the round table. | STEP 8: Put the knife in the blue bowl.", "output": ["END"]} +{"id": "trial_T20190907_065425_701848-5%0", "input": "Move two butter knives to the round table. ", "output": ["STEP 1: Go down to the end of the counter."]} +{"id": "trial_T20190907_065425_701848-5%1", "input": "Move two butter knives to the round table. | STEP 1: Go down to the end of the counter.", "output": ["STEP 2: Pick up a butter knife on the counter. "]} +{"id": "trial_T20190907_065425_701848-5%2", "input": "Move two butter knives to the round table. | STEP 1: Go down to the end of the counter. | STEP 2: Pick up a butter knife on the counter. ", "output": ["STEP 3: Turn around and go to the round table. "]} +{"id": "trial_T20190907_065425_701848-5%3", "input": "Move two butter knives to the round table. | STEP 1: Go down to the end of the counter. | STEP 2: Pick up a butter knife on the counter. | STEP 3: Turn around and go to the round table. ", "output": ["STEP 4: Put the butter on the round table. "]} +{"id": "trial_T20190907_065425_701848-5%4", "input": "Move two butter knives to the round table. | STEP 1: Go down to the end of the counter. | STEP 2: Pick up a butter knife on the counter. | STEP 3: Turn around and go to the round table. | STEP 4: Put the butter on the round table. ", "output": ["STEP 5: Turn around and go to the end of the counter. "]} +{"id": "trial_T20190907_065425_701848-5%5", "input": "Move two butter knives to the round table. | STEP 1: Go down to the end of the counter. | STEP 2: Pick up a butter knife on the counter. | STEP 3: Turn around and go to the round table. | STEP 4: Put the butter on the round table. | STEP 5: Turn around and go to the end of the counter. ", "output": ["STEP 6: Pick up a butter knife on the counter. "]} +{"id": "trial_T20190907_065425_701848-5%6", "input": "Move two butter knives to the round table. | STEP 1: Go down to the end of the counter. | STEP 2: Pick up a butter knife on the counter. | STEP 3: Turn around and go to the round table. | STEP 4: Put the butter on the round table. | STEP 5: Turn around and go to the end of the counter. | STEP 6: Pick up a butter knife on the counter. ", "output": ["STEP 7: Turn around and go to the round table. "]} +{"id": "trial_T20190907_065425_701848-5%7", "input": "Move two butter knives to the round table. | STEP 1: Go down to the end of the counter. | STEP 2: Pick up a butter knife on the counter. | STEP 3: Turn around and go to the round table. | STEP 4: Put the butter on the round table. | STEP 5: Turn around and go to the end of the counter. | STEP 6: Pick up a butter knife on the counter. | STEP 7: Turn around and go to the round table. ", "output": ["STEP 8: Put the butter in the bowl on the round table. "]} +{"id": "trial_T20190907_065425_701848-5%8", "input": "Move two butter knives to the round table. | STEP 1: Go down to the end of the counter. | STEP 2: Pick up a butter knife on the counter. | STEP 3: Turn around and go to the round table. | STEP 4: Put the butter on the round table. | STEP 5: Turn around and go to the end of the counter. | STEP 6: Pick up a butter knife on the counter. | STEP 7: Turn around and go to the round table. | STEP 8: Put the butter in the bowl on the round table. ", "output": ["END"]} +{"id": "trial_T20190907_190531_101781-1%0", "input": "Put a heated tomato slice on the table.", "output": ["STEP 1: Turn left to the table."]} +{"id": "trial_T20190907_190531_101781-1%1", "input": "Put a heated tomato slice on the table. | STEP 1: Turn left to the table.", "output": ["STEP 2: Pick up the knife that's behind the spatula and next to the lettuce on the table."]} +{"id": "trial_T20190907_190531_101781-1%2", "input": "Put a heated tomato slice on the table. | STEP 1: Turn left to the table. | STEP 2: Pick up the knife that's behind the spatula and next to the lettuce on the table.", "output": ["STEP 3: Carry the knife to the sink to the left of the table."]} +{"id": "trial_T20190907_190531_101781-1%3", "input": "Put a heated tomato slice on the table. | STEP 1: Turn left to the table. | STEP 2: Pick up the knife that's behind the spatula and next to the lettuce on the table. | STEP 3: Carry the knife to the sink to the left of the table.", "output": ["STEP 4: Cut the tomato in the sink."]} +{"id": "trial_T20190907_190531_101781-1%4", "input": "Put a heated tomato slice on the table. | STEP 1: Turn left to the table. | STEP 2: Pick up the knife that's behind the spatula and next to the lettuce on the table. | STEP 3: Carry the knife to the sink to the left of the table. | STEP 4: Cut the tomato in the sink.", "output": ["STEP 5: Turn around to face the cabinet."]} +{"id": "trial_T20190907_190531_101781-1%5", "input": "Put a heated tomato slice on the table. | STEP 1: Turn left to the table. | STEP 2: Pick up the knife that's behind the spatula and next to the lettuce on the table. | STEP 3: Carry the knife to the sink to the left of the table. | STEP 4: Cut the tomato in the sink. | STEP 5: Turn around to face the cabinet.", "output": ["STEP 6: Put the knife in the cabinet to the left of the oven."]} +{"id": "trial_T20190907_190531_101781-1%6", "input": "Put a heated tomato slice on the table. | STEP 1: Turn left to the table. | STEP 2: Pick up the knife that's behind the spatula and next to the lettuce on the table. | STEP 3: Carry the knife to the sink to the left of the table. | STEP 4: Cut the tomato in the sink. | STEP 5: Turn around to face the cabinet. | STEP 6: Put the knife in the cabinet to the left of the oven.", "output": ["STEP 7: Turn around to face the sink again."]} +{"id": "trial_T20190907_190531_101781-1%7", "input": "Put a heated tomato slice on the table. | STEP 1: Turn left to the table. | STEP 2: Pick up the knife that's behind the spatula and next to the lettuce on the table. | STEP 3: Carry the knife to the sink to the left of the table. | STEP 4: Cut the tomato in the sink. | STEP 5: Turn around to face the cabinet. | STEP 6: Put the knife in the cabinet to the left of the oven. | STEP 7: Turn around to face the sink again.", "output": ["STEP 8: Pick up a tomato slice from the tomato in the sink."]} +{"id": "trial_T20190907_190531_101781-1%8", "input": "Put a heated tomato slice on the table. | STEP 1: Turn left to the table. | STEP 2: Pick up the knife that's behind the spatula and next to the lettuce on the table. | STEP 3: Carry the knife to the sink to the left of the table. | STEP 4: Cut the tomato in the sink. | STEP 5: Turn around to face the cabinet. | STEP 6: Put the knife in the cabinet to the left of the oven. | STEP 7: Turn around to face the sink again. | STEP 8: Pick up a tomato slice from the tomato in the sink.", "output": ["STEP 9: Turn around to face the oven and the microwave."]} +{"id": "trial_T20190907_190531_101781-1%9", "input": "Put a heated tomato slice on the table. | STEP 1: Turn left to the table. | STEP 2: Pick up the knife that's behind the spatula and next to the lettuce on the table. | STEP 3: Carry the knife to the sink to the left of the table. | STEP 4: Cut the tomato in the sink. | STEP 5: Turn around to face the cabinet. | STEP 6: Put the knife in the cabinet to the left of the oven. | STEP 7: Turn around to face the sink again. | STEP 8: Pick up a tomato slice from the tomato in the sink. | STEP 9: Turn around to face the oven and the microwave.", "output": ["STEP 10: Put the tomato slice in the microwave and microwave it. Take the slice out."]} +{"id": "trial_T20190907_190531_101781-1%10", "input": "Put a heated tomato slice on the table. | STEP 1: Turn left to the table. | STEP 2: Pick up the knife that's behind the spatula and next to the lettuce on the table. | STEP 3: Carry the knife to the sink to the left of the table. | STEP 4: Cut the tomato in the sink. | STEP 5: Turn around to face the cabinet. | STEP 6: Put the knife in the cabinet to the left of the oven. | STEP 7: Turn around to face the sink again. | STEP 8: Pick up a tomato slice from the tomato in the sink. | STEP 9: Turn around to face the oven and the microwave. | STEP 10: Put the tomato slice in the microwave and microwave it. Take the slice out.", "output": ["STEP 11: Turn left, walk across the room, turn left toward the table."]} +{"id": "trial_T20190907_190531_101781-1%11", "input": "Put a heated tomato slice on the table. | STEP 1: Turn left to the table. | STEP 2: Pick up the knife that's behind the spatula and next to the lettuce on the table. | STEP 3: Carry the knife to the sink to the left of the table. | STEP 4: Cut the tomato in the sink. | STEP 5: Turn around to face the cabinet. | STEP 6: Put the knife in the cabinet to the left of the oven. | STEP 7: Turn around to face the sink again. | STEP 8: Pick up a tomato slice from the tomato in the sink. | STEP 9: Turn around to face the oven and the microwave. | STEP 10: Put the tomato slice in the microwave and microwave it. Take the slice out. | STEP 11: Turn left, walk across the room, turn left toward the table.", "output": ["STEP 12: Set the tomato slice in front of the sponge on the table."]} +{"id": "trial_T20190907_190531_101781-1%12", "input": "Put a heated tomato slice on the table. | STEP 1: Turn left to the table. | STEP 2: Pick up the knife that's behind the spatula and next to the lettuce on the table. | STEP 3: Carry the knife to the sink to the left of the table. | STEP 4: Cut the tomato in the sink. | STEP 5: Turn around to face the cabinet. | STEP 6: Put the knife in the cabinet to the left of the oven. | STEP 7: Turn around to face the sink again. | STEP 8: Pick up a tomato slice from the tomato in the sink. | STEP 9: Turn around to face the oven and the microwave. | STEP 10: Put the tomato slice in the microwave and microwave it. Take the slice out. | STEP 11: Turn left, walk across the room, turn left toward the table. | STEP 12: Set the tomato slice in front of the sponge on the table.", "output": ["END"]} +{"id": "trial_T20190907_190531_101781-2%0", "input": "Put a heated pepper slice on the table. ", "output": ["STEP 1: Turn to your left and go to the round table, with the grey table cloth. "]} +{"id": "trial_T20190907_190531_101781-2%1", "input": "Put a heated pepper slice on the table. | STEP 1: Turn to your left and go to the round table, with the grey table cloth. ", "output": ["STEP 2: Pick up the butter knife that is under the head of lettuce. "]} +{"id": "trial_T20190907_190531_101781-2%2", "input": "Put a heated pepper slice on the table. | STEP 1: Turn to your left and go to the round table, with the grey table cloth. | STEP 2: Pick up the butter knife that is under the head of lettuce. ", "output": ["STEP 3: Turn to your left and go to the front of the kitchen sink. "]} +{"id": "trial_T20190907_190531_101781-2%3", "input": "Put a heated pepper slice on the table. | STEP 1: Turn to your left and go to the round table, with the grey table cloth. | STEP 2: Pick up the butter knife that is under the head of lettuce. | STEP 3: Turn to your left and go to the front of the kitchen sink. ", "output": ["STEP 4: Cut the red bell pepper in the sink, to the far right. "]} +{"id": "trial_T20190907_190531_101781-2%4", "input": "Put a heated pepper slice on the table. | STEP 1: Turn to your left and go to the round table, with the grey table cloth. | STEP 2: Pick up the butter knife that is under the head of lettuce. | STEP 3: Turn to your left and go to the front of the kitchen sink. | STEP 4: Cut the red bell pepper in the sink, to the far right. ", "output": ["STEP 5: Turn around so that you are facing the stove. "]} +{"id": "trial_T20190907_190531_101781-2%5", "input": "Put a heated pepper slice on the table. | STEP 1: Turn to your left and go to the round table, with the grey table cloth. | STEP 2: Pick up the butter knife that is under the head of lettuce. | STEP 3: Turn to your left and go to the front of the kitchen sink. | STEP 4: Cut the red bell pepper in the sink, to the far right. | STEP 5: Turn around so that you are facing the stove. ", "output": ["STEP 6: Place the knife in the bottom cupboard, to the left of the stove. "]} +{"id": "trial_T20190907_190531_101781-2%6", "input": "Put a heated pepper slice on the table. | STEP 1: Turn to your left and go to the round table, with the grey table cloth. | STEP 2: Pick up the butter knife that is under the head of lettuce. | STEP 3: Turn to your left and go to the front of the kitchen sink. | STEP 4: Cut the red bell pepper in the sink, to the far right. | STEP 5: Turn around so that you are facing the stove. | STEP 6: Place the knife in the bottom cupboard, to the left of the stove. ", "output": ["STEP 7: Turn around and go back to the sink."]} +{"id": "trial_T20190907_190531_101781-2%7", "input": "Put a heated pepper slice on the table. | STEP 1: Turn to your left and go to the round table, with the grey table cloth. | STEP 2: Pick up the butter knife that is under the head of lettuce. | STEP 3: Turn to your left and go to the front of the kitchen sink. | STEP 4: Cut the red bell pepper in the sink, to the far right. | STEP 5: Turn around so that you are facing the stove. | STEP 6: Place the knife in the bottom cupboard, to the left of the stove. | STEP 7: Turn around and go back to the sink.", "output": ["STEP 8: Pick up a slice of the red bell pepper in the sink."]} +{"id": "trial_T20190907_190531_101781-2%8", "input": "Put a heated pepper slice on the table. | STEP 1: Turn to your left and go to the round table, with the grey table cloth. | STEP 2: Pick up the butter knife that is under the head of lettuce. | STEP 3: Turn to your left and go to the front of the kitchen sink. | STEP 4: Cut the red bell pepper in the sink, to the far right. | STEP 5: Turn around so that you are facing the stove. | STEP 6: Place the knife in the bottom cupboard, to the left of the stove. | STEP 7: Turn around and go back to the sink. | STEP 8: Pick up a slice of the red bell pepper in the sink.", "output": ["STEP 9: Turn around and go to the microwave above the stove. "]} +{"id": "trial_T20190907_190531_101781-2%9", "input": "Put a heated pepper slice on the table. | STEP 1: Turn to your left and go to the round table, with the grey table cloth. | STEP 2: Pick up the butter knife that is under the head of lettuce. | STEP 3: Turn to your left and go to the front of the kitchen sink. | STEP 4: Cut the red bell pepper in the sink, to the far right. | STEP 5: Turn around so that you are facing the stove. | STEP 6: Place the knife in the bottom cupboard, to the left of the stove. | STEP 7: Turn around and go back to the sink. | STEP 8: Pick up a slice of the red bell pepper in the sink. | STEP 9: Turn around and go to the microwave above the stove. ", "output": ["STEP 10: Place the slice of pepper in the microwave, heat it, then remove it to the microwave. "]} +{"id": "trial_T20190907_190531_101781-2%10", "input": "Put a heated pepper slice on the table. | STEP 1: Turn to your left and go to the round table, with the grey table cloth. | STEP 2: Pick up the butter knife that is under the head of lettuce. | STEP 3: Turn to your left and go to the front of the kitchen sink. | STEP 4: Cut the red bell pepper in the sink, to the far right. | STEP 5: Turn around so that you are facing the stove. | STEP 6: Place the knife in the bottom cupboard, to the left of the stove. | STEP 7: Turn around and go back to the sink. | STEP 8: Pick up a slice of the red bell pepper in the sink. | STEP 9: Turn around and go to the microwave above the stove. | STEP 10: Place the slice of pepper in the microwave, heat it, then remove it to the microwave. ", "output": ["STEP 11: Turn around and go back to the round table with the grey table cloth. "]} +{"id": "trial_T20190907_190531_101781-2%11", "input": "Put a heated pepper slice on the table. | STEP 1: Turn to your left and go to the round table, with the grey table cloth. | STEP 2: Pick up the butter knife that is under the head of lettuce. | STEP 3: Turn to your left and go to the front of the kitchen sink. | STEP 4: Cut the red bell pepper in the sink, to the far right. | STEP 5: Turn around so that you are facing the stove. | STEP 6: Place the knife in the bottom cupboard, to the left of the stove. | STEP 7: Turn around and go back to the sink. | STEP 8: Pick up a slice of the red bell pepper in the sink. | STEP 9: Turn around and go to the microwave above the stove. | STEP 10: Place the slice of pepper in the microwave, heat it, then remove it to the microwave. | STEP 11: Turn around and go back to the round table with the grey table cloth. ", "output": ["STEP 12: Place the slice of pepper on the table, in front of the green and yellow sponge. "]} +{"id": "trial_T20190907_190531_101781-2%12", "input": "Put a heated pepper slice on the table. | STEP 1: Turn to your left and go to the round table, with the grey table cloth. | STEP 2: Pick up the butter knife that is under the head of lettuce. | STEP 3: Turn to your left and go to the front of the kitchen sink. | STEP 4: Cut the red bell pepper in the sink, to the far right. | STEP 5: Turn around so that you are facing the stove. | STEP 6: Place the knife in the bottom cupboard, to the left of the stove. | STEP 7: Turn around and go back to the sink. | STEP 8: Pick up a slice of the red bell pepper in the sink. | STEP 9: Turn around and go to the microwave above the stove. | STEP 10: Place the slice of pepper in the microwave, heat it, then remove it to the microwave. | STEP 11: Turn around and go back to the round table with the grey table cloth. | STEP 12: Place the slice of pepper on the table, in front of the green and yellow sponge. ", "output": ["END"]} +{"id": "trial_T20190907_193633_663917-0%0", "input": "Examine a laptop by the light of a desk lamp.", "output": ["STEP 1: Turn right and walk to the bed."]} +{"id": "trial_T20190907_193633_663917-0%1", "input": "Examine a laptop by the light of a desk lamp. | STEP 1: Turn right and walk to the bed.", "output": ["STEP 2: Pick up the laptop which is to the right of the cell phone on the bed."]} +{"id": "trial_T20190907_193633_663917-0%2", "input": "Examine a laptop by the light of a desk lamp. | STEP 1: Turn right and walk to the bed. | STEP 2: Pick up the laptop which is to the right of the cell phone on the bed.", "output": ["STEP 3: Turn around and walk to the front of the lamp on the desk."]} +{"id": "trial_T20190907_193633_663917-0%3", "input": "Examine a laptop by the light of a desk lamp. | STEP 1: Turn right and walk to the bed. | STEP 2: Pick up the laptop which is to the right of the cell phone on the bed. | STEP 3: Turn around and walk to the front of the lamp on the desk.", "output": ["STEP 4: Turn on the lamp."]} +{"id": "trial_T20190907_193633_663917-0%4", "input": "Examine a laptop by the light of a desk lamp. | STEP 1: Turn right and walk to the bed. | STEP 2: Pick up the laptop which is to the right of the cell phone on the bed. | STEP 3: Turn around and walk to the front of the lamp on the desk. | STEP 4: Turn on the lamp.", "output": ["END"]} +{"id": "trial_T20190907_193633_663917-2%0", "input": "Turn a lamp on with a computer in hand.", "output": ["STEP 1: Go right and face the end of the yellow table."]} +{"id": "trial_T20190907_193633_663917-2%1", "input": "Turn a lamp on with a computer in hand. | STEP 1: Go right and face the end of the yellow table.", "output": ["STEP 2: Close the computer and pick up the computer closest from the table."]} +{"id": "trial_T20190907_193633_663917-2%2", "input": "Turn a lamp on with a computer in hand. | STEP 1: Go right and face the end of the yellow table. | STEP 2: Close the computer and pick up the computer closest from the table.", "output": ["STEP 3: Go to the right and then left to face the lamp on the white table."]} +{"id": "trial_T20190907_193633_663917-2%3", "input": "Turn a lamp on with a computer in hand. | STEP 1: Go right and face the end of the yellow table. | STEP 2: Close the computer and pick up the computer closest from the table. | STEP 3: Go to the right and then left to face the lamp on the white table.", "output": ["STEP 4: Turn the lamp on."]} +{"id": "trial_T20190907_193633_663917-2%4", "input": "Turn a lamp on with a computer in hand. | STEP 1: Go right and face the end of the yellow table. | STEP 2: Close the computer and pick up the computer closest from the table. | STEP 3: Go to the right and then left to face the lamp on the white table. | STEP 4: Turn the lamp on.", "output": ["END"]} +{"id": "trial_T20190906_191859_615388-2%0", "input": "Place a recently microwaved cup in the cabinet above the microwave.", "output": ["STEP 1: Move to the counter top to the left of the kitchen range."]} +{"id": "trial_T20190906_191859_615388-2%1", "input": "Place a recently microwaved cup in the cabinet above the microwave. | STEP 1: Move to the counter top to the left of the kitchen range.", "output": ["STEP 2: Open bottom cabinet and pick up cup inside before closing the door."]} +{"id": "trial_T20190906_191859_615388-2%2", "input": "Place a recently microwaved cup in the cabinet above the microwave. | STEP 1: Move to the counter top to the left of the kitchen range. | STEP 2: Open bottom cabinet and pick up cup inside before closing the door.", "output": ["STEP 3: Move to the microwave above the oven."]} +{"id": "trial_T20190906_191859_615388-2%3", "input": "Place a recently microwaved cup in the cabinet above the microwave. | STEP 1: Move to the counter top to the left of the kitchen range. | STEP 2: Open bottom cabinet and pick up cup inside before closing the door. | STEP 3: Move to the microwave above the oven.", "output": ["STEP 4: After microwaving the cup inside for a few seconds then remove it and close the door"]} +{"id": "trial_T20190906_191859_615388-2%4", "input": "Place a recently microwaved cup in the cabinet above the microwave. | STEP 1: Move to the counter top to the left of the kitchen range. | STEP 2: Open bottom cabinet and pick up cup inside before closing the door. | STEP 3: Move to the microwave above the oven. | STEP 4: After microwaving the cup inside for a few seconds then remove it and close the door", "output": ["STEP 5: Move the cabinet above the microwave"]} +{"id": "trial_T20190906_191859_615388-2%5", "input": "Place a recently microwaved cup in the cabinet above the microwave. | STEP 1: Move to the counter top to the left of the kitchen range. | STEP 2: Open bottom cabinet and pick up cup inside before closing the door. | STEP 3: Move to the microwave above the oven. | STEP 4: After microwaving the cup inside for a few seconds then remove it and close the door | STEP 5: Move the cabinet above the microwave", "output": ["STEP 6: Place the cup inside the cabinet and close it"]} +{"id": "trial_T20190906_191859_615388-2%6", "input": "Place a recently microwaved cup in the cabinet above the microwave. | STEP 1: Move to the counter top to the left of the kitchen range. | STEP 2: Open bottom cabinet and pick up cup inside before closing the door. | STEP 3: Move to the microwave above the oven. | STEP 4: After microwaving the cup inside for a few seconds then remove it and close the door | STEP 5: Move the cabinet above the microwave | STEP 6: Place the cup inside the cabinet and close it", "output": ["END"]} +{"id": "trial_T20190918_220654_753101-2%0", "input": "Place bowl with sponge in it on the counter top to the right of the stove.", "output": ["STEP 1: Move to the counter top with the lettuce to the right of the stove."]} +{"id": "trial_T20190918_220654_753101-2%1", "input": "Place bowl with sponge in it on the counter top to the right of the stove. | STEP 1: Move to the counter top with the lettuce to the right of the stove.", "output": ["STEP 2: Open cabinet above the lettuce and pick up sponge and close it"]} +{"id": "trial_T20190918_220654_753101-2%2", "input": "Place bowl with sponge in it on the counter top to the right of the stove. | STEP 1: Move to the counter top with the lettuce to the right of the stove. | STEP 2: Open cabinet above the lettuce and pick up sponge and close it", "output": ["STEP 3: Move the cabinet to the right of the refrigerator"]} +{"id": "trial_T20190918_220654_753101-2%3", "input": "Place bowl with sponge in it on the counter top to the right of the stove. | STEP 1: Move to the counter top with the lettuce to the right of the stove. | STEP 2: Open cabinet above the lettuce and pick up sponge and close it | STEP 3: Move the cabinet to the right of the refrigerator", "output": ["STEP 4: Place sponge inside bowl"]} +{"id": "trial_T20190918_220654_753101-2%4", "input": "Place bowl with sponge in it on the counter top to the right of the stove. | STEP 1: Move to the counter top with the lettuce to the right of the stove. | STEP 2: Open cabinet above the lettuce and pick up sponge and close it | STEP 3: Move the cabinet to the right of the refrigerator | STEP 4: Place sponge inside bowl", "output": ["STEP 5: Pick up bowl from the cabinet"]} +{"id": "trial_T20190918_220654_753101-2%5", "input": "Place bowl with sponge in it on the counter top to the right of the stove. | STEP 1: Move to the counter top with the lettuce to the right of the stove. | STEP 2: Open cabinet above the lettuce and pick up sponge and close it | STEP 3: Move the cabinet to the right of the refrigerator | STEP 4: Place sponge inside bowl | STEP 5: Pick up bowl from the cabinet", "output": ["STEP 6: Move back to the counter top to the right of the stove"]} +{"id": "trial_T20190918_220654_753101-2%6", "input": "Place bowl with sponge in it on the counter top to the right of the stove. | STEP 1: Move to the counter top with the lettuce to the right of the stove. | STEP 2: Open cabinet above the lettuce and pick up sponge and close it | STEP 3: Move the cabinet to the right of the refrigerator | STEP 4: Place sponge inside bowl | STEP 5: Pick up bowl from the cabinet | STEP 6: Move back to the counter top to the right of the stove", "output": ["STEP 7: Place the bowl to the right of the lettuce."]} +{"id": "trial_T20190918_220654_753101-2%7", "input": "Place bowl with sponge in it on the counter top to the right of the stove. | STEP 1: Move to the counter top with the lettuce to the right of the stove. | STEP 2: Open cabinet above the lettuce and pick up sponge and close it | STEP 3: Move the cabinet to the right of the refrigerator | STEP 4: Place sponge inside bowl | STEP 5: Pick up bowl from the cabinet | STEP 6: Move back to the counter top to the right of the stove | STEP 7: Place the bowl to the right of the lettuce.", "output": ["END"]} +{"id": "trial_T20190908_113203_931690-2%0", "input": "Move a washed glass from the cupboard to the table. ", "output": ["STEP 1: Turn and go to the cabinet above the counter."]} +{"id": "trial_T20190908_113203_931690-2%1", "input": "Move a washed glass from the cupboard to the table. | STEP 1: Turn and go to the cabinet above the counter.", "output": ["STEP 2: Take the glass out of the counter. "]} +{"id": "trial_T20190908_113203_931690-2%2", "input": "Move a washed glass from the cupboard to the table. | STEP 1: Turn and go to the cabinet above the counter. | STEP 2: Take the glass out of the counter. ", "output": ["STEP 3: Turn and go to the sink."]} +{"id": "trial_T20190908_113203_931690-2%3", "input": "Move a washed glass from the cupboard to the table. | STEP 1: Turn and go to the cabinet above the counter. | STEP 2: Take the glass out of the counter. | STEP 3: Turn and go to the sink.", "output": ["STEP 4: Wash the glass in the sink and pick up the glass. "]} +{"id": "trial_T20190908_113203_931690-2%4", "input": "Move a washed glass from the cupboard to the table. | STEP 1: Turn and go to the cabinet above the counter. | STEP 2: Take the glass out of the counter. | STEP 3: Turn and go to the sink. | STEP 4: Wash the glass in the sink and pick up the glass. ", "output": ["STEP 5: Turn and go to the table."]} +{"id": "trial_T20190908_113203_931690-2%5", "input": "Move a washed glass from the cupboard to the table. | STEP 1: Turn and go to the cabinet above the counter. | STEP 2: Take the glass out of the counter. | STEP 3: Turn and go to the sink. | STEP 4: Wash the glass in the sink and pick up the glass. | STEP 5: Turn and go to the table.", "output": ["STEP 6: Put the glass on the table. "]} +{"id": "trial_T20190908_113203_931690-2%6", "input": "Move a washed glass from the cupboard to the table. | STEP 1: Turn and go to the cabinet above the counter. | STEP 2: Take the glass out of the counter. | STEP 3: Turn and go to the sink. | STEP 4: Wash the glass in the sink and pick up the glass. | STEP 5: Turn and go to the table. | STEP 6: Put the glass on the table. ", "output": ["END"]} +{"id": "trial_T20190906_185311_288061-1%0", "input": "Place a small black clock onto the wooden dresser.", "output": ["STEP 1: Turn around and walk up to the table in the corner of the room."]} +{"id": "trial_T20190906_185311_288061-1%1", "input": "Place a small black clock onto the wooden dresser. | STEP 1: Turn around and walk up to the table in the corner of the room.", "output": ["STEP 2: Pick up the small black clock that is the most far away on the table up against the wall."]} +{"id": "trial_T20190906_185311_288061-1%2", "input": "Place a small black clock onto the wooden dresser. | STEP 1: Turn around and walk up to the table in the corner of the room. | STEP 2: Pick up the small black clock that is the most far away on the table up against the wall.", "output": ["STEP 3: Turn to your right and walk over to the left side of the wooden dresser."]} +{"id": "trial_T20190906_185311_288061-1%3", "input": "Place a small black clock onto the wooden dresser. | STEP 1: Turn around and walk up to the table in the corner of the room. | STEP 2: Pick up the small black clock that is the most far away on the table up against the wall. | STEP 3: Turn to your right and walk over to the left side of the wooden dresser.", "output": ["STEP 4: Place the small black clock onto the dresser to the right of the phone."]} +{"id": "trial_T20190906_185311_288061-1%4", "input": "Place a small black clock onto the wooden dresser. | STEP 1: Turn around and walk up to the table in the corner of the room. | STEP 2: Pick up the small black clock that is the most far away on the table up against the wall. | STEP 3: Turn to your right and walk over to the left side of the wooden dresser. | STEP 4: Place the small black clock onto the dresser to the right of the phone.", "output": ["END"]} +{"id": "trial_T20190906_185311_288061-2%0", "input": "Move the speaker from the table to the chest of drawers", "output": ["STEP 1: Turn around 180 degrees and face the white table"]} +{"id": "trial_T20190906_185311_288061-2%1", "input": "Move the speaker from the table to the chest of drawers | STEP 1: Turn around 180 degrees and face the white table", "output": ["STEP 2: Pick up the black speaker that is on the table beside the green bowl "]} +{"id": "trial_T20190906_185311_288061-2%2", "input": "Move the speaker from the table to the chest of drawers | STEP 1: Turn around 180 degrees and face the white table | STEP 2: Pick up the black speaker that is on the table beside the green bowl ", "output": ["STEP 3: Turn to your right and walk over to the brown chest of drawers"]} +{"id": "trial_T20190906_185311_288061-2%3", "input": "Move the speaker from the table to the chest of drawers | STEP 1: Turn around 180 degrees and face the white table | STEP 2: Pick up the black speaker that is on the table beside the green bowl | STEP 3: Turn to your right and walk over to the brown chest of drawers", "output": ["STEP 4: Place the speaker on top of the chest of drawers"]} +{"id": "trial_T20190906_185311_288061-2%4", "input": "Move the speaker from the table to the chest of drawers | STEP 1: Turn around 180 degrees and face the white table | STEP 2: Pick up the black speaker that is on the table beside the green bowl | STEP 3: Turn to your right and walk over to the brown chest of drawers | STEP 4: Place the speaker on top of the chest of drawers", "output": ["END"]} +{"id": "trial_T20190909_005354_750845-1%0", "input": "To pick two pencils from a table and put them inside a cabinet shelf.", "output": ["STEP 1: Go to the longer side of the white table"]} +{"id": "trial_T20190909_005354_750845-1%1", "input": "To pick two pencils from a table and put them inside a cabinet shelf. | STEP 1: Go to the longer side of the white table", "output": ["STEP 2: Pick up a pencil from the center of the table"]} +{"id": "trial_T20190909_005354_750845-1%2", "input": "To pick two pencils from a table and put them inside a cabinet shelf. | STEP 1: Go to the longer side of the white table | STEP 2: Pick up a pencil from the center of the table", "output": ["STEP 3: Turn right, go across the room to the cabinet"]} +{"id": "trial_T20190909_005354_750845-1%3", "input": "To pick two pencils from a table and put them inside a cabinet shelf. | STEP 1: Go to the longer side of the white table | STEP 2: Pick up a pencil from the center of the table | STEP 3: Turn right, go across the room to the cabinet", "output": ["STEP 4: Pull the second lowest shelf on the left-side of the cabinet, put the pencil in the shelf, and close it"]} +{"id": "trial_T20190909_005354_750845-1%4", "input": "To pick two pencils from a table and put them inside a cabinet shelf. | STEP 1: Go to the longer side of the white table | STEP 2: Pick up a pencil from the center of the table | STEP 3: Turn right, go across the room to the cabinet | STEP 4: Pull the second lowest shelf on the left-side of the cabinet, put the pencil in the shelf, and close it", "output": ["STEP 5: Turn around, go to the front shorter side of the white table"]} +{"id": "trial_T20190909_005354_750845-1%5", "input": "To pick two pencils from a table and put them inside a cabinet shelf. | STEP 1: Go to the longer side of the white table | STEP 2: Pick up a pencil from the center of the table | STEP 3: Turn right, go across the room to the cabinet | STEP 4: Pull the second lowest shelf on the left-side of the cabinet, put the pencil in the shelf, and close it | STEP 5: Turn around, go to the front shorter side of the white table", "output": ["STEP 6: Pick up the pencil from the table"]} +{"id": "trial_T20190909_005354_750845-1%6", "input": "To pick two pencils from a table and put them inside a cabinet shelf. | STEP 1: Go to the longer side of the white table | STEP 2: Pick up a pencil from the center of the table | STEP 3: Turn right, go across the room to the cabinet | STEP 4: Pull the second lowest shelf on the left-side of the cabinet, put the pencil in the shelf, and close it | STEP 5: Turn around, go to the front shorter side of the white table | STEP 6: Pick up the pencil from the table", "output": ["STEP 7: Go back to the cabinet"]} +{"id": "trial_T20190909_005354_750845-1%7", "input": "To pick two pencils from a table and put them inside a cabinet shelf. | STEP 1: Go to the longer side of the white table | STEP 2: Pick up a pencil from the center of the table | STEP 3: Turn right, go across the room to the cabinet | STEP 4: Pull the second lowest shelf on the left-side of the cabinet, put the pencil in the shelf, and close it | STEP 5: Turn around, go to the front shorter side of the white table | STEP 6: Pick up the pencil from the table | STEP 7: Go back to the cabinet", "output": ["STEP 8: Open the same shelf and put the pencil by the side of the first pencil"]} +{"id": "trial_T20190909_005354_750845-1%8", "input": "To pick two pencils from a table and put them inside a cabinet shelf. | STEP 1: Go to the longer side of the white table | STEP 2: Pick up a pencil from the center of the table | STEP 3: Turn right, go across the room to the cabinet | STEP 4: Pull the second lowest shelf on the left-side of the cabinet, put the pencil in the shelf, and close it | STEP 5: Turn around, go to the front shorter side of the white table | STEP 6: Pick up the pencil from the table | STEP 7: Go back to the cabinet | STEP 8: Open the same shelf and put the pencil by the side of the first pencil", "output": ["END"]} +{"id": "trial_T20190907_151334_858777-0%0", "input": "Using a bowl, place a piece of sliced apple into the microwave.", "output": ["STEP 1: Move to the counter top that is opposite of the refrigerator."]} +{"id": "trial_T20190907_151334_858777-0%1", "input": "Using a bowl, place a piece of sliced apple into the microwave. | STEP 1: Move to the counter top that is opposite of the refrigerator.", "output": ["STEP 2: Pick up the sharp knife that is in between the lettuce and the bread."]} +{"id": "trial_T20190907_151334_858777-0%2", "input": "Using a bowl, place a piece of sliced apple into the microwave. | STEP 1: Move to the counter top that is opposite of the refrigerator. | STEP 2: Pick up the sharp knife that is in between the lettuce and the bread.", "output": ["STEP 3: Move from the counter to the table."]} +{"id": "trial_T20190907_151334_858777-0%3", "input": "Using a bowl, place a piece of sliced apple into the microwave. | STEP 1: Move to the counter top that is opposite of the refrigerator. | STEP 2: Pick up the sharp knife that is in between the lettuce and the bread. | STEP 3: Move from the counter to the table.", "output": ["STEP 4: Slice in to the apple making a large section and a small section."]} +{"id": "trial_T20190907_151334_858777-0%4", "input": "Using a bowl, place a piece of sliced apple into the microwave. | STEP 1: Move to the counter top that is opposite of the refrigerator. | STEP 2: Pick up the sharp knife that is in between the lettuce and the bread. | STEP 3: Move from the counter to the table. | STEP 4: Slice in to the apple making a large section and a small section.", "output": ["STEP 5: Move from the table to the counter that is left of the stove."]} +{"id": "trial_T20190907_151334_858777-0%5", "input": "Using a bowl, place a piece of sliced apple into the microwave. | STEP 1: Move to the counter top that is opposite of the refrigerator. | STEP 2: Pick up the sharp knife that is in between the lettuce and the bread. | STEP 3: Move from the counter to the table. | STEP 4: Slice in to the apple making a large section and a small section. | STEP 5: Move from the table to the counter that is left of the stove.", "output": ["STEP 6: Place the knife in to the bowl."]} +{"id": "trial_T20190907_151334_858777-0%6", "input": "Using a bowl, place a piece of sliced apple into the microwave. | STEP 1: Move to the counter top that is opposite of the refrigerator. | STEP 2: Pick up the sharp knife that is in between the lettuce and the bread. | STEP 3: Move from the counter to the table. | STEP 4: Slice in to the apple making a large section and a small section. | STEP 5: Move from the table to the counter that is left of the stove. | STEP 6: Place the knife in to the bowl.", "output": ["STEP 7: Move from the counter to the table."]} +{"id": "trial_T20190907_151334_858777-0%7", "input": "Using a bowl, place a piece of sliced apple into the microwave. | STEP 1: Move to the counter top that is opposite of the refrigerator. | STEP 2: Pick up the sharp knife that is in between the lettuce and the bread. | STEP 3: Move from the counter to the table. | STEP 4: Slice in to the apple making a large section and a small section. | STEP 5: Move from the table to the counter that is left of the stove. | STEP 6: Place the knife in to the bowl. | STEP 7: Move from the counter to the table.", "output": ["STEP 8: Pick up the small section of apple."]} +{"id": "trial_T20190907_151334_858777-0%8", "input": "Using a bowl, place a piece of sliced apple into the microwave. | STEP 1: Move to the counter top that is opposite of the refrigerator. | STEP 2: Pick up the sharp knife that is in between the lettuce and the bread. | STEP 3: Move from the counter to the table. | STEP 4: Slice in to the apple making a large section and a small section. | STEP 5: Move from the table to the counter that is left of the stove. | STEP 6: Place the knife in to the bowl. | STEP 7: Move from the counter to the table. | STEP 8: Pick up the small section of apple.", "output": ["STEP 9: Move from the table to the counter that is left of the stove."]} +{"id": "trial_T20190907_151334_858777-0%9", "input": "Using a bowl, place a piece of sliced apple into the microwave. | STEP 1: Move to the counter top that is opposite of the refrigerator. | STEP 2: Pick up the sharp knife that is in between the lettuce and the bread. | STEP 3: Move from the counter to the table. | STEP 4: Slice in to the apple making a large section and a small section. | STEP 5: Move from the table to the counter that is left of the stove. | STEP 6: Place the knife in to the bowl. | STEP 7: Move from the counter to the table. | STEP 8: Pick up the small section of apple. | STEP 9: Move from the table to the counter that is left of the stove.", "output": ["STEP 10: Place the apple section in to the bowl."]} +{"id": "trial_T20190907_151334_858777-0%10", "input": "Using a bowl, place a piece of sliced apple into the microwave. | STEP 1: Move to the counter top that is opposite of the refrigerator. | STEP 2: Pick up the sharp knife that is in between the lettuce and the bread. | STEP 3: Move from the counter to the table. | STEP 4: Slice in to the apple making a large section and a small section. | STEP 5: Move from the table to the counter that is left of the stove. | STEP 6: Place the knife in to the bowl. | STEP 7: Move from the counter to the table. | STEP 8: Pick up the small section of apple. | STEP 9: Move from the table to the counter that is left of the stove. | STEP 10: Place the apple section in to the bowl.", "output": ["STEP 11: Pick the bowl up off of the counter."]} +{"id": "trial_T20190907_151334_858777-0%11", "input": "Using a bowl, place a piece of sliced apple into the microwave. | STEP 1: Move to the counter top that is opposite of the refrigerator. | STEP 2: Pick up the sharp knife that is in between the lettuce and the bread. | STEP 3: Move from the counter to the table. | STEP 4: Slice in to the apple making a large section and a small section. | STEP 5: Move from the table to the counter that is left of the stove. | STEP 6: Place the knife in to the bowl. | STEP 7: Move from the counter to the table. | STEP 8: Pick up the small section of apple. | STEP 9: Move from the table to the counter that is left of the stove. | STEP 10: Place the apple section in to the bowl. | STEP 11: Pick the bowl up off of the counter.", "output": ["STEP 12: Move to the right and face the microwave."]} +{"id": "trial_T20190907_151334_858777-0%12", "input": "Using a bowl, place a piece of sliced apple into the microwave. | STEP 1: Move to the counter top that is opposite of the refrigerator. | STEP 2: Pick up the sharp knife that is in between the lettuce and the bread. | STEP 3: Move from the counter to the table. | STEP 4: Slice in to the apple making a large section and a small section. | STEP 5: Move from the table to the counter that is left of the stove. | STEP 6: Place the knife in to the bowl. | STEP 7: Move from the counter to the table. | STEP 8: Pick up the small section of apple. | STEP 9: Move from the table to the counter that is left of the stove. | STEP 10: Place the apple section in to the bowl. | STEP 11: Pick the bowl up off of the counter. | STEP 12: Move to the right and face the microwave.", "output": ["STEP 13: Place the bowl in to the microwave."]} +{"id": "trial_T20190907_151334_858777-0%13", "input": "Using a bowl, place a piece of sliced apple into the microwave. | STEP 1: Move to the counter top that is opposite of the refrigerator. | STEP 2: Pick up the sharp knife that is in between the lettuce and the bread. | STEP 3: Move from the counter to the table. | STEP 4: Slice in to the apple making a large section and a small section. | STEP 5: Move from the table to the counter that is left of the stove. | STEP 6: Place the knife in to the bowl. | STEP 7: Move from the counter to the table. | STEP 8: Pick up the small section of apple. | STEP 9: Move from the table to the counter that is left of the stove. | STEP 10: Place the apple section in to the bowl. | STEP 11: Pick the bowl up off of the counter. | STEP 12: Move to the right and face the microwave. | STEP 13: Place the bowl in to the microwave.", "output": ["END"]} +{"id": "trial_T20190907_151334_858777-2%0", "input": "Place a bowl with an apple slice in the microwave.", "output": ["STEP 1: Turn right and face the counter with the lettuce on your left."]} +{"id": "trial_T20190907_151334_858777-2%1", "input": "Place a bowl with an apple slice in the microwave. | STEP 1: Turn right and face the counter with the lettuce on your left.", "output": ["STEP 2: Take the knife from the counter in front of you."]} +{"id": "trial_T20190907_151334_858777-2%2", "input": "Place a bowl with an apple slice in the microwave. | STEP 1: Turn right and face the counter with the lettuce on your left. | STEP 2: Take the knife from the counter in front of you.", "output": ["STEP 3: Turn left, then left again and face the round table in front of you."]} +{"id": "trial_T20190907_151334_858777-2%3", "input": "Place a bowl with an apple slice in the microwave. | STEP 1: Turn right and face the counter with the lettuce on your left. | STEP 2: Take the knife from the counter in front of you. | STEP 3: Turn left, then left again and face the round table in front of you.", "output": ["STEP 4: Slice the apple on the round table in front of you."]} +{"id": "trial_T20190907_151334_858777-2%4", "input": "Place a bowl with an apple slice in the microwave. | STEP 1: Turn right and face the counter with the lettuce on your left. | STEP 2: Take the knife from the counter in front of you. | STEP 3: Turn left, then left again and face the round table in front of you. | STEP 4: Slice the apple on the round table in front of you.", "output": ["STEP 5: Turn left and head towards the counter by the stove on your left."]} +{"id": "trial_T20190907_151334_858777-2%5", "input": "Place a bowl with an apple slice in the microwave. | STEP 1: Turn right and face the counter with the lettuce on your left. | STEP 2: Take the knife from the counter in front of you. | STEP 3: Turn left, then left again and face the round table in front of you. | STEP 4: Slice the apple on the round table in front of you. | STEP 5: Turn left and head towards the counter by the stove on your left.", "output": ["STEP 6: Place the knife in the bowl on the counter in front of you."]} +{"id": "trial_T20190907_151334_858777-2%6", "input": "Place a bowl with an apple slice in the microwave. | STEP 1: Turn right and face the counter with the lettuce on your left. | STEP 2: Take the knife from the counter in front of you. | STEP 3: Turn left, then left again and face the round table in front of you. | STEP 4: Slice the apple on the round table in front of you. | STEP 5: Turn left and head towards the counter by the stove on your left. | STEP 6: Place the knife in the bowl on the counter in front of you.", "output": ["STEP 7: Turn around and head towards the round table in front of you."]} +{"id": "trial_T20190907_151334_858777-2%7", "input": "Place a bowl with an apple slice in the microwave. | STEP 1: Turn right and face the counter with the lettuce on your left. | STEP 2: Take the knife from the counter in front of you. | STEP 3: Turn left, then left again and face the round table in front of you. | STEP 4: Slice the apple on the round table in front of you. | STEP 5: Turn left and head towards the counter by the stove on your left. | STEP 6: Place the knife in the bowl on the counter in front of you. | STEP 7: Turn around and head towards the round table in front of you.", "output": ["STEP 8: Take an apple slice from the round table in front of you."]} +{"id": "trial_T20190907_151334_858777-2%8", "input": "Place a bowl with an apple slice in the microwave. | STEP 1: Turn right and face the counter with the lettuce on your left. | STEP 2: Take the knife from the counter in front of you. | STEP 3: Turn left, then left again and face the round table in front of you. | STEP 4: Slice the apple on the round table in front of you. | STEP 5: Turn left and head towards the counter by the stove on your left. | STEP 6: Place the knife in the bowl on the counter in front of you. | STEP 7: Turn around and head towards the round table in front of you. | STEP 8: Take an apple slice from the round table in front of you.", "output": ["STEP 9: Turn left and face the counter by the stove to your left."]} +{"id": "trial_T20190907_151334_858777-2%9", "input": "Place a bowl with an apple slice in the microwave. | STEP 1: Turn right and face the counter with the lettuce on your left. | STEP 2: Take the knife from the counter in front of you. | STEP 3: Turn left, then left again and face the round table in front of you. | STEP 4: Slice the apple on the round table in front of you. | STEP 5: Turn left and head towards the counter by the stove on your left. | STEP 6: Place the knife in the bowl on the counter in front of you. | STEP 7: Turn around and head towards the round table in front of you. | STEP 8: Take an apple slice from the round table in front of you. | STEP 9: Turn left and face the counter by the stove to your left.", "output": ["STEP 10: Place the apple slice in the bowl on the counter."]} +{"id": "trial_T20190907_151334_858777-2%10", "input": "Place a bowl with an apple slice in the microwave. | STEP 1: Turn right and face the counter with the lettuce on your left. | STEP 2: Take the knife from the counter in front of you. | STEP 3: Turn left, then left again and face the round table in front of you. | STEP 4: Slice the apple on the round table in front of you. | STEP 5: Turn left and head towards the counter by the stove on your left. | STEP 6: Place the knife in the bowl on the counter in front of you. | STEP 7: Turn around and head towards the round table in front of you. | STEP 8: Take an apple slice from the round table in front of you. | STEP 9: Turn left and face the counter by the stove to your left. | STEP 10: Place the apple slice in the bowl on the counter.", "output": ["STEP 11: Pick up the bowl with the apple slice and knife from the counter."]} +{"id": "trial_T20190907_151334_858777-2%11", "input": "Place a bowl with an apple slice in the microwave. | STEP 1: Turn right and face the counter with the lettuce on your left. | STEP 2: Take the knife from the counter in front of you. | STEP 3: Turn left, then left again and face the round table in front of you. | STEP 4: Slice the apple on the round table in front of you. | STEP 5: Turn left and head towards the counter by the stove on your left. | STEP 6: Place the knife in the bowl on the counter in front of you. | STEP 7: Turn around and head towards the round table in front of you. | STEP 8: Take an apple slice from the round table in front of you. | STEP 9: Turn left and face the counter by the stove to your left. | STEP 10: Place the apple slice in the bowl on the counter. | STEP 11: Pick up the bowl with the apple slice and knife from the counter.", "output": ["STEP 12: Turn right and face the microwave above the stove."]} +{"id": "trial_T20190907_151334_858777-2%12", "input": "Place a bowl with an apple slice in the microwave. | STEP 1: Turn right and face the counter with the lettuce on your left. | STEP 2: Take the knife from the counter in front of you. | STEP 3: Turn left, then left again and face the round table in front of you. | STEP 4: Slice the apple on the round table in front of you. | STEP 5: Turn left and head towards the counter by the stove on your left. | STEP 6: Place the knife in the bowl on the counter in front of you. | STEP 7: Turn around and head towards the round table in front of you. | STEP 8: Take an apple slice from the round table in front of you. | STEP 9: Turn left and face the counter by the stove to your left. | STEP 10: Place the apple slice in the bowl on the counter. | STEP 11: Pick up the bowl with the apple slice and knife from the counter. | STEP 12: Turn right and face the microwave above the stove.", "output": ["STEP 13: Place the bowl with the apple slice in the microwave and close it."]} +{"id": "trial_T20190907_151334_858777-2%13", "input": "Place a bowl with an apple slice in the microwave. | STEP 1: Turn right and face the counter with the lettuce on your left. | STEP 2: Take the knife from the counter in front of you. | STEP 3: Turn left, then left again and face the round table in front of you. | STEP 4: Slice the apple on the round table in front of you. | STEP 5: Turn left and head towards the counter by the stove on your left. | STEP 6: Place the knife in the bowl on the counter in front of you. | STEP 7: Turn around and head towards the round table in front of you. | STEP 8: Take an apple slice from the round table in front of you. | STEP 9: Turn left and face the counter by the stove to your left. | STEP 10: Place the apple slice in the bowl on the counter. | STEP 11: Pick up the bowl with the apple slice and knife from the counter. | STEP 12: Turn right and face the microwave above the stove. | STEP 13: Place the bowl with the apple slice in the microwave and close it.", "output": ["END"]} +{"id": "trial_T20190907_193702_706432-1%0", "input": "Inspect a laptop by the light of a lamp. ", "output": ["STEP 1: Turn right and walk over to face the foot of the bed. "]} +{"id": "trial_T20190907_193702_706432-1%1", "input": "Inspect a laptop by the light of a lamp. | STEP 1: Turn right and walk over to face the foot of the bed. ", "output": ["STEP 2: Close the laptop closest to you and pick it up. "]} +{"id": "trial_T20190907_193702_706432-1%2", "input": "Inspect a laptop by the light of a lamp. | STEP 1: Turn right and walk over to face the foot of the bed. | STEP 2: Close the laptop closest to you and pick it up. ", "output": ["STEP 3: Turn around and head over to the white desk. "]} +{"id": "trial_T20190907_193702_706432-1%3", "input": "Inspect a laptop by the light of a lamp. | STEP 1: Turn right and walk over to face the foot of the bed. | STEP 2: Close the laptop closest to you and pick it up. | STEP 3: Turn around and head over to the white desk. ", "output": ["STEP 4: Turn on the lamp that is sitting on the desk. "]} +{"id": "trial_T20190907_193702_706432-1%4", "input": "Inspect a laptop by the light of a lamp. | STEP 1: Turn right and walk over to face the foot of the bed. | STEP 2: Close the laptop closest to you and pick it up. | STEP 3: Turn around and head over to the white desk. | STEP 4: Turn on the lamp that is sitting on the desk. ", "output": ["END"]} +{"id": "trial_T20190907_091432_072885-0%0", "input": "Put the phone on the bed.", "output": ["STEP 1: Go forward and stand at the dresser."]} +{"id": "trial_T20190907_091432_072885-0%1", "input": "Put the phone on the bed. | STEP 1: Go forward and stand at the dresser.", "output": ["STEP 2: Pick up the phone from the dresser."]} +{"id": "trial_T20190907_091432_072885-0%2", "input": "Put the phone on the bed. | STEP 1: Go forward and stand at the dresser. | STEP 2: Pick up the phone from the dresser.", "output": ["STEP 3: Turn around and go to the head of the bed."]} +{"id": "trial_T20190907_091432_072885-0%3", "input": "Put the phone on the bed. | STEP 1: Go forward and stand at the dresser. | STEP 2: Pick up the phone from the dresser. | STEP 3: Turn around and go to the head of the bed.", "output": ["STEP 4: Put the phone on the bed."]} +{"id": "trial_T20190907_091432_072885-0%4", "input": "Put the phone on the bed. | STEP 1: Go forward and stand at the dresser. | STEP 2: Pick up the phone from the dresser. | STEP 3: Turn around and go to the head of the bed. | STEP 4: Put the phone on the bed.", "output": ["END"]} +{"id": "trial_T20190907_091432_072885-2%0", "input": "Place a blue cell phone on the bed.", "output": ["STEP 1: Walk towards the blue cell phone on the dresser on the right."]} +{"id": "trial_T20190907_091432_072885-2%1", "input": "Place a blue cell phone on the bed. | STEP 1: Walk towards the blue cell phone on the dresser on the right.", "output": ["STEP 2: Pick up the blue cell phone from the dresser."]} +{"id": "trial_T20190907_091432_072885-2%2", "input": "Place a blue cell phone on the bed. | STEP 1: Walk towards the blue cell phone on the dresser on the right. | STEP 2: Pick up the blue cell phone from the dresser.", "output": ["STEP 3: Turn around and walk to the left side of the bed."]} +{"id": "trial_T20190907_091432_072885-2%3", "input": "Place a blue cell phone on the bed. | STEP 1: Walk towards the blue cell phone on the dresser on the right. | STEP 2: Pick up the blue cell phone from the dresser. | STEP 3: Turn around and walk to the left side of the bed.", "output": ["STEP 4: Put the cell phone on the bed, to the right of the closest pillow."]} +{"id": "trial_T20190907_091432_072885-2%4", "input": "Place a blue cell phone on the bed. | STEP 1: Walk towards the blue cell phone on the dresser on the right. | STEP 2: Pick up the blue cell phone from the dresser. | STEP 3: Turn around and walk to the left side of the bed. | STEP 4: Put the cell phone on the bed, to the right of the closest pillow.", "output": ["END"]} +{"id": "trial_T20190907_101709_490710-2%0", "input": "Put a warm mug at the coffee maker.", "output": ["STEP 1: Turn left, go straight, then turn left at the coffee maker."]} +{"id": "trial_T20190907_101709_490710-2%1", "input": "Put a warm mug at the coffee maker. | STEP 1: Turn left, go straight, then turn left at the coffee maker.", "output": ["STEP 2: Get the mug from the coffee maker."]} +{"id": "trial_T20190907_101709_490710-2%2", "input": "Put a warm mug at the coffee maker. | STEP 1: Turn left, go straight, then turn left at the coffee maker. | STEP 2: Get the mug from the coffee maker.", "output": ["STEP 3: Go to the stove behind you."]} +{"id": "trial_T20190907_101709_490710-2%3", "input": "Put a warm mug at the coffee maker. | STEP 1: Turn left, go straight, then turn left at the coffee maker. | STEP 2: Get the mug from the coffee maker. | STEP 3: Go to the stove behind you.", "output": ["STEP 4: Heat the mug in the microwave, above the stove."]} +{"id": "trial_T20190907_101709_490710-2%4", "input": "Put a warm mug at the coffee maker. | STEP 1: Turn left, go straight, then turn left at the coffee maker. | STEP 2: Get the mug from the coffee maker. | STEP 3: Go to the stove behind you. | STEP 4: Heat the mug in the microwave, above the stove.", "output": ["STEP 5: Return to the coffee maker behind you, on the counter."]} +{"id": "trial_T20190907_101709_490710-2%5", "input": "Put a warm mug at the coffee maker. | STEP 1: Turn left, go straight, then turn left at the coffee maker. | STEP 2: Get the mug from the coffee maker. | STEP 3: Go to the stove behind you. | STEP 4: Heat the mug in the microwave, above the stove. | STEP 5: Return to the coffee maker behind you, on the counter.", "output": ["STEP 6: Place the mug at the coffee maker."]} +{"id": "trial_T20190907_101709_490710-2%6", "input": "Put a warm mug at the coffee maker. | STEP 1: Turn left, go straight, then turn left at the coffee maker. | STEP 2: Get the mug from the coffee maker. | STEP 3: Go to the stove behind you. | STEP 4: Heat the mug in the microwave, above the stove. | STEP 5: Return to the coffee maker behind you, on the counter. | STEP 6: Place the mug at the coffee maker.", "output": ["END"]} +{"id": "trial_T20190909_010533_779015-1%0", "input": "Put two pencils on top of the brown drawers under the desk.", "output": ["STEP 1: Walk forward seven steps then turn right for eight steps, turn left for five steps and then turn left stopping in front of the trash can."]} +{"id": "trial_T20190909_010533_779015-1%1", "input": "Put two pencils on top of the brown drawers under the desk. | STEP 1: Walk forward seven steps then turn right for eight steps, turn left for five steps and then turn left stopping in front of the trash can.", "output": ["STEP 2: Take the pencil out of the trash can."]} +{"id": "trial_T20190909_010533_779015-1%2", "input": "Put two pencils on top of the brown drawers under the desk. | STEP 1: Walk forward seven steps then turn right for eight steps, turn left for five steps and then turn left stopping in front of the trash can. | STEP 2: Take the pencil out of the trash can.", "output": ["STEP 3: Turn left for four steps; turn right for six steps, then turn left to face the desk."]} +{"id": "trial_T20190909_010533_779015-1%3", "input": "Put two pencils on top of the brown drawers under the desk. | STEP 1: Walk forward seven steps then turn right for eight steps, turn left for five steps and then turn left stopping in front of the trash can. | STEP 2: Take the pencil out of the trash can. | STEP 3: Turn left for four steps; turn right for six steps, then turn left to face the desk.", "output": ["STEP 4: Put the pencil on the far right bottom corner on the top of the brown drawers set, with the lead pointing to the left."]} +{"id": "trial_T20190909_010533_779015-1%4", "input": "Put two pencils on top of the brown drawers under the desk. | STEP 1: Walk forward seven steps then turn right for eight steps, turn left for five steps and then turn left stopping in front of the trash can. | STEP 2: Take the pencil out of the trash can. | STEP 3: Turn left for four steps; turn right for six steps, then turn left to face the desk. | STEP 4: Put the pencil on the far right bottom corner on the top of the brown drawers set, with the lead pointing to the left.", "output": ["STEP 5: Turn right for six steps, turn left for three steps, and then turn right to face the dark brown dresser."]} +{"id": "trial_T20190909_010533_779015-1%5", "input": "Put two pencils on top of the brown drawers under the desk. | STEP 1: Walk forward seven steps then turn right for eight steps, turn left for five steps and then turn left stopping in front of the trash can. | STEP 2: Take the pencil out of the trash can. | STEP 3: Turn left for four steps; turn right for six steps, then turn left to face the desk. | STEP 4: Put the pencil on the far right bottom corner on the top of the brown drawers set, with the lead pointing to the left. | STEP 5: Turn right for six steps, turn left for three steps, and then turn right to face the dark brown dresser.", "output": ["STEP 6: Pick up the pencil on the dresser."]} +{"id": "trial_T20190909_010533_779015-1%6", "input": "Put two pencils on top of the brown drawers under the desk. | STEP 1: Walk forward seven steps then turn right for eight steps, turn left for five steps and then turn left stopping in front of the trash can. | STEP 2: Take the pencil out of the trash can. | STEP 3: Turn left for four steps; turn right for six steps, then turn left to face the desk. | STEP 4: Put the pencil on the far right bottom corner on the top of the brown drawers set, with the lead pointing to the left. | STEP 5: Turn right for six steps, turn left for three steps, and then turn right to face the dark brown dresser. | STEP 6: Pick up the pencil on the dresser.", "output": ["STEP 7: Turn right for five steps; turn right for nine steps then turn left to face the table."]} +{"id": "trial_T20190909_010533_779015-1%7", "input": "Put two pencils on top of the brown drawers under the desk. | STEP 1: Walk forward seven steps then turn right for eight steps, turn left for five steps and then turn left stopping in front of the trash can. | STEP 2: Take the pencil out of the trash can. | STEP 3: Turn left for four steps; turn right for six steps, then turn left to face the desk. | STEP 4: Put the pencil on the far right bottom corner on the top of the brown drawers set, with the lead pointing to the left. | STEP 5: Turn right for six steps, turn left for three steps, and then turn right to face the dark brown dresser. | STEP 6: Pick up the pencil on the dresser. | STEP 7: Turn right for five steps; turn right for nine steps then turn left to face the table.", "output": ["STEP 8: Put the pencil above the pencil on the left, facing up and down."]} +{"id": "trial_T20190909_010533_779015-1%8", "input": "Put two pencils on top of the brown drawers under the desk. | STEP 1: Walk forward seven steps then turn right for eight steps, turn left for five steps and then turn left stopping in front of the trash can. | STEP 2: Take the pencil out of the trash can. | STEP 3: Turn left for four steps; turn right for six steps, then turn left to face the desk. | STEP 4: Put the pencil on the far right bottom corner on the top of the brown drawers set, with the lead pointing to the left. | STEP 5: Turn right for six steps, turn left for three steps, and then turn right to face the dark brown dresser. | STEP 6: Pick up the pencil on the dresser. | STEP 7: Turn right for five steps; turn right for nine steps then turn left to face the table. | STEP 8: Put the pencil above the pencil on the left, facing up and down.", "output": ["END"]} +{"id": "trial_T20190908_035101_399652-2%0", "input": "Place two alarm clocks on a shelf.", "output": ["STEP 1: Turn right and walk to the end of the dresser."]} +{"id": "trial_T20190908_035101_399652-2%1", "input": "Place two alarm clocks on a shelf. | STEP 1: Turn right and walk to the end of the dresser.", "output": ["STEP 2: Pick up the right most alarm clock."]} +{"id": "trial_T20190908_035101_399652-2%2", "input": "Place two alarm clocks on a shelf. | STEP 1: Turn right and walk to the end of the dresser. | STEP 2: Pick up the right most alarm clock.", "output": ["STEP 3: Turn right and walk to the dresser with shelves."]} +{"id": "trial_T20190908_035101_399652-2%3", "input": "Place two alarm clocks on a shelf. | STEP 1: Turn right and walk to the end of the dresser. | STEP 2: Pick up the right most alarm clock. | STEP 3: Turn right and walk to the dresser with shelves.", "output": ["STEP 4: Place the alarm clock on the bottom shelf."]} +{"id": "trial_T20190908_035101_399652-2%4", "input": "Place two alarm clocks on a shelf. | STEP 1: Turn right and walk to the end of the dresser. | STEP 2: Pick up the right most alarm clock. | STEP 3: Turn right and walk to the dresser with shelves. | STEP 4: Place the alarm clock on the bottom shelf.", "output": ["STEP 5: Turn around and walk back to the first dresser."]} +{"id": "trial_T20190908_035101_399652-2%5", "input": "Place two alarm clocks on a shelf. | STEP 1: Turn right and walk to the end of the dresser. | STEP 2: Pick up the right most alarm clock. | STEP 3: Turn right and walk to the dresser with shelves. | STEP 4: Place the alarm clock on the bottom shelf. | STEP 5: Turn around and walk back to the first dresser.", "output": ["STEP 6: Pick up the other alarm clock on the dresser."]} +{"id": "trial_T20190908_035101_399652-2%6", "input": "Place two alarm clocks on a shelf. | STEP 1: Turn right and walk to the end of the dresser. | STEP 2: Pick up the right most alarm clock. | STEP 3: Turn right and walk to the dresser with shelves. | STEP 4: Place the alarm clock on the bottom shelf. | STEP 5: Turn around and walk back to the first dresser. | STEP 6: Pick up the other alarm clock on the dresser.", "output": ["STEP 7: Turn right and walk back to the dresser with shelves."]} +{"id": "trial_T20190908_035101_399652-2%7", "input": "Place two alarm clocks on a shelf. | STEP 1: Turn right and walk to the end of the dresser. | STEP 2: Pick up the right most alarm clock. | STEP 3: Turn right and walk to the dresser with shelves. | STEP 4: Place the alarm clock on the bottom shelf. | STEP 5: Turn around and walk back to the first dresser. | STEP 6: Pick up the other alarm clock on the dresser. | STEP 7: Turn right and walk back to the dresser with shelves.", "output": ["STEP 8: Place the alarm on the shelf to the right of the first alarm clock."]} +{"id": "trial_T20190908_035101_399652-2%8", "input": "Place two alarm clocks on a shelf. | STEP 1: Turn right and walk to the end of the dresser. | STEP 2: Pick up the right most alarm clock. | STEP 3: Turn right and walk to the dresser with shelves. | STEP 4: Place the alarm clock on the bottom shelf. | STEP 5: Turn around and walk back to the first dresser. | STEP 6: Pick up the other alarm clock on the dresser. | STEP 7: Turn right and walk back to the dresser with shelves. | STEP 8: Place the alarm on the shelf to the right of the first alarm clock.", "output": ["END"]} +{"id": "trial_T20190907_115731_853452-1%0", "input": "Cool down the cup on the counter.", "output": ["STEP 1: Turn around and walk towards the counter with the sink."]} +{"id": "trial_T20190907_115731_853452-1%1", "input": "Cool down the cup on the counter. | STEP 1: Turn around and walk towards the counter with the sink.", "output": ["STEP 2: Pick up the cup near the sink."]} +{"id": "trial_T20190907_115731_853452-1%2", "input": "Cool down the cup on the counter. | STEP 1: Turn around and walk towards the counter with the sink. | STEP 2: Pick up the cup near the sink.", "output": ["STEP 3: Turn right towards the fridge."]} +{"id": "trial_T20190907_115731_853452-1%3", "input": "Cool down the cup on the counter. | STEP 1: Turn around and walk towards the counter with the sink. | STEP 2: Pick up the cup near the sink. | STEP 3: Turn right towards the fridge.", "output": ["STEP 4: Place the cup on the shelf above the egg in the fridge, let it cool, and take the cup back out."]} +{"id": "trial_T20190907_115731_853452-1%4", "input": "Cool down the cup on the counter. | STEP 1: Turn around and walk towards the counter with the sink. | STEP 2: Pick up the cup near the sink. | STEP 3: Turn right towards the fridge. | STEP 4: Place the cup on the shelf above the egg in the fridge, let it cool, and take the cup back out.", "output": ["STEP 5: Turn left and look at the counter to your left."]} +{"id": "trial_T20190907_115731_853452-1%5", "input": "Cool down the cup on the counter. | STEP 1: Turn around and walk towards the counter with the sink. | STEP 2: Pick up the cup near the sink. | STEP 3: Turn right towards the fridge. | STEP 4: Place the cup on the shelf above the egg in the fridge, let it cool, and take the cup back out. | STEP 5: Turn left and look at the counter to your left.", "output": ["STEP 6: Place the cup on the counter."]} +{"id": "trial_T20190907_115731_853452-1%6", "input": "Cool down the cup on the counter. | STEP 1: Turn around and walk towards the counter with the sink. | STEP 2: Pick up the cup near the sink. | STEP 3: Turn right towards the fridge. | STEP 4: Place the cup on the shelf above the egg in the fridge, let it cool, and take the cup back out. | STEP 5: Turn left and look at the counter to your left. | STEP 6: Place the cup on the counter.", "output": ["END"]} +{"id": "trial_T20190919_005844_577060-2%0", "input": "To move two pepper mills from the cabinets to the counter. ", "output": ["STEP 1: Turn around and walk to the counter to the right of the stove. "]} +{"id": "trial_T20190919_005844_577060-2%1", "input": "To move two pepper mills from the cabinets to the counter. | STEP 1: Turn around and walk to the counter to the right of the stove. ", "output": ["STEP 2: Open the cabinet under the counter with the toaster, take out the pepper mill, and close the door. "]} +{"id": "trial_T20190919_005844_577060-2%2", "input": "To move two pepper mills from the cabinets to the counter. | STEP 1: Turn around and walk to the counter to the right of the stove. | STEP 2: Open the cabinet under the counter with the toaster, take out the pepper mill, and close the door. ", "output": ["STEP 3: Face the counter in front of you with the toaster on it. "]} +{"id": "trial_T20190919_005844_577060-2%3", "input": "To move two pepper mills from the cabinets to the counter. | STEP 1: Turn around and walk to the counter to the right of the stove. | STEP 2: Open the cabinet under the counter with the toaster, take out the pepper mill, and close the door. | STEP 3: Face the counter in front of you with the toaster on it. ", "output": ["STEP 4: Put the pepper mill down on the counter to the left of the sponge. "]} +{"id": "trial_T20190919_005844_577060-2%4", "input": "To move two pepper mills from the cabinets to the counter. | STEP 1: Turn around and walk to the counter to the right of the stove. | STEP 2: Open the cabinet under the counter with the toaster, take out the pepper mill, and close the door. | STEP 3: Face the counter in front of you with the toaster on it. | STEP 4: Put the pepper mill down on the counter to the left of the sponge. ", "output": ["STEP 5: Move to face the lower cabinet to the right. "]} +{"id": "trial_T20190919_005844_577060-2%5", "input": "To move two pepper mills from the cabinets to the counter. | STEP 1: Turn around and walk to the counter to the right of the stove. | STEP 2: Open the cabinet under the counter with the toaster, take out the pepper mill, and close the door. | STEP 3: Face the counter in front of you with the toaster on it. | STEP 4: Put the pepper mill down on the counter to the left of the sponge. | STEP 5: Move to face the lower cabinet to the right. ", "output": ["STEP 6: Open the cabinet door, pick up the pepper mill behind the kettle, and close the door. "]} +{"id": "trial_T20190919_005844_577060-2%6", "input": "To move two pepper mills from the cabinets to the counter. | STEP 1: Turn around and walk to the counter to the right of the stove. | STEP 2: Open the cabinet under the counter with the toaster, take out the pepper mill, and close the door. | STEP 3: Face the counter in front of you with the toaster on it. | STEP 4: Put the pepper mill down on the counter to the left of the sponge. | STEP 5: Move to face the lower cabinet to the right. | STEP 6: Open the cabinet door, pick up the pepper mill behind the kettle, and close the door. ", "output": ["STEP 7: Turn around and walk back to the counter with the toaster on it. "]} +{"id": "trial_T20190919_005844_577060-2%7", "input": "To move two pepper mills from the cabinets to the counter. | STEP 1: Turn around and walk to the counter to the right of the stove. | STEP 2: Open the cabinet under the counter with the toaster, take out the pepper mill, and close the door. | STEP 3: Face the counter in front of you with the toaster on it. | STEP 4: Put the pepper mill down on the counter to the left of the sponge. | STEP 5: Move to face the lower cabinet to the right. | STEP 6: Open the cabinet door, pick up the pepper mill behind the kettle, and close the door. | STEP 7: Turn around and walk back to the counter with the toaster on it. ", "output": ["STEP 8: Place the pepper mill on the counter to the right of the sponge. "]} +{"id": "trial_T20190919_005844_577060-2%8", "input": "To move two pepper mills from the cabinets to the counter. | STEP 1: Turn around and walk to the counter to the right of the stove. | STEP 2: Open the cabinet under the counter with the toaster, take out the pepper mill, and close the door. | STEP 3: Face the counter in front of you with the toaster on it. | STEP 4: Put the pepper mill down on the counter to the left of the sponge. | STEP 5: Move to face the lower cabinet to the right. | STEP 6: Open the cabinet door, pick up the pepper mill behind the kettle, and close the door. | STEP 7: Turn around and walk back to the counter with the toaster on it. | STEP 8: Place the pepper mill on the counter to the right of the sponge. ", "output": ["END"]} +{"id": "trial_T20190918_155833_059590-2%0", "input": "Put the heated apple in the sink", "output": ["STEP 1: Turn right and face the sink"]} +{"id": "trial_T20190918_155833_059590-2%1", "input": "Put the heated apple in the sink | STEP 1: Turn right and face the sink", "output": ["STEP 2: Pick up the apple on the left side of the sink"]} +{"id": "trial_T20190918_155833_059590-2%2", "input": "Put the heated apple in the sink | STEP 1: Turn right and face the sink | STEP 2: Pick up the apple on the left side of the sink", "output": ["STEP 3: Turn left then head to the microwave on your left"]} +{"id": "trial_T20190918_155833_059590-2%3", "input": "Put the heated apple in the sink | STEP 1: Turn right and face the sink | STEP 2: Pick up the apple on the left side of the sink | STEP 3: Turn left then head to the microwave on your left", "output": ["STEP 4: Open the microwave heat up the apple,take it out then close the microwave"]} +{"id": "trial_T20190918_155833_059590-2%4", "input": "Put the heated apple in the sink | STEP 1: Turn right and face the sink | STEP 2: Pick up the apple on the left side of the sink | STEP 3: Turn left then head to the microwave on your left | STEP 4: Open the microwave heat up the apple,take it out then close the microwave", "output": ["STEP 5: Turn left and head back to the sink"]} +{"id": "trial_T20190918_155833_059590-2%5", "input": "Put the heated apple in the sink | STEP 1: Turn right and face the sink | STEP 2: Pick up the apple on the left side of the sink | STEP 3: Turn left then head to the microwave on your left | STEP 4: Open the microwave heat up the apple,take it out then close the microwave | STEP 5: Turn left and head back to the sink", "output": ["STEP 6: Put the apple in the sink"]} +{"id": "trial_T20190918_155833_059590-2%6", "input": "Put the heated apple in the sink | STEP 1: Turn right and face the sink | STEP 2: Pick up the apple on the left side of the sink | STEP 3: Turn left then head to the microwave on your left | STEP 4: Open the microwave heat up the apple,take it out then close the microwave | STEP 5: Turn left and head back to the sink | STEP 6: Put the apple in the sink", "output": ["END"]} +{"id": "trial_T20190918_173557_625058-0%0", "input": "Slice, clean and put a tomato into the microwave.", "output": ["STEP 1: Walk forward to the stove then turn to the right to face it."]} +{"id": "trial_T20190918_173557_625058-0%1", "input": "Slice, clean and put a tomato into the microwave. | STEP 1: Walk forward to the stove then turn to the right to face it.", "output": ["STEP 2: Pick up the knife with the yellow handle."]} +{"id": "trial_T20190918_173557_625058-0%2", "input": "Slice, clean and put a tomato into the microwave. | STEP 1: Walk forward to the stove then turn to the right to face it. | STEP 2: Pick up the knife with the yellow handle.", "output": ["STEP 3: Turn to the left twice and approach the sink."]} +{"id": "trial_T20190918_173557_625058-0%3", "input": "Slice, clean and put a tomato into the microwave. | STEP 1: Walk forward to the stove then turn to the right to face it. | STEP 2: Pick up the knife with the yellow handle. | STEP 3: Turn to the left twice and approach the sink.", "output": ["STEP 4: Slice the tomato to the left of the sink."]} +{"id": "trial_T20190918_173557_625058-0%4", "input": "Slice, clean and put a tomato into the microwave. | STEP 1: Walk forward to the stove then turn to the right to face it. | STEP 2: Pick up the knife with the yellow handle. | STEP 3: Turn to the left twice and approach the sink. | STEP 4: Slice the tomato to the left of the sink.", "output": ["STEP 5: Put the knife in the sink."]} +{"id": "trial_T20190918_173557_625058-0%5", "input": "Slice, clean and put a tomato into the microwave. | STEP 1: Walk forward to the stove then turn to the right to face it. | STEP 2: Pick up the knife with the yellow handle. | STEP 3: Turn to the left twice and approach the sink. | STEP 4: Slice the tomato to the left of the sink. | STEP 5: Put the knife in the sink.", "output": ["STEP 6: Pick up a slice of tomato."]} +{"id": "trial_T20190918_173557_625058-0%6", "input": "Slice, clean and put a tomato into the microwave. | STEP 1: Walk forward to the stove then turn to the right to face it. | STEP 2: Pick up the knife with the yellow handle. | STEP 3: Turn to the left twice and approach the sink. | STEP 4: Slice the tomato to the left of the sink. | STEP 5: Put the knife in the sink. | STEP 6: Pick up a slice of tomato.", "output": ["STEP 7: Wash the tomato in the sink."]} +{"id": "trial_T20190918_173557_625058-0%7", "input": "Slice, clean and put a tomato into the microwave. | STEP 1: Walk forward to the stove then turn to the right to face it. | STEP 2: Pick up the knife with the yellow handle. | STEP 3: Turn to the left twice and approach the sink. | STEP 4: Slice the tomato to the left of the sink. | STEP 5: Put the knife in the sink. | STEP 6: Pick up a slice of tomato. | STEP 7: Wash the tomato in the sink.", "output": ["STEP 8: Turn to the left, walk forward then turn to the left to face the microwave."]} +{"id": "trial_T20190918_173557_625058-0%8", "input": "Slice, clean and put a tomato into the microwave. | STEP 1: Walk forward to the stove then turn to the right to face it. | STEP 2: Pick up the knife with the yellow handle. | STEP 3: Turn to the left twice and approach the sink. | STEP 4: Slice the tomato to the left of the sink. | STEP 5: Put the knife in the sink. | STEP 6: Pick up a slice of tomato. | STEP 7: Wash the tomato in the sink. | STEP 8: Turn to the left, walk forward then turn to the left to face the microwave.", "output": ["STEP 9: Put the sliced tomato into the microwave."]} +{"id": "trial_T20190918_173557_625058-0%9", "input": "Slice, clean and put a tomato into the microwave. | STEP 1: Walk forward to the stove then turn to the right to face it. | STEP 2: Pick up the knife with the yellow handle. | STEP 3: Turn to the left twice and approach the sink. | STEP 4: Slice the tomato to the left of the sink. | STEP 5: Put the knife in the sink. | STEP 6: Pick up a slice of tomato. | STEP 7: Wash the tomato in the sink. | STEP 8: Turn to the left, walk forward then turn to the left to face the microwave. | STEP 9: Put the sliced tomato into the microwave.", "output": ["END"]} +{"id": "trial_T20190918_173557_625058-1%0", "input": "Put a washed slice of tomato in the microwave. ", "output": ["STEP 1: Go to the front of the left side of the stove. "]} +{"id": "trial_T20190918_173557_625058-1%1", "input": "Put a washed slice of tomato in the microwave. | STEP 1: Go to the front of the left side of the stove. ", "output": ["STEP 2: Pick up the yellow knife on the front edge of the counter"]} +{"id": "trial_T20190918_173557_625058-1%2", "input": "Put a washed slice of tomato in the microwave. | STEP 1: Go to the front of the left side of the stove. | STEP 2: Pick up the yellow knife on the front edge of the counter", "output": ["STEP 3: Turn around and go to the sink on the other side."]} +{"id": "trial_T20190918_173557_625058-1%3", "input": "Put a washed slice of tomato in the microwave. | STEP 1: Go to the front of the left side of the stove. | STEP 2: Pick up the yellow knife on the front edge of the counter | STEP 3: Turn around and go to the sink on the other side.", "output": ["STEP 4: Slice the red tomato on the counter. "]} +{"id": "trial_T20190918_173557_625058-1%4", "input": "Put a washed slice of tomato in the microwave. | STEP 1: Go to the front of the left side of the stove. | STEP 2: Pick up the yellow knife on the front edge of the counter | STEP 3: Turn around and go to the sink on the other side. | STEP 4: Slice the red tomato on the counter. ", "output": ["STEP 5: Place the knife inside the sink."]} +{"id": "trial_T20190918_173557_625058-1%5", "input": "Put a washed slice of tomato in the microwave. | STEP 1: Go to the front of the left side of the stove. | STEP 2: Pick up the yellow knife on the front edge of the counter | STEP 3: Turn around and go to the sink on the other side. | STEP 4: Slice the red tomato on the counter. | STEP 5: Place the knife inside the sink.", "output": ["STEP 6: Pick up one slice of the tomato. "]} +{"id": "trial_T20190918_173557_625058-1%6", "input": "Put a washed slice of tomato in the microwave. | STEP 1: Go to the front of the left side of the stove. | STEP 2: Pick up the yellow knife on the front edge of the counter | STEP 3: Turn around and go to the sink on the other side. | STEP 4: Slice the red tomato on the counter. | STEP 5: Place the knife inside the sink. | STEP 6: Pick up one slice of the tomato. ", "output": ["STEP 7: Wash the slice inside the sink under running water and take it out. "]} +{"id": "trial_T20190918_173557_625058-1%7", "input": "Put a washed slice of tomato in the microwave. | STEP 1: Go to the front of the left side of the stove. | STEP 2: Pick up the yellow knife on the front edge of the counter | STEP 3: Turn around and go to the sink on the other side. | STEP 4: Slice the red tomato on the counter. | STEP 5: Place the knife inside the sink. | STEP 6: Pick up one slice of the tomato. | STEP 7: Wash the slice inside the sink under running water and take it out. ", "output": ["STEP 8: Turn around and go to the microwave above the oven. "]} +{"id": "trial_T20190918_173557_625058-1%8", "input": "Put a washed slice of tomato in the microwave. | STEP 1: Go to the front of the left side of the stove. | STEP 2: Pick up the yellow knife on the front edge of the counter | STEP 3: Turn around and go to the sink on the other side. | STEP 4: Slice the red tomato on the counter. | STEP 5: Place the knife inside the sink. | STEP 6: Pick up one slice of the tomato. | STEP 7: Wash the slice inside the sink under running water and take it out. | STEP 8: Turn around and go to the microwave above the oven. ", "output": ["STEP 9: Place the tomato slice in the microwave. "]} +{"id": "trial_T20190918_173557_625058-1%9", "input": "Put a washed slice of tomato in the microwave. | STEP 1: Go to the front of the left side of the stove. | STEP 2: Pick up the yellow knife on the front edge of the counter | STEP 3: Turn around and go to the sink on the other side. | STEP 4: Slice the red tomato on the counter. | STEP 5: Place the knife inside the sink. | STEP 6: Pick up one slice of the tomato. | STEP 7: Wash the slice inside the sink under running water and take it out. | STEP 8: Turn around and go to the microwave above the oven. | STEP 9: Place the tomato slice in the microwave. ", "output": ["END"]} +{"id": "trial_T20190907_040619_780535-1%0", "input": "place two remote controller's down on top of the sofa", "output": ["STEP 1: turn right and walk to the end of the room where the table is"]} +{"id": "trial_T20190907_040619_780535-1%1", "input": "place two remote controller's down on top of the sofa | STEP 1: turn right and walk to the end of the room where the table is", "output": ["STEP 2: grab the remote controller off of the table"]} +{"id": "trial_T20190907_040619_780535-1%2", "input": "place two remote controller's down on top of the sofa | STEP 1: turn right and walk to the end of the room where the table is | STEP 2: grab the remote controller off of the table", "output": ["STEP 3: turn around and walk over to the sofa on the left"]} +{"id": "trial_T20190907_040619_780535-1%3", "input": "place two remote controller's down on top of the sofa | STEP 1: turn right and walk to the end of the room where the table is | STEP 2: grab the remote controller off of the table | STEP 3: turn around and walk over to the sofa on the left", "output": ["STEP 4: place the remote controller down on the sofa"]} +{"id": "trial_T20190907_040619_780535-1%4", "input": "place two remote controller's down on top of the sofa | STEP 1: turn right and walk to the end of the room where the table is | STEP 2: grab the remote controller off of the table | STEP 3: turn around and walk over to the sofa on the left | STEP 4: place the remote controller down on the sofa", "output": ["STEP 5: turn left and walk over to the table in the corner of the room"]} +{"id": "trial_T20190907_040619_780535-1%5", "input": "place two remote controller's down on top of the sofa | STEP 1: turn right and walk to the end of the room where the table is | STEP 2: grab the remote controller off of the table | STEP 3: turn around and walk over to the sofa on the left | STEP 4: place the remote controller down on the sofa | STEP 5: turn left and walk over to the table in the corner of the room", "output": ["STEP 6: take the second remote controller off of the table this time"]} +{"id": "trial_T20190907_040619_780535-1%6", "input": "place two remote controller's down on top of the sofa | STEP 1: turn right and walk to the end of the room where the table is | STEP 2: grab the remote controller off of the table | STEP 3: turn around and walk over to the sofa on the left | STEP 4: place the remote controller down on the sofa | STEP 5: turn left and walk over to the table in the corner of the room | STEP 6: take the second remote controller off of the table this time", "output": ["STEP 7: turn around and walk over to the sofa on the left"]} +{"id": "trial_T20190907_040619_780535-1%7", "input": "place two remote controller's down on top of the sofa | STEP 1: turn right and walk to the end of the room where the table is | STEP 2: grab the remote controller off of the table | STEP 3: turn around and walk over to the sofa on the left | STEP 4: place the remote controller down on the sofa | STEP 5: turn left and walk over to the table in the corner of the room | STEP 6: take the second remote controller off of the table this time | STEP 7: turn around and walk over to the sofa on the left", "output": ["STEP 8: place the remote controller down on top of the sofa"]} +{"id": "trial_T20190907_040619_780535-1%8", "input": "place two remote controller's down on top of the sofa | STEP 1: turn right and walk to the end of the room where the table is | STEP 2: grab the remote controller off of the table | STEP 3: turn around and walk over to the sofa on the left | STEP 4: place the remote controller down on the sofa | STEP 5: turn left and walk over to the table in the corner of the room | STEP 6: take the second remote controller off of the table this time | STEP 7: turn around and walk over to the sofa on the left | STEP 8: place the remote controller down on top of the sofa", "output": ["END"]} +{"id": "trial_T20190907_040619_780535-3%0", "input": "Place two remotes on a couch.", "output": ["STEP 1: Turn to your right and walk to the table."]} +{"id": "trial_T20190907_040619_780535-3%1", "input": "Place two remotes on a couch. | STEP 1: Turn to your right and walk to the table.", "output": ["STEP 2: Pick up the remote to the right end of the table"]} +{"id": "trial_T20190907_040619_780535-3%2", "input": "Place two remotes on a couch. | STEP 1: Turn to your right and walk to the table. | STEP 2: Pick up the remote to the right end of the table", "output": ["STEP 3: Turn around, then turn left to reach the couch."]} +{"id": "trial_T20190907_040619_780535-3%3", "input": "Place two remotes on a couch. | STEP 1: Turn to your right and walk to the table. | STEP 2: Pick up the remote to the right end of the table | STEP 3: Turn around, then turn left to reach the couch.", "output": ["STEP 4: Place the remote on the right side of the middle couch cushion."]} +{"id": "trial_T20190907_040619_780535-3%4", "input": "Place two remotes on a couch. | STEP 1: Turn to your right and walk to the table. | STEP 2: Pick up the remote to the right end of the table | STEP 3: Turn around, then turn left to reach the couch. | STEP 4: Place the remote on the right side of the middle couch cushion.", "output": ["STEP 5: Turn around and walk back to the table where you picked up the first remote."]} +{"id": "trial_T20190907_040619_780535-3%5", "input": "Place two remotes on a couch. | STEP 1: Turn to your right and walk to the table. | STEP 2: Pick up the remote to the right end of the table | STEP 3: Turn around, then turn left to reach the couch. | STEP 4: Place the remote on the right side of the middle couch cushion. | STEP 5: Turn around and walk back to the table where you picked up the first remote.", "output": ["STEP 6: Pick up the other remote from the table."]} +{"id": "trial_T20190907_040619_780535-3%6", "input": "Place two remotes on a couch. | STEP 1: Turn to your right and walk to the table. | STEP 2: Pick up the remote to the right end of the table | STEP 3: Turn around, then turn left to reach the couch. | STEP 4: Place the remote on the right side of the middle couch cushion. | STEP 5: Turn around and walk back to the table where you picked up the first remote. | STEP 6: Pick up the other remote from the table.", "output": ["STEP 7: Walk back to the couch."]} +{"id": "trial_T20190907_040619_780535-3%7", "input": "Place two remotes on a couch. | STEP 1: Turn to your right and walk to the table. | STEP 2: Pick up the remote to the right end of the table | STEP 3: Turn around, then turn left to reach the couch. | STEP 4: Place the remote on the right side of the middle couch cushion. | STEP 5: Turn around and walk back to the table where you picked up the first remote. | STEP 6: Pick up the other remote from the table. | STEP 7: Walk back to the couch.", "output": ["STEP 8: Place the remote on the left side of the middle couch cushion."]} +{"id": "trial_T20190907_040619_780535-3%8", "input": "Place two remotes on a couch. | STEP 1: Turn to your right and walk to the table. | STEP 2: Pick up the remote to the right end of the table | STEP 3: Turn around, then turn left to reach the couch. | STEP 4: Place the remote on the right side of the middle couch cushion. | STEP 5: Turn around and walk back to the table where you picked up the first remote. | STEP 6: Pick up the other remote from the table. | STEP 7: Walk back to the couch. | STEP 8: Place the remote on the left side of the middle couch cushion.", "output": ["END"]} +{"id": "trial_T20190908_114236_195315-0%0", "input": "Move two bars of soap to the bath tub.", "output": ["STEP 1: Turn to the left and face the toilet on the left side."]} +{"id": "trial_T20190908_114236_195315-0%1", "input": "Move two bars of soap to the bath tub. | STEP 1: Turn to the left and face the toilet on the left side.", "output": ["STEP 2: Pick up the soap from the tank of the toilet."]} +{"id": "trial_T20190908_114236_195315-0%2", "input": "Move two bars of soap to the bath tub. | STEP 1: Turn to the left and face the toilet on the left side. | STEP 2: Pick up the soap from the tank of the toilet.", "output": ["STEP 3: Carry the soap and turn left, then right and go to the bath tub."]} +{"id": "trial_T20190908_114236_195315-0%3", "input": "Move two bars of soap to the bath tub. | STEP 1: Turn to the left and face the toilet on the left side. | STEP 2: Pick up the soap from the tank of the toilet. | STEP 3: Carry the soap and turn left, then right and go to the bath tub.", "output": ["STEP 4: Place the soap inside the bath tub."]} +{"id": "trial_T20190908_114236_195315-0%4", "input": "Move two bars of soap to the bath tub. | STEP 1: Turn to the left and face the toilet on the left side. | STEP 2: Pick up the soap from the tank of the toilet. | STEP 3: Carry the soap and turn left, then right and go to the bath tub. | STEP 4: Place the soap inside the bath tub.", "output": ["STEP 5: Turn around and then right to the shelf on the wall. Look up to the high shelf."]} +{"id": "trial_T20190908_114236_195315-0%5", "input": "Move two bars of soap to the bath tub. | STEP 1: Turn to the left and face the toilet on the left side. | STEP 2: Pick up the soap from the tank of the toilet. | STEP 3: Carry the soap and turn left, then right and go to the bath tub. | STEP 4: Place the soap inside the bath tub. | STEP 5: Turn around and then right to the shelf on the wall. Look up to the high shelf.", "output": ["STEP 6: Pick up the bar of soap from the high shelf."]} +{"id": "trial_T20190908_114236_195315-0%6", "input": "Move two bars of soap to the bath tub. | STEP 1: Turn to the left and face the toilet on the left side. | STEP 2: Pick up the soap from the tank of the toilet. | STEP 3: Carry the soap and turn left, then right and go to the bath tub. | STEP 4: Place the soap inside the bath tub. | STEP 5: Turn around and then right to the shelf on the wall. Look up to the high shelf. | STEP 6: Pick up the bar of soap from the high shelf.", "output": ["STEP 7: Carry the soap and turn around, and face the bath tub on the left."]} +{"id": "trial_T20190908_114236_195315-0%7", "input": "Move two bars of soap to the bath tub. | STEP 1: Turn to the left and face the toilet on the left side. | STEP 2: Pick up the soap from the tank of the toilet. | STEP 3: Carry the soap and turn left, then right and go to the bath tub. | STEP 4: Place the soap inside the bath tub. | STEP 5: Turn around and then right to the shelf on the wall. Look up to the high shelf. | STEP 6: Pick up the bar of soap from the high shelf. | STEP 7: Carry the soap and turn around, and face the bath tub on the left.", "output": ["STEP 8: Place the soap inside the bath tub."]} +{"id": "trial_T20190908_114236_195315-0%8", "input": "Move two bars of soap to the bath tub. | STEP 1: Turn to the left and face the toilet on the left side. | STEP 2: Pick up the soap from the tank of the toilet. | STEP 3: Carry the soap and turn left, then right and go to the bath tub. | STEP 4: Place the soap inside the bath tub. | STEP 5: Turn around and then right to the shelf on the wall. Look up to the high shelf. | STEP 6: Pick up the bar of soap from the high shelf. | STEP 7: Carry the soap and turn around, and face the bath tub on the left. | STEP 8: Place the soap inside the bath tub.", "output": ["END"]} +{"id": "trial_T20190908_114236_195315-2%0", "input": "Move two bars of soap to the bath tub.", "output": ["STEP 1: Turn left and move to the toilet."]} +{"id": "trial_T20190908_114236_195315-2%1", "input": "Move two bars of soap to the bath tub. | STEP 1: Turn left and move to the toilet.", "output": ["STEP 2: Pick up the bar of soap"]} +{"id": "trial_T20190908_114236_195315-2%2", "input": "Move two bars of soap to the bath tub. | STEP 1: Turn left and move to the toilet. | STEP 2: Pick up the bar of soap", "output": ["STEP 3: Turn left and move to the bath tub on the other side of the room."]} +{"id": "trial_T20190908_114236_195315-2%3", "input": "Move two bars of soap to the bath tub. | STEP 1: Turn left and move to the toilet. | STEP 2: Pick up the bar of soap | STEP 3: Turn left and move to the bath tub on the other side of the room.", "output": ["STEP 4: Put the soap on the bottom of the bath tub."]} +{"id": "trial_T20190908_114236_195315-2%4", "input": "Move two bars of soap to the bath tub. | STEP 1: Turn left and move to the toilet. | STEP 2: Pick up the bar of soap | STEP 3: Turn left and move to the bath tub on the other side of the room. | STEP 4: Put the soap on the bottom of the bath tub.", "output": ["STEP 5: Turn left and move to the front of the shelves on the wall."]} +{"id": "trial_T20190908_114236_195315-2%5", "input": "Move two bars of soap to the bath tub. | STEP 1: Turn left and move to the toilet. | STEP 2: Pick up the bar of soap | STEP 3: Turn left and move to the bath tub on the other side of the room. | STEP 4: Put the soap on the bottom of the bath tub. | STEP 5: Turn left and move to the front of the shelves on the wall.", "output": ["STEP 6: Take the bar of soap off the third shelf from the bottom."]} +{"id": "trial_T20190908_114236_195315-2%6", "input": "Move two bars of soap to the bath tub. | STEP 1: Turn left and move to the toilet. | STEP 2: Pick up the bar of soap | STEP 3: Turn left and move to the bath tub on the other side of the room. | STEP 4: Put the soap on the bottom of the bath tub. | STEP 5: Turn left and move to the front of the shelves on the wall. | STEP 6: Take the bar of soap off the third shelf from the bottom.", "output": ["STEP 7: Turn right and head back to the front of the bath tub."]} +{"id": "trial_T20190908_114236_195315-2%7", "input": "Move two bars of soap to the bath tub. | STEP 1: Turn left and move to the toilet. | STEP 2: Pick up the bar of soap | STEP 3: Turn left and move to the bath tub on the other side of the room. | STEP 4: Put the soap on the bottom of the bath tub. | STEP 5: Turn left and move to the front of the shelves on the wall. | STEP 6: Take the bar of soap off the third shelf from the bottom. | STEP 7: Turn right and head back to the front of the bath tub.", "output": ["STEP 8: Put the second bar of soap in the bath tub on the right of the first bar."]} +{"id": "trial_T20190908_114236_195315-2%8", "input": "Move two bars of soap to the bath tub. | STEP 1: Turn left and move to the toilet. | STEP 2: Pick up the bar of soap | STEP 3: Turn left and move to the bath tub on the other side of the room. | STEP 4: Put the soap on the bottom of the bath tub. | STEP 5: Turn left and move to the front of the shelves on the wall. | STEP 6: Take the bar of soap off the third shelf from the bottom. | STEP 7: Turn right and head back to the front of the bath tub. | STEP 8: Put the second bar of soap in the bath tub on the right of the first bar.", "output": ["END"]} +{"id": "trial_T20190909_151200_510903-0%0", "input": "turn on desk lamp with pillow in hand", "output": ["STEP 1: walk to face right side of bed"]} +{"id": "trial_T20190909_151200_510903-0%1", "input": "turn on desk lamp with pillow in hand | STEP 1: walk to face right side of bed", "output": ["STEP 2: pick up ornate pillow"]} +{"id": "trial_T20190909_151200_510903-0%2", "input": "turn on desk lamp with pillow in hand | STEP 1: walk to face right side of bed | STEP 2: pick up ornate pillow", "output": ["STEP 3: walk to face right side of desk"]} +{"id": "trial_T20190909_151200_510903-0%3", "input": "turn on desk lamp with pillow in hand | STEP 1: walk to face right side of bed | STEP 2: pick up ornate pillow | STEP 3: walk to face right side of desk", "output": ["STEP 4: turn on desk lamp"]} +{"id": "trial_T20190909_151200_510903-0%4", "input": "turn on desk lamp with pillow in hand | STEP 1: walk to face right side of bed | STEP 2: pick up ornate pillow | STEP 3: walk to face right side of desk | STEP 4: turn on desk lamp", "output": ["END"]} +{"id": "trial_T20190909_151200_510903-1%0", "input": "Grab a pillow and turn a lamp on", "output": ["STEP 1: Walk over to the bed"]} +{"id": "trial_T20190909_151200_510903-1%1", "input": "Grab a pillow and turn a lamp on | STEP 1: Walk over to the bed", "output": ["STEP 2: Grab the pillow"]} +{"id": "trial_T20190909_151200_510903-1%2", "input": "Grab a pillow and turn a lamp on | STEP 1: Walk over to the bed | STEP 2: Grab the pillow", "output": ["STEP 3: Walk over to the lamp"]} +{"id": "trial_T20190909_151200_510903-1%3", "input": "Grab a pillow and turn a lamp on | STEP 1: Walk over to the bed | STEP 2: Grab the pillow | STEP 3: Walk over to the lamp", "output": ["STEP 4: Turn the lamp on"]} +{"id": "trial_T20190909_151200_510903-1%4", "input": "Grab a pillow and turn a lamp on | STEP 1: Walk over to the bed | STEP 2: Grab the pillow | STEP 3: Walk over to the lamp | STEP 4: Turn the lamp on", "output": ["END"]} +{"id": "trial_T20190909_153642_401996-1%0", "input": "turn on table lamp while holding closed laptop", "output": ["STEP 1: walk to face couch with laptop"]} +{"id": "trial_T20190909_153642_401996-1%1", "input": "turn on table lamp while holding closed laptop | STEP 1: walk to face couch with laptop", "output": ["STEP 2: close and pick up laptop from couch"]} +{"id": "trial_T20190909_153642_401996-1%2", "input": "turn on table lamp while holding closed laptop | STEP 1: walk to face couch with laptop | STEP 2: close and pick up laptop from couch", "output": ["STEP 3: walk to face table lamp"]} +{"id": "trial_T20190909_153642_401996-1%3", "input": "turn on table lamp while holding closed laptop | STEP 1: walk to face couch with laptop | STEP 2: close and pick up laptop from couch | STEP 3: walk to face table lamp", "output": ["STEP 4: turn on table lamp"]} +{"id": "trial_T20190909_153642_401996-1%4", "input": "turn on table lamp while holding closed laptop | STEP 1: walk to face couch with laptop | STEP 2: close and pick up laptop from couch | STEP 3: walk to face table lamp | STEP 4: turn on table lamp", "output": ["END"]} +{"id": "trial_T20190907_040712_814784-0%0", "input": "Place two tv remotes next to the box on the couch.", "output": ["STEP 1: Turn around to face the coffee table."]} +{"id": "trial_T20190907_040712_814784-0%1", "input": "Place two tv remotes next to the box on the couch. | STEP 1: Turn around to face the coffee table.", "output": ["STEP 2: Pick up the tv remote from the table."]} +{"id": "trial_T20190907_040712_814784-0%2", "input": "Place two tv remotes next to the box on the couch. | STEP 1: Turn around to face the coffee table. | STEP 2: Pick up the tv remote from the table.", "output": ["STEP 3: Turn left towards the couch and turn right towards the box on the couch."]} +{"id": "trial_T20190907_040712_814784-0%3", "input": "Place two tv remotes next to the box on the couch. | STEP 1: Turn around to face the coffee table. | STEP 2: Pick up the tv remote from the table. | STEP 3: Turn left towards the couch and turn right towards the box on the couch.", "output": ["STEP 4: Place the remote to the left of the box."]} +{"id": "trial_T20190907_040712_814784-0%4", "input": "Place two tv remotes next to the box on the couch. | STEP 1: Turn around to face the coffee table. | STEP 2: Pick up the tv remote from the table. | STEP 3: Turn left towards the couch and turn right towards the box on the couch. | STEP 4: Place the remote to the left of the box.", "output": ["STEP 5: Turn left towards the end of the couch, turn left to towards the end of the table, and turn right to find the desk in front of you."]} +{"id": "trial_T20190907_040712_814784-0%5", "input": "Place two tv remotes next to the box on the couch. | STEP 1: Turn around to face the coffee table. | STEP 2: Pick up the tv remote from the table. | STEP 3: Turn left towards the couch and turn right towards the box on the couch. | STEP 4: Place the remote to the left of the box. | STEP 5: Turn left towards the end of the couch, turn left to towards the end of the table, and turn right to find the desk in front of you.", "output": ["STEP 6: Pick up the remote on the desk."]} +{"id": "trial_T20190907_040712_814784-0%6", "input": "Place two tv remotes next to the box on the couch. | STEP 1: Turn around to face the coffee table. | STEP 2: Pick up the tv remote from the table. | STEP 3: Turn left towards the couch and turn right towards the box on the couch. | STEP 4: Place the remote to the left of the box. | STEP 5: Turn left towards the end of the couch, turn left to towards the end of the table, and turn right to find the desk in front of you. | STEP 6: Pick up the remote on the desk.", "output": ["STEP 7: Turn around, walk towards the table, and then turn left towards the couch."]} +{"id": "trial_T20190907_040712_814784-0%7", "input": "Place two tv remotes next to the box on the couch. | STEP 1: Turn around to face the coffee table. | STEP 2: Pick up the tv remote from the table. | STEP 3: Turn left towards the couch and turn right towards the box on the couch. | STEP 4: Place the remote to the left of the box. | STEP 5: Turn left towards the end of the couch, turn left to towards the end of the table, and turn right to find the desk in front of you. | STEP 6: Pick up the remote on the desk. | STEP 7: Turn around, walk towards the table, and then turn left towards the couch.", "output": ["STEP 8: Place the remote to the left of the box on the couch."]} +{"id": "trial_T20190907_040712_814784-0%8", "input": "Place two tv remotes next to the box on the couch. | STEP 1: Turn around to face the coffee table. | STEP 2: Pick up the tv remote from the table. | STEP 3: Turn left towards the couch and turn right towards the box on the couch. | STEP 4: Place the remote to the left of the box. | STEP 5: Turn left towards the end of the couch, turn left to towards the end of the table, and turn right to find the desk in front of you. | STEP 6: Pick up the remote on the desk. | STEP 7: Turn around, walk towards the table, and then turn left towards the couch. | STEP 8: Place the remote to the left of the box on the couch.", "output": ["END"]} +{"id": "trial_T20190907_040712_814784-1%0", "input": "Move the remote controls from the tables to the couch. ", "output": ["STEP 1: Turn and go to the coffee table."]} +{"id": "trial_T20190907_040712_814784-1%1", "input": "Move the remote controls from the tables to the couch. | STEP 1: Turn and go to the coffee table.", "output": ["STEP 2: Pick up the remote control on the coffee table. "]} +{"id": "trial_T20190907_040712_814784-1%2", "input": "Move the remote controls from the tables to the couch. | STEP 1: Turn and go to the coffee table. | STEP 2: Pick up the remote control on the coffee table. ", "output": ["STEP 3: Turn and go to the couch."]} +{"id": "trial_T20190907_040712_814784-1%3", "input": "Move the remote controls from the tables to the couch. | STEP 1: Turn and go to the coffee table. | STEP 2: Pick up the remote control on the coffee table. | STEP 3: Turn and go to the couch.", "output": ["STEP 4: Put the remote control on the couch. "]} +{"id": "trial_T20190907_040712_814784-1%4", "input": "Move the remote controls from the tables to the couch. | STEP 1: Turn and go to the coffee table. | STEP 2: Pick up the remote control on the coffee table. | STEP 3: Turn and go to the couch. | STEP 4: Put the remote control on the couch. ", "output": ["STEP 5: Turn and go to the table by the picture on the wall."]} +{"id": "trial_T20190907_040712_814784-1%5", "input": "Move the remote controls from the tables to the couch. | STEP 1: Turn and go to the coffee table. | STEP 2: Pick up the remote control on the coffee table. | STEP 3: Turn and go to the couch. | STEP 4: Put the remote control on the couch. | STEP 5: Turn and go to the table by the picture on the wall.", "output": ["STEP 6: Pick up the remote control on the table."]} +{"id": "trial_T20190907_040712_814784-1%6", "input": "Move the remote controls from the tables to the couch. | STEP 1: Turn and go to the coffee table. | STEP 2: Pick up the remote control on the coffee table. | STEP 3: Turn and go to the couch. | STEP 4: Put the remote control on the couch. | STEP 5: Turn and go to the table by the picture on the wall. | STEP 6: Pick up the remote control on the table.", "output": ["STEP 7: Turn around and go to the couch."]} +{"id": "trial_T20190907_040712_814784-1%7", "input": "Move the remote controls from the tables to the couch. | STEP 1: Turn and go to the coffee table. | STEP 2: Pick up the remote control on the coffee table. | STEP 3: Turn and go to the couch. | STEP 4: Put the remote control on the couch. | STEP 5: Turn and go to the table by the picture on the wall. | STEP 6: Pick up the remote control on the table. | STEP 7: Turn around and go to the couch.", "output": ["STEP 8: Put the remote control on the couch. "]} +{"id": "trial_T20190907_040712_814784-1%8", "input": "Move the remote controls from the tables to the couch. | STEP 1: Turn and go to the coffee table. | STEP 2: Pick up the remote control on the coffee table. | STEP 3: Turn and go to the couch. | STEP 4: Put the remote control on the couch. | STEP 5: Turn and go to the table by the picture on the wall. | STEP 6: Pick up the remote control on the table. | STEP 7: Turn around and go to the couch. | STEP 8: Put the remote control on the couch. ", "output": ["END"]} +{"id": "trial_T20190907_040712_814784-2%0", "input": "Move two remote controls to a sofa.", "output": ["STEP 1: Turn around to face the end of the coffee table behind you."]} +{"id": "trial_T20190907_040712_814784-2%1", "input": "Move two remote controls to a sofa. | STEP 1: Turn around to face the end of the coffee table behind you.", "output": ["STEP 2: Pick up the remote control from the end of the coffee table."]} +{"id": "trial_T20190907_040712_814784-2%2", "input": "Move two remote controls to a sofa. | STEP 1: Turn around to face the end of the coffee table behind you. | STEP 2: Pick up the remote control from the end of the coffee table.", "output": ["STEP 3: Go to the sofa on your left and face the cardboard box near the right end of the sofa."]} +{"id": "trial_T20190907_040712_814784-2%3", "input": "Move two remote controls to a sofa. | STEP 1: Turn around to face the end of the coffee table behind you. | STEP 2: Pick up the remote control from the end of the coffee table. | STEP 3: Go to the sofa on your left and face the cardboard box near the right end of the sofa.", "output": ["STEP 4: Put the remote control along the left edge of the center seat, near the front."]} +{"id": "trial_T20190907_040712_814784-2%4", "input": "Move two remote controls to a sofa. | STEP 1: Turn around to face the end of the coffee table behind you. | STEP 2: Pick up the remote control from the end of the coffee table. | STEP 3: Go to the sofa on your left and face the cardboard box near the right end of the sofa. | STEP 4: Put the remote control along the left edge of the center seat, near the front.", "output": ["STEP 5: Turn left and go between the coffee table and brown chair, to face the small desk beyond the brown chair."]} +{"id": "trial_T20190907_040712_814784-2%5", "input": "Move two remote controls to a sofa. | STEP 1: Turn around to face the end of the coffee table behind you. | STEP 2: Pick up the remote control from the end of the coffee table. | STEP 3: Go to the sofa on your left and face the cardboard box near the right end of the sofa. | STEP 4: Put the remote control along the left edge of the center seat, near the front. | STEP 5: Turn left and go between the coffee table and brown chair, to face the small desk beyond the brown chair.", "output": ["STEP 6: Pick up the remote control from the desk."]} +{"id": "trial_T20190907_040712_814784-2%6", "input": "Move two remote controls to a sofa. | STEP 1: Turn around to face the end of the coffee table behind you. | STEP 2: Pick up the remote control from the end of the coffee table. | STEP 3: Go to the sofa on your left and face the cardboard box near the right end of the sofa. | STEP 4: Put the remote control along the left edge of the center seat, near the front. | STEP 5: Turn left and go between the coffee table and brown chair, to face the small desk beyond the brown chair. | STEP 6: Pick up the remote control from the desk.", "output": ["STEP 7: Go back between the coffee table and brown chair, to the sofa, then face the cardboard box near the right end again."]} +{"id": "trial_T20190907_040712_814784-2%7", "input": "Move two remote controls to a sofa. | STEP 1: Turn around to face the end of the coffee table behind you. | STEP 2: Pick up the remote control from the end of the coffee table. | STEP 3: Go to the sofa on your left and face the cardboard box near the right end of the sofa. | STEP 4: Put the remote control along the left edge of the center seat, near the front. | STEP 5: Turn left and go between the coffee table and brown chair, to face the small desk beyond the brown chair. | STEP 6: Pick up the remote control from the desk. | STEP 7: Go back between the coffee table and brown chair, to the sofa, then face the cardboard box near the right end again.", "output": ["STEP 8: Put the remote control near the center back of the seat to the left of the box, with the blue end toward you."]} +{"id": "trial_T20190907_040712_814784-2%8", "input": "Move two remote controls to a sofa. | STEP 1: Turn around to face the end of the coffee table behind you. | STEP 2: Pick up the remote control from the end of the coffee table. | STEP 3: Go to the sofa on your left and face the cardboard box near the right end of the sofa. | STEP 4: Put the remote control along the left edge of the center seat, near the front. | STEP 5: Turn left and go between the coffee table and brown chair, to face the small desk beyond the brown chair. | STEP 6: Pick up the remote control from the desk. | STEP 7: Go back between the coffee table and brown chair, to the sofa, then face the cardboard box near the right end again. | STEP 8: Put the remote control near the center back of the seat to the left of the box, with the blue end toward you.", "output": ["END"]} +{"id": "trial_T20190907_040712_814784-4%0", "input": "Put two remote controls on the couch.", "output": ["STEP 1: Turn around and go to the brown table."]} +{"id": "trial_T20190907_040712_814784-4%1", "input": "Put two remote controls on the couch. | STEP 1: Turn around and go to the brown table.", "output": ["STEP 2: Take the remote control from the brown table."]} +{"id": "trial_T20190907_040712_814784-4%2", "input": "Put two remote controls on the couch. | STEP 1: Turn around and go to the brown table. | STEP 2: Take the remote control from the brown table.", "output": ["STEP 3: Turn left, go to the couch, turn right, go to the cardboard box on the couch, and turn left."]} +{"id": "trial_T20190907_040712_814784-4%3", "input": "Put two remote controls on the couch. | STEP 1: Turn around and go to the brown table. | STEP 2: Take the remote control from the brown table. | STEP 3: Turn left, go to the couch, turn right, go to the cardboard box on the couch, and turn left.", "output": ["STEP 4: Put the remote control on the middle cushion of the couch."]} +{"id": "trial_T20190907_040712_814784-4%4", "input": "Put two remote controls on the couch. | STEP 1: Turn around and go to the brown table. | STEP 2: Take the remote control from the brown table. | STEP 3: Turn left, go to the couch, turn right, go to the cardboard box on the couch, and turn left. | STEP 4: Put the remote control on the middle cushion of the couch.", "output": ["STEP 5: Turn left, go to the end of the couch, turn left, go the wall, turn right, and go to the desk."]} +{"id": "trial_T20190907_040712_814784-4%5", "input": "Put two remote controls on the couch. | STEP 1: Turn around and go to the brown table. | STEP 2: Take the remote control from the brown table. | STEP 3: Turn left, go to the couch, turn right, go to the cardboard box on the couch, and turn left. | STEP 4: Put the remote control on the middle cushion of the couch. | STEP 5: Turn left, go to the end of the couch, turn left, go the wall, turn right, and go to the desk.", "output": ["STEP 6: Take the remote control from the desk."]} +{"id": "trial_T20190907_040712_814784-4%6", "input": "Put two remote controls on the couch. | STEP 1: Turn around and go to the brown table. | STEP 2: Take the remote control from the brown table. | STEP 3: Turn left, go to the couch, turn right, go to the cardboard box on the couch, and turn left. | STEP 4: Put the remote control on the middle cushion of the couch. | STEP 5: Turn left, go to the end of the couch, turn left, go the wall, turn right, and go to the desk. | STEP 6: Take the remote control from the desk.", "output": ["STEP 7: Turn around, go to the brown table, turn left, go to the couch, turn right, go to the cardboard box on the couch, and turn left."]} +{"id": "trial_T20190907_040712_814784-4%7", "input": "Put two remote controls on the couch. | STEP 1: Turn around and go to the brown table. | STEP 2: Take the remote control from the brown table. | STEP 3: Turn left, go to the couch, turn right, go to the cardboard box on the couch, and turn left. | STEP 4: Put the remote control on the middle cushion of the couch. | STEP 5: Turn left, go to the end of the couch, turn left, go the wall, turn right, and go to the desk. | STEP 6: Take the remote control from the desk. | STEP 7: Turn around, go to the brown table, turn left, go to the couch, turn right, go to the cardboard box on the couch, and turn left.", "output": ["STEP 8: Put the remote control on the middle cushion of the couch."]} +{"id": "trial_T20190907_040712_814784-4%8", "input": "Put two remote controls on the couch. | STEP 1: Turn around and go to the brown table. | STEP 2: Take the remote control from the brown table. | STEP 3: Turn left, go to the couch, turn right, go to the cardboard box on the couch, and turn left. | STEP 4: Put the remote control on the middle cushion of the couch. | STEP 5: Turn left, go to the end of the couch, turn left, go the wall, turn right, and go to the desk. | STEP 6: Take the remote control from the desk. | STEP 7: Turn around, go to the brown table, turn left, go to the couch, turn right, go to the cardboard box on the couch, and turn left. | STEP 8: Put the remote control on the middle cushion of the couch.", "output": ["END"]} +{"id": "trial_T20190907_185714_643526-2%0", "input": "Move a spray bottle from a cabinet to a counter top.", "output": ["STEP 1: Turn around and walk to the sink on the left."]} +{"id": "trial_T20190907_185714_643526-2%1", "input": "Move a spray bottle from a cabinet to a counter top. | STEP 1: Turn around and walk to the sink on the left.", "output": ["STEP 2: Take out the spray bottle from the cabinet on the right below the sink."]} +{"id": "trial_T20190907_185714_643526-2%2", "input": "Move a spray bottle from a cabinet to a counter top. | STEP 1: Turn around and walk to the sink on the left. | STEP 2: Take out the spray bottle from the cabinet on the right below the sink.", "output": ["STEP 3: Walk to the left side of the counter near the candle."]} +{"id": "trial_T20190907_185714_643526-2%3", "input": "Move a spray bottle from a cabinet to a counter top. | STEP 1: Turn around and walk to the sink on the left. | STEP 2: Take out the spray bottle from the cabinet on the right below the sink. | STEP 3: Walk to the left side of the counter near the candle.", "output": ["STEP 4: Put the spray bottle in front of the candle on the counter."]} +{"id": "trial_T20190907_185714_643526-2%4", "input": "Move a spray bottle from a cabinet to a counter top. | STEP 1: Turn around and walk to the sink on the left. | STEP 2: Take out the spray bottle from the cabinet on the right below the sink. | STEP 3: Walk to the left side of the counter near the candle. | STEP 4: Put the spray bottle in front of the candle on the counter.", "output": ["END"]} +{"id": "trial_T20190909_010123_072594-2%0", "input": "Pick up a pencil and turn a lamp on.", "output": ["STEP 1: Move to the right and face the brown dresser."]} +{"id": "trial_T20190909_010123_072594-2%1", "input": "Pick up a pencil and turn a lamp on. | STEP 1: Move to the right and face the brown dresser.", "output": ["STEP 2: Pick up the pencil from the dresser."]} +{"id": "trial_T20190909_010123_072594-2%2", "input": "Pick up a pencil and turn a lamp on. | STEP 1: Move to the right and face the brown dresser. | STEP 2: Pick up the pencil from the dresser.", "output": ["STEP 3: Turn around and stand in front of the white table with the lamp."]} +{"id": "trial_T20190909_010123_072594-2%3", "input": "Pick up a pencil and turn a lamp on. | STEP 1: Move to the right and face the brown dresser. | STEP 2: Pick up the pencil from the dresser. | STEP 3: Turn around and stand in front of the white table with the lamp.", "output": ["STEP 4: Turn the lamp on."]} +{"id": "trial_T20190909_010123_072594-2%4", "input": "Pick up a pencil and turn a lamp on. | STEP 1: Move to the right and face the brown dresser. | STEP 2: Pick up the pencil from the dresser. | STEP 3: Turn around and stand in front of the white table with the lamp. | STEP 4: Turn the lamp on.", "output": ["END"]} +{"id": "trial_T20190908_234938_780340-0%0", "input": "rinse off a tomato slice and cook it in the microwave", "output": ["STEP 1: look down and turn left then walk straight then turn right towards the counter"]} +{"id": "trial_T20190908_234938_780340-0%1", "input": "rinse off a tomato slice and cook it in the microwave | STEP 1: look down and turn left then walk straight then turn right towards the counter", "output": ["STEP 2: pick up the butter knife in front of the other knife"]} +{"id": "trial_T20190908_234938_780340-0%2", "input": "rinse off a tomato slice and cook it in the microwave | STEP 1: look down and turn left then walk straight then turn right towards the counter | STEP 2: pick up the butter knife in front of the other knife", "output": ["STEP 3: turn left walk straight then turn left towards the sink and walk straight"]} +{"id": "trial_T20190908_234938_780340-0%3", "input": "rinse off a tomato slice and cook it in the microwave | STEP 1: look down and turn left then walk straight then turn right towards the counter | STEP 2: pick up the butter knife in front of the other knife | STEP 3: turn left walk straight then turn left towards the sink and walk straight", "output": ["STEP 4: cut the tomato near the sink with the knife"]} +{"id": "trial_T20190908_234938_780340-0%4", "input": "rinse off a tomato slice and cook it in the microwave | STEP 1: look down and turn left then walk straight then turn right towards the counter | STEP 2: pick up the butter knife in front of the other knife | STEP 3: turn left walk straight then turn left towards the sink and walk straight | STEP 4: cut the tomato near the sink with the knife", "output": ["STEP 5: put the knife into the sink"]} +{"id": "trial_T20190908_234938_780340-0%5", "input": "rinse off a tomato slice and cook it in the microwave | STEP 1: look down and turn left then walk straight then turn right towards the counter | STEP 2: pick up the butter knife in front of the other knife | STEP 3: turn left walk straight then turn left towards the sink and walk straight | STEP 4: cut the tomato near the sink with the knife | STEP 5: put the knife into the sink", "output": ["STEP 6: pick up a tomato slice off of the counter"]} +{"id": "trial_T20190908_234938_780340-0%6", "input": "rinse off a tomato slice and cook it in the microwave | STEP 1: look down and turn left then walk straight then turn right towards the counter | STEP 2: pick up the butter knife in front of the other knife | STEP 3: turn left walk straight then turn left towards the sink and walk straight | STEP 4: cut the tomato near the sink with the knife | STEP 5: put the knife into the sink | STEP 6: pick up a tomato slice off of the counter", "output": ["STEP 7: put the tomato slice into the sink and fill the sink with water then drain the water and pick up the tomato slice"]} +{"id": "trial_T20190908_234938_780340-0%7", "input": "rinse off a tomato slice and cook it in the microwave | STEP 1: look down and turn left then walk straight then turn right towards the counter | STEP 2: pick up the butter knife in front of the other knife | STEP 3: turn left walk straight then turn left towards the sink and walk straight | STEP 4: cut the tomato near the sink with the knife | STEP 5: put the knife into the sink | STEP 6: pick up a tomato slice off of the counter | STEP 7: put the tomato slice into the sink and fill the sink with water then drain the water and pick up the tomato slice", "output": ["STEP 8: turn left and walk straight towards the wall and turn left and walk straight towards the oven and look up"]} +{"id": "trial_T20190908_234938_780340-0%8", "input": "rinse off a tomato slice and cook it in the microwave | STEP 1: look down and turn left then walk straight then turn right towards the counter | STEP 2: pick up the butter knife in front of the other knife | STEP 3: turn left walk straight then turn left towards the sink and walk straight | STEP 4: cut the tomato near the sink with the knife | STEP 5: put the knife into the sink | STEP 6: pick up a tomato slice off of the counter | STEP 7: put the tomato slice into the sink and fill the sink with water then drain the water and pick up the tomato slice | STEP 8: turn left and walk straight towards the wall and turn left and walk straight towards the oven and look up", "output": ["STEP 9: open the microwave and put the tomato slice inside and close the door"]} +{"id": "trial_T20190908_234938_780340-0%9", "input": "rinse off a tomato slice and cook it in the microwave | STEP 1: look down and turn left then walk straight then turn right towards the counter | STEP 2: pick up the butter knife in front of the other knife | STEP 3: turn left walk straight then turn left towards the sink and walk straight | STEP 4: cut the tomato near the sink with the knife | STEP 5: put the knife into the sink | STEP 6: pick up a tomato slice off of the counter | STEP 7: put the tomato slice into the sink and fill the sink with water then drain the water and pick up the tomato slice | STEP 8: turn left and walk straight towards the wall and turn left and walk straight towards the oven and look up | STEP 9: open the microwave and put the tomato slice inside and close the door", "output": ["END"]} +{"id": "trial_T20190907_114907_680679-0%0", "input": "Put a bowl with water in it on the counter.", "output": ["STEP 1: Turn around, go straight, then turn right to face the counter with the toaster."]} +{"id": "trial_T20190907_114907_680679-0%1", "input": "Put a bowl with water in it on the counter. | STEP 1: Turn around, go straight, then turn right to face the counter with the toaster.", "output": ["STEP 2: Remove the bowl from the cabinet above the counter with the toaster."]} +{"id": "trial_T20190907_114907_680679-0%2", "input": "Put a bowl with water in it on the counter. | STEP 1: Turn around, go straight, then turn right to face the counter with the toaster. | STEP 2: Remove the bowl from the cabinet above the counter with the toaster.", "output": ["STEP 3: Turn left, move forward, then turn left again to face the sink."]} +{"id": "trial_T20190907_114907_680679-0%3", "input": "Put a bowl with water in it on the counter. | STEP 1: Turn around, go straight, then turn right to face the counter with the toaster. | STEP 2: Remove the bowl from the cabinet above the counter with the toaster. | STEP 3: Turn left, move forward, then turn left again to face the sink.", "output": ["STEP 4: Fill the bowl with water in the sink."]} +{"id": "trial_T20190907_114907_680679-0%4", "input": "Put a bowl with water in it on the counter. | STEP 1: Turn around, go straight, then turn right to face the counter with the toaster. | STEP 2: Remove the bowl from the cabinet above the counter with the toaster. | STEP 3: Turn left, move forward, then turn left again to face the sink. | STEP 4: Fill the bowl with water in the sink.", "output": ["STEP 5: Turn left, move forward, then turn left again to face the counter with the toaster."]} +{"id": "trial_T20190907_114907_680679-0%5", "input": "Put a bowl with water in it on the counter. | STEP 1: Turn around, go straight, then turn right to face the counter with the toaster. | STEP 2: Remove the bowl from the cabinet above the counter with the toaster. | STEP 3: Turn left, move forward, then turn left again to face the sink. | STEP 4: Fill the bowl with water in the sink. | STEP 5: Turn left, move forward, then turn left again to face the counter with the toaster.", "output": ["STEP 6: Place the bowl on the counter, to the right of the stove."]} +{"id": "trial_T20190907_114907_680679-0%6", "input": "Put a bowl with water in it on the counter. | STEP 1: Turn around, go straight, then turn right to face the counter with the toaster. | STEP 2: Remove the bowl from the cabinet above the counter with the toaster. | STEP 3: Turn left, move forward, then turn left again to face the sink. | STEP 4: Fill the bowl with water in the sink. | STEP 5: Turn left, move forward, then turn left again to face the counter with the toaster. | STEP 6: Place the bowl on the counter, to the right of the stove.", "output": ["END"]} +{"id": "trial_T20190908_100621_296795-1%0", "input": "Put two eggs in the microwave.", "output": ["STEP 1: Turn around and go to the front of the sink."]} +{"id": "trial_T20190908_100621_296795-1%1", "input": "Put two eggs in the microwave. | STEP 1: Turn around and go to the front of the sink.", "output": ["STEP 2: Pick up the egg on the left of the soap bottle."]} +{"id": "trial_T20190908_100621_296795-1%2", "input": "Put two eggs in the microwave. | STEP 1: Turn around and go to the front of the sink. | STEP 2: Pick up the egg on the left of the soap bottle.", "output": ["STEP 3: Turn around and go to the microwave above the oven."]} +{"id": "trial_T20190908_100621_296795-1%3", "input": "Put two eggs in the microwave. | STEP 1: Turn around and go to the front of the sink. | STEP 2: Pick up the egg on the left of the soap bottle. | STEP 3: Turn around and go to the microwave above the oven.", "output": ["STEP 4: Place the egg inside the microwave on the right side of the mug."]} +{"id": "trial_T20190908_100621_296795-1%4", "input": "Put two eggs in the microwave. | STEP 1: Turn around and go to the front of the sink. | STEP 2: Pick up the egg on the left of the soap bottle. | STEP 3: Turn around and go to the microwave above the oven. | STEP 4: Place the egg inside the microwave on the right side of the mug.", "output": ["STEP 5: Move over left to the counter next to the oven. "]} +{"id": "trial_T20190908_100621_296795-1%5", "input": "Put two eggs in the microwave. | STEP 1: Turn around and go to the front of the sink. | STEP 2: Pick up the egg on the left of the soap bottle. | STEP 3: Turn around and go to the microwave above the oven. | STEP 4: Place the egg inside the microwave on the right side of the mug. | STEP 5: Move over left to the counter next to the oven. ", "output": ["STEP 6: Pick up the egg behind the pepper shaker on the counter. "]} +{"id": "trial_T20190908_100621_296795-1%6", "input": "Put two eggs in the microwave. | STEP 1: Turn around and go to the front of the sink. | STEP 2: Pick up the egg on the left of the soap bottle. | STEP 3: Turn around and go to the microwave above the oven. | STEP 4: Place the egg inside the microwave on the right side of the mug. | STEP 5: Move over left to the counter next to the oven. | STEP 6: Pick up the egg behind the pepper shaker on the counter. ", "output": ["STEP 7: Move over right to the microwave above the oven. "]} +{"id": "trial_T20190908_100621_296795-1%7", "input": "Put two eggs in the microwave. | STEP 1: Turn around and go to the front of the sink. | STEP 2: Pick up the egg on the left of the soap bottle. | STEP 3: Turn around and go to the microwave above the oven. | STEP 4: Place the egg inside the microwave on the right side of the mug. | STEP 5: Move over left to the counter next to the oven. | STEP 6: Pick up the egg behind the pepper shaker on the counter. | STEP 7: Move over right to the microwave above the oven. ", "output": ["STEP 8: Place the egg on the left of the first egg in the microwave. "]} +{"id": "trial_T20190908_100621_296795-1%8", "input": "Put two eggs in the microwave. | STEP 1: Turn around and go to the front of the sink. | STEP 2: Pick up the egg on the left of the soap bottle. | STEP 3: Turn around and go to the microwave above the oven. | STEP 4: Place the egg inside the microwave on the right side of the mug. | STEP 5: Move over left to the counter next to the oven. | STEP 6: Pick up the egg behind the pepper shaker on the counter. | STEP 7: Move over right to the microwave above the oven. | STEP 8: Place the egg on the left of the first egg in the microwave. ", "output": ["END"]} +{"id": "trial_T20190909_095046_240773-1%0", "input": "Place a clean kettle in a cabinet.", "output": ["STEP 1: Turn left and walk to the cabinets on the far right."]} +{"id": "trial_T20190909_095046_240773-1%1", "input": "Place a clean kettle in a cabinet. | STEP 1: Turn left and walk to the cabinets on the far right.", "output": ["STEP 2: Open the bottom cabinet next to the wall and take out the kettle."]} +{"id": "trial_T20190909_095046_240773-1%2", "input": "Place a clean kettle in a cabinet. | STEP 1: Turn left and walk to the cabinets on the far right. | STEP 2: Open the bottom cabinet next to the wall and take out the kettle.", "output": ["STEP 3: Turn around and walk to the sink."]} +{"id": "trial_T20190909_095046_240773-1%3", "input": "Place a clean kettle in a cabinet. | STEP 1: Turn left and walk to the cabinets on the far right. | STEP 2: Open the bottom cabinet next to the wall and take out the kettle. | STEP 3: Turn around and walk to the sink.", "output": ["STEP 4: Wash the kettle in the sink."]} +{"id": "trial_T20190909_095046_240773-1%4", "input": "Place a clean kettle in a cabinet. | STEP 1: Turn left and walk to the cabinets on the far right. | STEP 2: Open the bottom cabinet next to the wall and take out the kettle. | STEP 3: Turn around and walk to the sink. | STEP 4: Wash the kettle in the sink.", "output": ["STEP 5: Turn around."]} +{"id": "trial_T20190909_095046_240773-1%5", "input": "Place a clean kettle in a cabinet. | STEP 1: Turn left and walk to the cabinets on the far right. | STEP 2: Open the bottom cabinet next to the wall and take out the kettle. | STEP 3: Turn around and walk to the sink. | STEP 4: Wash the kettle in the sink. | STEP 5: Turn around.", "output": ["STEP 6: Open the cabinet under and to the left of the stove and place the kettle in it."]} +{"id": "trial_T20190909_095046_240773-1%6", "input": "Place a clean kettle in a cabinet. | STEP 1: Turn left and walk to the cabinets on the far right. | STEP 2: Open the bottom cabinet next to the wall and take out the kettle. | STEP 3: Turn around and walk to the sink. | STEP 4: Wash the kettle in the sink. | STEP 5: Turn around. | STEP 6: Open the cabinet under and to the left of the stove and place the kettle in it.", "output": ["END"]} +{"id": "trial_T20190909_073859_956810-0%0", "input": "Move two soap dispensers from the trash can to the shelf.", "output": ["STEP 1: Turn and go to the trash can by the toilet. "]} +{"id": "trial_T20190909_073859_956810-0%1", "input": "Move two soap dispensers from the trash can to the shelf. | STEP 1: Turn and go to the trash can by the toilet. ", "output": ["STEP 2: Take a soap dispenser out of the trash can."]} +{"id": "trial_T20190909_073859_956810-0%2", "input": "Move two soap dispensers from the trash can to the shelf. | STEP 1: Turn and go to the trash can by the toilet. | STEP 2: Take a soap dispenser out of the trash can.", "output": ["STEP 3: Turn and go to the shelf by the bathtub."]} +{"id": "trial_T20190909_073859_956810-0%3", "input": "Move two soap dispensers from the trash can to the shelf. | STEP 1: Turn and go to the trash can by the toilet. | STEP 2: Take a soap dispenser out of the trash can. | STEP 3: Turn and go to the shelf by the bathtub.", "output": ["STEP 4: Put the soap dispenser on the shelf."]} +{"id": "trial_T20190909_073859_956810-0%4", "input": "Move two soap dispensers from the trash can to the shelf. | STEP 1: Turn and go to the trash can by the toilet. | STEP 2: Take a soap dispenser out of the trash can. | STEP 3: Turn and go to the shelf by the bathtub. | STEP 4: Put the soap dispenser on the shelf.", "output": ["STEP 5: Turn and go to the trash can by the toilet. "]} +{"id": "trial_T20190909_073859_956810-0%5", "input": "Move two soap dispensers from the trash can to the shelf. | STEP 1: Turn and go to the trash can by the toilet. | STEP 2: Take a soap dispenser out of the trash can. | STEP 3: Turn and go to the shelf by the bathtub. | STEP 4: Put the soap dispenser on the shelf. | STEP 5: Turn and go to the trash can by the toilet. ", "output": ["STEP 6: Take a soap dispenser out of the trash can."]} +{"id": "trial_T20190909_073859_956810-0%6", "input": "Move two soap dispensers from the trash can to the shelf. | STEP 1: Turn and go to the trash can by the toilet. | STEP 2: Take a soap dispenser out of the trash can. | STEP 3: Turn and go to the shelf by the bathtub. | STEP 4: Put the soap dispenser on the shelf. | STEP 5: Turn and go to the trash can by the toilet. | STEP 6: Take a soap dispenser out of the trash can.", "output": ["STEP 7: Turn and go to the shelf by the bathtub."]} +{"id": "trial_T20190909_073859_956810-0%7", "input": "Move two soap dispensers from the trash can to the shelf. | STEP 1: Turn and go to the trash can by the toilet. | STEP 2: Take a soap dispenser out of the trash can. | STEP 3: Turn and go to the shelf by the bathtub. | STEP 4: Put the soap dispenser on the shelf. | STEP 5: Turn and go to the trash can by the toilet. | STEP 6: Take a soap dispenser out of the trash can. | STEP 7: Turn and go to the shelf by the bathtub.", "output": ["STEP 8: Put the soap dispenser on the shelf."]} +{"id": "trial_T20190909_073859_956810-0%8", "input": "Move two soap dispensers from the trash can to the shelf. | STEP 1: Turn and go to the trash can by the toilet. | STEP 2: Take a soap dispenser out of the trash can. | STEP 3: Turn and go to the shelf by the bathtub. | STEP 4: Put the soap dispenser on the shelf. | STEP 5: Turn and go to the trash can by the toilet. | STEP 6: Take a soap dispenser out of the trash can. | STEP 7: Turn and go to the shelf by the bathtub. | STEP 8: Put the soap dispenser on the shelf.", "output": ["END"]} +{"id": "trial_T20190909_073859_956810-2%0", "input": "Move two pump dispensers from garbage can to shelf.", "output": ["STEP 1: Turn around, proceed to garbage can between sink and toilet."]} +{"id": "trial_T20190909_073859_956810-2%1", "input": "Move two pump dispensers from garbage can to shelf. | STEP 1: Turn around, proceed to garbage can between sink and toilet.", "output": ["STEP 2: Pick up back pump dispenser from garbage can."]} +{"id": "trial_T20190909_073859_956810-2%2", "input": "Move two pump dispensers from garbage can to shelf. | STEP 1: Turn around, proceed to garbage can between sink and toilet. | STEP 2: Pick up back pump dispenser from garbage can.", "output": ["STEP 3: Turn around, go across room."]} +{"id": "trial_T20190909_073859_956810-2%3", "input": "Move two pump dispensers from garbage can to shelf. | STEP 1: Turn around, proceed to garbage can between sink and toilet. | STEP 2: Pick up back pump dispenser from garbage can. | STEP 3: Turn around, go across room.", "output": ["STEP 4: Place pump dispenser on shelf close to floor."]} +{"id": "trial_T20190909_073859_956810-2%4", "input": "Move two pump dispensers from garbage can to shelf. | STEP 1: Turn around, proceed to garbage can between sink and toilet. | STEP 2: Pick up back pump dispenser from garbage can. | STEP 3: Turn around, go across room. | STEP 4: Place pump dispenser on shelf close to floor.", "output": ["STEP 5: Turn around, go to garbage can between sink and toilet."]} +{"id": "trial_T20190909_073859_956810-2%5", "input": "Move two pump dispensers from garbage can to shelf. | STEP 1: Turn around, proceed to garbage can between sink and toilet. | STEP 2: Pick up back pump dispenser from garbage can. | STEP 3: Turn around, go across room. | STEP 4: Place pump dispenser on shelf close to floor. | STEP 5: Turn around, go to garbage can between sink and toilet.", "output": ["STEP 6: Pick up pump dispenser from garbage can."]} +{"id": "trial_T20190909_073859_956810-2%6", "input": "Move two pump dispensers from garbage can to shelf. | STEP 1: Turn around, proceed to garbage can between sink and toilet. | STEP 2: Pick up back pump dispenser from garbage can. | STEP 3: Turn around, go across room. | STEP 4: Place pump dispenser on shelf close to floor. | STEP 5: Turn around, go to garbage can between sink and toilet. | STEP 6: Pick up pump dispenser from garbage can.", "output": ["STEP 7: Turn around, go across room."]} +{"id": "trial_T20190909_073859_956810-2%7", "input": "Move two pump dispensers from garbage can to shelf. | STEP 1: Turn around, proceed to garbage can between sink and toilet. | STEP 2: Pick up back pump dispenser from garbage can. | STEP 3: Turn around, go across room. | STEP 4: Place pump dispenser on shelf close to floor. | STEP 5: Turn around, go to garbage can between sink and toilet. | STEP 6: Pick up pump dispenser from garbage can. | STEP 7: Turn around, go across room.", "output": ["STEP 8: Place pump dispenser on shelf close to floor, to the left of the other pump dispenser."]} +{"id": "trial_T20190909_073859_956810-2%8", "input": "Move two pump dispensers from garbage can to shelf. | STEP 1: Turn around, proceed to garbage can between sink and toilet. | STEP 2: Pick up back pump dispenser from garbage can. | STEP 3: Turn around, go across room. | STEP 4: Place pump dispenser on shelf close to floor. | STEP 5: Turn around, go to garbage can between sink and toilet. | STEP 6: Pick up pump dispenser from garbage can. | STEP 7: Turn around, go across room. | STEP 8: Place pump dispenser on shelf close to floor, to the left of the other pump dispenser.", "output": ["END"]} +{"id": "trial_T20190907_160824_308965-2%0", "input": "Move a box to the sofa", "output": ["STEP 1: Move to the brown side table to the left of the brown sofa"]} +{"id": "trial_T20190907_160824_308965-2%1", "input": "Move a box to the sofa | STEP 1: Move to the brown side table to the left of the brown sofa", "output": ["STEP 2: Pick up the empty box on the floor under the side table"]} +{"id": "trial_T20190907_160824_308965-2%2", "input": "Move a box to the sofa | STEP 1: Move to the brown side table to the left of the brown sofa | STEP 2: Pick up the empty box on the floor under the side table", "output": ["STEP 3: Carry the box to the far right side of the sofa"]} +{"id": "trial_T20190907_160824_308965-2%3", "input": "Move a box to the sofa | STEP 1: Move to the brown side table to the left of the brown sofa | STEP 2: Pick up the empty box on the floor under the side table | STEP 3: Carry the box to the far right side of the sofa", "output": ["STEP 4: Place on box on top of the sofa behind the keys"]} +{"id": "trial_T20190907_160824_308965-2%4", "input": "Move a box to the sofa | STEP 1: Move to the brown side table to the left of the brown sofa | STEP 2: Pick up the empty box on the floor under the side table | STEP 3: Carry the box to the far right side of the sofa | STEP 4: Place on box on top of the sofa behind the keys", "output": ["END"]} +{"id": "trial_T20190908_091134_389274-1%0", "input": "Cut tomato with knife, put knife in cabinet, heat tomato in microwave and put it on a counter.", "output": ["STEP 1: To left to face counter between stove and refrigerator."]} +{"id": "trial_T20190908_091134_389274-1%1", "input": "Cut tomato with knife, put knife in cabinet, heat tomato in microwave and put it on a counter. | STEP 1: To left to face counter between stove and refrigerator.", "output": ["STEP 2: Pick up knife, to the right of the shaker, from the counter."]} +{"id": "trial_T20190908_091134_389274-1%2", "input": "Cut tomato with knife, put knife in cabinet, heat tomato in microwave and put it on a counter. | STEP 1: To left to face counter between stove and refrigerator. | STEP 2: Pick up knife, to the right of the shaker, from the counter.", "output": ["STEP 3: Turn around to face sink."]} +{"id": "trial_T20190908_091134_389274-1%3", "input": "Cut tomato with knife, put knife in cabinet, heat tomato in microwave and put it on a counter. | STEP 1: To left to face counter between stove and refrigerator. | STEP 2: Pick up knife, to the right of the shaker, from the counter. | STEP 3: Turn around to face sink.", "output": ["STEP 4: Slice tomato, located behind the lettuce to the left of the sink, with the knife."]} +{"id": "trial_T20190908_091134_389274-1%4", "input": "Cut tomato with knife, put knife in cabinet, heat tomato in microwave and put it on a counter. | STEP 1: To left to face counter between stove and refrigerator. | STEP 2: Pick up knife, to the right of the shaker, from the counter. | STEP 3: Turn around to face sink. | STEP 4: Slice tomato, located behind the lettuce to the left of the sink, with the knife.", "output": ["STEP 5: Turn around to face counter between stove and refrigerator."]} +{"id": "trial_T20190908_091134_389274-1%5", "input": "Cut tomato with knife, put knife in cabinet, heat tomato in microwave and put it on a counter. | STEP 1: To left to face counter between stove and refrigerator. | STEP 2: Pick up knife, to the right of the shaker, from the counter. | STEP 3: Turn around to face sink. | STEP 4: Slice tomato, located behind the lettuce to the left of the sink, with the knife. | STEP 5: Turn around to face counter between stove and refrigerator.", "output": ["STEP 6: Open cabinet under counter that shaker is on, place knife in cabinet, close cabinet."]} +{"id": "trial_T20190908_091134_389274-1%6", "input": "Cut tomato with knife, put knife in cabinet, heat tomato in microwave and put it on a counter. | STEP 1: To left to face counter between stove and refrigerator. | STEP 2: Pick up knife, to the right of the shaker, from the counter. | STEP 3: Turn around to face sink. | STEP 4: Slice tomato, located behind the lettuce to the left of the sink, with the knife. | STEP 5: Turn around to face counter between stove and refrigerator. | STEP 6: Open cabinet under counter that shaker is on, place knife in cabinet, close cabinet.", "output": ["STEP 7: Turn around to face sink."]} +{"id": "trial_T20190908_091134_389274-1%7", "input": "Cut tomato with knife, put knife in cabinet, heat tomato in microwave and put it on a counter. | STEP 1: To left to face counter between stove and refrigerator. | STEP 2: Pick up knife, to the right of the shaker, from the counter. | STEP 3: Turn around to face sink. | STEP 4: Slice tomato, located behind the lettuce to the left of the sink, with the knife. | STEP 5: Turn around to face counter between stove and refrigerator. | STEP 6: Open cabinet under counter that shaker is on, place knife in cabinet, close cabinet. | STEP 7: Turn around to face sink.", "output": ["STEP 8: Pick up middle slice of tomato behind lettuce."]} +{"id": "trial_T20190908_091134_389274-1%8", "input": "Cut tomato with knife, put knife in cabinet, heat tomato in microwave and put it on a counter. | STEP 1: To left to face counter between stove and refrigerator. | STEP 2: Pick up knife, to the right of the shaker, from the counter. | STEP 3: Turn around to face sink. | STEP 4: Slice tomato, located behind the lettuce to the left of the sink, with the knife. | STEP 5: Turn around to face counter between stove and refrigerator. | STEP 6: Open cabinet under counter that shaker is on, place knife in cabinet, close cabinet. | STEP 7: Turn around to face sink. | STEP 8: Pick up middle slice of tomato behind lettuce.", "output": ["STEP 9: Turn left, go to wall. Turn left to face stove and microwave."]} +{"id": "trial_T20190908_091134_389274-1%9", "input": "Cut tomato with knife, put knife in cabinet, heat tomato in microwave and put it on a counter. | STEP 1: To left to face counter between stove and refrigerator. | STEP 2: Pick up knife, to the right of the shaker, from the counter. | STEP 3: Turn around to face sink. | STEP 4: Slice tomato, located behind the lettuce to the left of the sink, with the knife. | STEP 5: Turn around to face counter between stove and refrigerator. | STEP 6: Open cabinet under counter that shaker is on, place knife in cabinet, close cabinet. | STEP 7: Turn around to face sink. | STEP 8: Pick up middle slice of tomato behind lettuce. | STEP 9: Turn left, go to wall. Turn left to face stove and microwave.", "output": ["STEP 10: Open microwave door, place tomato in front of mug, close microwave door. Wait four seconds, open microwave door, remove tomato slice, close microwave door."]} +{"id": "trial_T20190908_091134_389274-1%10", "input": "Cut tomato with knife, put knife in cabinet, heat tomato in microwave and put it on a counter. | STEP 1: To left to face counter between stove and refrigerator. | STEP 2: Pick up knife, to the right of the shaker, from the counter. | STEP 3: Turn around to face sink. | STEP 4: Slice tomato, located behind the lettuce to the left of the sink, with the knife. | STEP 5: Turn around to face counter between stove and refrigerator. | STEP 6: Open cabinet under counter that shaker is on, place knife in cabinet, close cabinet. | STEP 7: Turn around to face sink. | STEP 8: Pick up middle slice of tomato behind lettuce. | STEP 9: Turn left, go to wall. Turn left to face stove and microwave. | STEP 10: Open microwave door, place tomato in front of mug, close microwave door. Wait four seconds, open microwave door, remove tomato slice, close microwave door.", "output": ["STEP 11: Turn left, proceed to counter on right side with toaster and bread on it."]} +{"id": "trial_T20190908_091134_389274-1%11", "input": "Cut tomato with knife, put knife in cabinet, heat tomato in microwave and put it on a counter. | STEP 1: To left to face counter between stove and refrigerator. | STEP 2: Pick up knife, to the right of the shaker, from the counter. | STEP 3: Turn around to face sink. | STEP 4: Slice tomato, located behind the lettuce to the left of the sink, with the knife. | STEP 5: Turn around to face counter between stove and refrigerator. | STEP 6: Open cabinet under counter that shaker is on, place knife in cabinet, close cabinet. | STEP 7: Turn around to face sink. | STEP 8: Pick up middle slice of tomato behind lettuce. | STEP 9: Turn left, go to wall. Turn left to face stove and microwave. | STEP 10: Open microwave door, place tomato in front of mug, close microwave door. Wait four seconds, open microwave door, remove tomato slice, close microwave door. | STEP 11: Turn left, proceed to counter on right side with toaster and bread on it.", "output": ["STEP 12: Put tomato on counter directly in front of spoon."]} +{"id": "trial_T20190908_091134_389274-1%12", "input": "Cut tomato with knife, put knife in cabinet, heat tomato in microwave and put it on a counter. | STEP 1: To left to face counter between stove and refrigerator. | STEP 2: Pick up knife, to the right of the shaker, from the counter. | STEP 3: Turn around to face sink. | STEP 4: Slice tomato, located behind the lettuce to the left of the sink, with the knife. | STEP 5: Turn around to face counter between stove and refrigerator. | STEP 6: Open cabinet under counter that shaker is on, place knife in cabinet, close cabinet. | STEP 7: Turn around to face sink. | STEP 8: Pick up middle slice of tomato behind lettuce. | STEP 9: Turn left, go to wall. Turn left to face stove and microwave. | STEP 10: Open microwave door, place tomato in front of mug, close microwave door. Wait four seconds, open microwave door, remove tomato slice, close microwave door. | STEP 11: Turn left, proceed to counter on right side with toaster and bread on it. | STEP 12: Put tomato on counter directly in front of spoon.", "output": ["END"]} +{"id": "trial_T20190907_234923_916706-2%0", "input": "Place a clean cup on the coffee maker.", "output": ["STEP 1: Walk to the coffee maker to your left."]} +{"id": "trial_T20190907_234923_916706-2%1", "input": "Place a clean cup on the coffee maker. | STEP 1: Walk to the coffee maker to your left.", "output": ["STEP 2: Grab the cup on the coffee maker."]} +{"id": "trial_T20190907_234923_916706-2%2", "input": "Place a clean cup on the coffee maker. | STEP 1: Walk to the coffee maker to your left. | STEP 2: Grab the cup on the coffee maker.", "output": ["STEP 3: Carrying the cup, walk to the sink to your left."]} +{"id": "trial_T20190907_234923_916706-2%3", "input": "Place a clean cup on the coffee maker. | STEP 1: Walk to the coffee maker to your left. | STEP 2: Grab the cup on the coffee maker. | STEP 3: Carrying the cup, walk to the sink to your left.", "output": ["STEP 4: Place the cup in the sink, wash the cup and remove it from the sink."]} +{"id": "trial_T20190907_234923_916706-2%4", "input": "Place a clean cup on the coffee maker. | STEP 1: Walk to the coffee maker to your left. | STEP 2: Grab the cup on the coffee maker. | STEP 3: Carrying the cup, walk to the sink to your left. | STEP 4: Place the cup in the sink, wash the cup and remove it from the sink.", "output": ["STEP 5: Carrying the clean cup, turn around walk to coffee maker to your right."]} +{"id": "trial_T20190907_234923_916706-2%5", "input": "Place a clean cup on the coffee maker. | STEP 1: Walk to the coffee maker to your left. | STEP 2: Grab the cup on the coffee maker. | STEP 3: Carrying the cup, walk to the sink to your left. | STEP 4: Place the cup in the sink, wash the cup and remove it from the sink. | STEP 5: Carrying the clean cup, turn around walk to coffee maker to your right.", "output": ["STEP 6: Place the clean cup on the coffee maker."]} +{"id": "trial_T20190907_234923_916706-2%6", "input": "Place a clean cup on the coffee maker. | STEP 1: Walk to the coffee maker to your left. | STEP 2: Grab the cup on the coffee maker. | STEP 3: Carrying the cup, walk to the sink to your left. | STEP 4: Place the cup in the sink, wash the cup and remove it from the sink. | STEP 5: Carrying the clean cup, turn around walk to coffee maker to your right. | STEP 6: Place the clean cup on the coffee maker.", "output": ["END"]} +{"id": "trial_T20190909_042701_492988-2%0", "input": "Pick up a vase and turn the lamp on.", "output": ["STEP 1: Go forward and then turn left to face the dark colored shelves."]} +{"id": "trial_T20190909_042701_492988-2%1", "input": "Pick up a vase and turn the lamp on. | STEP 1: Go forward and then turn left to face the dark colored shelves.", "output": ["STEP 2: Pick up the white vase that is on a shelf with nothing else."]} +{"id": "trial_T20190909_042701_492988-2%2", "input": "Pick up a vase and turn the lamp on. | STEP 1: Go forward and then turn left to face the dark colored shelves. | STEP 2: Pick up the white vase that is on a shelf with nothing else.", "output": ["STEP 3: Turn around and go forward and then left to face the small table with the lamp next to the couch."]} +{"id": "trial_T20190909_042701_492988-2%3", "input": "Pick up a vase and turn the lamp on. | STEP 1: Go forward and then turn left to face the dark colored shelves. | STEP 2: Pick up the white vase that is on a shelf with nothing else. | STEP 3: Turn around and go forward and then left to face the small table with the lamp next to the couch.", "output": ["STEP 4: Turn the lamp on."]} +{"id": "trial_T20190909_042701_492988-2%4", "input": "Pick up a vase and turn the lamp on. | STEP 1: Go forward and then turn left to face the dark colored shelves. | STEP 2: Pick up the white vase that is on a shelf with nothing else. | STEP 3: Turn around and go forward and then left to face the small table with the lamp next to the couch. | STEP 4: Turn the lamp on.", "output": ["END"]} +{"id": "trial_T20190909_005920_856931-2%0", "input": "Put remote control in box and place on couch.", "output": ["STEP 1: Turn to your right move to the the mirror move right and walk down beside the couch and stop when you are between the TV stand and the shelf."]} +{"id": "trial_T20190909_005920_856931-2%1", "input": "Put remote control in box and place on couch. | STEP 1: Turn to your right move to the the mirror move right and walk down beside the couch and stop when you are between the TV stand and the shelf.", "output": ["STEP 2: Pick up the box of of the floor below you."]} +{"id": "trial_T20190909_005920_856931-2%2", "input": "Put remote control in box and place on couch. | STEP 1: Turn to your right move to the the mirror move right and walk down beside the couch and stop when you are between the TV stand and the shelf. | STEP 2: Pick up the box of of the floor below you.", "output": ["STEP 3: Turn around and move to the center of the couch. "]} +{"id": "trial_T20190909_005920_856931-2%3", "input": "Put remote control in box and place on couch. | STEP 1: Turn to your right move to the the mirror move right and walk down beside the couch and stop when you are between the TV stand and the shelf. | STEP 2: Pick up the box of of the floor below you. | STEP 3: Turn around and move to the center of the couch. ", "output": ["STEP 4: Place the box on the couch."]} +{"id": "trial_T20190909_005920_856931-2%4", "input": "Put remote control in box and place on couch. | STEP 1: Turn to your right move to the the mirror move right and walk down beside the couch and stop when you are between the TV stand and the shelf. | STEP 2: Pick up the box of of the floor below you. | STEP 3: Turn around and move to the center of the couch. | STEP 4: Place the box on the couch.", "output": ["STEP 5: Move across the room back to the shelf."]} +{"id": "trial_T20190909_005920_856931-2%5", "input": "Put remote control in box and place on couch. | STEP 1: Turn to your right move to the the mirror move right and walk down beside the couch and stop when you are between the TV stand and the shelf. | STEP 2: Pick up the box of of the floor below you. | STEP 3: Turn around and move to the center of the couch. | STEP 4: Place the box on the couch. | STEP 5: Move across the room back to the shelf.", "output": ["STEP 6: Pick up the remote control in between the other object's on the bottom shelf."]} +{"id": "trial_T20190909_005920_856931-2%6", "input": "Put remote control in box and place on couch. | STEP 1: Turn to your right move to the the mirror move right and walk down beside the couch and stop when you are between the TV stand and the shelf. | STEP 2: Pick up the box of of the floor below you. | STEP 3: Turn around and move to the center of the couch. | STEP 4: Place the box on the couch. | STEP 5: Move across the room back to the shelf. | STEP 6: Pick up the remote control in between the other object's on the bottom shelf.", "output": ["STEP 7: Turn around and move to the center of the couch."]} +{"id": "trial_T20190909_005920_856931-2%7", "input": "Put remote control in box and place on couch. | STEP 1: Turn to your right move to the the mirror move right and walk down beside the couch and stop when you are between the TV stand and the shelf. | STEP 2: Pick up the box of of the floor below you. | STEP 3: Turn around and move to the center of the couch. | STEP 4: Place the box on the couch. | STEP 5: Move across the room back to the shelf. | STEP 6: Pick up the remote control in between the other object's on the bottom shelf. | STEP 7: Turn around and move to the center of the couch.", "output": ["STEP 8: Place the remote control in the box and close the top of it."]} +{"id": "trial_T20190909_005920_856931-2%8", "input": "Put remote control in box and place on couch. | STEP 1: Turn to your right move to the the mirror move right and walk down beside the couch and stop when you are between the TV stand and the shelf. | STEP 2: Pick up the box of of the floor below you. | STEP 3: Turn around and move to the center of the couch. | STEP 4: Place the box on the couch. | STEP 5: Move across the room back to the shelf. | STEP 6: Pick up the remote control in between the other object's on the bottom shelf. | STEP 7: Turn around and move to the center of the couch. | STEP 8: Place the remote control in the box and close the top of it.", "output": ["END"]} +{"id": "trial_T20190908_045838_263858-2%0", "input": "Move the candle from the tub to the toilet.", "output": ["STEP 1: Walk to the edge of the tub in front of the candle."]} +{"id": "trial_T20190908_045838_263858-2%1", "input": "Move the candle from the tub to the toilet. | STEP 1: Walk to the edge of the tub in front of the candle.", "output": ["STEP 2: Grab the candle off the tub."]} +{"id": "trial_T20190908_045838_263858-2%2", "input": "Move the candle from the tub to the toilet. | STEP 1: Walk to the edge of the tub in front of the candle. | STEP 2: Grab the candle off the tub.", "output": ["STEP 3: Walk to the right edge of the toilet."]} +{"id": "trial_T20190908_045838_263858-2%3", "input": "Move the candle from the tub to the toilet. | STEP 1: Walk to the edge of the tub in front of the candle. | STEP 2: Grab the candle off the tub. | STEP 3: Walk to the right edge of the toilet.", "output": ["STEP 4: Place the candle on the right edge of the toilet."]} +{"id": "trial_T20190908_045838_263858-2%4", "input": "Move the candle from the tub to the toilet. | STEP 1: Walk to the edge of the tub in front of the candle. | STEP 2: Grab the candle off the tub. | STEP 3: Walk to the right edge of the toilet. | STEP 4: Place the candle on the right edge of the toilet.", "output": ["END"]} +{"id": "trial_T20190918_204652_914254-2%0", "input": "Move the tablet on the dresser to the bed.", "output": ["STEP 1: Walk around the bed to the front of the dresser."]} +{"id": "trial_T20190918_204652_914254-2%1", "input": "Move the tablet on the dresser to the bed. | STEP 1: Walk around the bed to the front of the dresser.", "output": ["STEP 2: Grab the tablet above the pencil."]} +{"id": "trial_T20190918_204652_914254-2%2", "input": "Move the tablet on the dresser to the bed. | STEP 1: Walk around the bed to the front of the dresser. | STEP 2: Grab the tablet above the pencil.", "output": ["STEP 3: Walk around the bed to the left side of the bed."]} +{"id": "trial_T20190918_204652_914254-2%3", "input": "Move the tablet on the dresser to the bed. | STEP 1: Walk around the bed to the front of the dresser. | STEP 2: Grab the tablet above the pencil. | STEP 3: Walk around the bed to the left side of the bed.", "output": ["STEP 4: Place the tablet on the bed."]} +{"id": "trial_T20190918_204652_914254-2%4", "input": "Move the tablet on the dresser to the bed. | STEP 1: Walk around the bed to the front of the dresser. | STEP 2: Grab the tablet above the pencil. | STEP 3: Walk around the bed to the left side of the bed. | STEP 4: Place the tablet on the bed.", "output": ["END"]} +{"id": "trial_T20190909_062515_867594-0%0", "input": "Move the pencils from the trash bin and the brown dresser to put them on the white table.", "output": ["STEP 1: Turn around and go to the trash bin to the right of the table."]} +{"id": "trial_T20190909_062515_867594-0%1", "input": "Move the pencils from the trash bin and the brown dresser to put them on the white table. | STEP 1: Turn around and go to the trash bin to the right of the table.", "output": ["STEP 2: Pick up the pencil in the trash bin."]} +{"id": "trial_T20190909_062515_867594-0%2", "input": "Move the pencils from the trash bin and the brown dresser to put them on the white table. | STEP 1: Turn around and go to the trash bin to the right of the table. | STEP 2: Pick up the pencil in the trash bin.", "output": ["STEP 3: Turn left and go back to face the white table."]} +{"id": "trial_T20190909_062515_867594-0%3", "input": "Move the pencils from the trash bin and the brown dresser to put them on the white table. | STEP 1: Turn around and go to the trash bin to the right of the table. | STEP 2: Pick up the pencil in the trash bin. | STEP 3: Turn left and go back to face the white table.", "output": ["STEP 4: Place the pencil on the white table."]} +{"id": "trial_T20190909_062515_867594-0%4", "input": "Move the pencils from the trash bin and the brown dresser to put them on the white table. | STEP 1: Turn around and go to the trash bin to the right of the table. | STEP 2: Pick up the pencil in the trash bin. | STEP 3: Turn left and go back to face the white table. | STEP 4: Place the pencil on the white table.", "output": ["STEP 5: Turn around and go to the brown dresser in the corner of the room."]} +{"id": "trial_T20190909_062515_867594-0%5", "input": "Move the pencils from the trash bin and the brown dresser to put them on the white table. | STEP 1: Turn around and go to the trash bin to the right of the table. | STEP 2: Pick up the pencil in the trash bin. | STEP 3: Turn left and go back to face the white table. | STEP 4: Place the pencil on the white table. | STEP 5: Turn around and go to the brown dresser in the corner of the room.", "output": ["STEP 6: Pick up the pencil on top of the brown dresser."]} +{"id": "trial_T20190909_062515_867594-0%6", "input": "Move the pencils from the trash bin and the brown dresser to put them on the white table. | STEP 1: Turn around and go to the trash bin to the right of the table. | STEP 2: Pick up the pencil in the trash bin. | STEP 3: Turn left and go back to face the white table. | STEP 4: Place the pencil on the white table. | STEP 5: Turn around and go to the brown dresser in the corner of the room. | STEP 6: Pick up the pencil on top of the brown dresser.", "output": ["STEP 7: Turn around and go back to face the white table."]} +{"id": "trial_T20190909_062515_867594-0%7", "input": "Move the pencils from the trash bin and the brown dresser to put them on the white table. | STEP 1: Turn around and go to the trash bin to the right of the table. | STEP 2: Pick up the pencil in the trash bin. | STEP 3: Turn left and go back to face the white table. | STEP 4: Place the pencil on the white table. | STEP 5: Turn around and go to the brown dresser in the corner of the room. | STEP 6: Pick up the pencil on top of the brown dresser. | STEP 7: Turn around and go back to face the white table.", "output": ["STEP 8: Place the pencil on the white table."]} +{"id": "trial_T20190909_062515_867594-0%8", "input": "Move the pencils from the trash bin and the brown dresser to put them on the white table. | STEP 1: Turn around and go to the trash bin to the right of the table. | STEP 2: Pick up the pencil in the trash bin. | STEP 3: Turn left and go back to face the white table. | STEP 4: Place the pencil on the white table. | STEP 5: Turn around and go to the brown dresser in the corner of the room. | STEP 6: Pick up the pencil on top of the brown dresser. | STEP 7: Turn around and go back to face the white table. | STEP 8: Place the pencil on the white table.", "output": ["END"]} +{"id": "trial_T20190908_122249_641769-0%0", "input": "Move a set of keys to the seat of a chair.", "output": ["STEP 1: Turn left and walk up to the coffee table."]} +{"id": "trial_T20190908_122249_641769-0%1", "input": "Move a set of keys to the seat of a chair. | STEP 1: Turn left and walk up to the coffee table.", "output": ["STEP 2: Pick up the set of keys off of the coffee table."]} +{"id": "trial_T20190908_122249_641769-0%2", "input": "Move a set of keys to the seat of a chair. | STEP 1: Turn left and walk up to the coffee table. | STEP 2: Pick up the set of keys off of the coffee table.", "output": ["STEP 3: Walk over to the chair that is against the wall on your right."]} +{"id": "trial_T20190908_122249_641769-0%3", "input": "Move a set of keys to the seat of a chair. | STEP 1: Turn left and walk up to the coffee table. | STEP 2: Pick up the set of keys off of the coffee table. | STEP 3: Walk over to the chair that is against the wall on your right.", "output": ["STEP 4: Put the keys on the front edge of the seat of the chair."]} +{"id": "trial_T20190908_122249_641769-0%4", "input": "Move a set of keys to the seat of a chair. | STEP 1: Turn left and walk up to the coffee table. | STEP 2: Pick up the set of keys off of the coffee table. | STEP 3: Walk over to the chair that is against the wall on your right. | STEP 4: Put the keys on the front edge of the seat of the chair.", "output": ["END"]} +{"id": "trial_T20190908_021603_683557-0%0", "input": "Put a chilled egg in the trash can. ", "output": ["STEP 1: Move to the center island on the right."]} +{"id": "trial_T20190908_021603_683557-0%1", "input": "Put a chilled egg in the trash can. | STEP 1: Move to the center island on the right.", "output": ["STEP 2: Pick up the egg from the island. "]} +{"id": "trial_T20190908_021603_683557-0%2", "input": "Put a chilled egg in the trash can. | STEP 1: Move to the center island on the right. | STEP 2: Pick up the egg from the island. ", "output": ["STEP 3: Bring the egg to the fridge."]} +{"id": "trial_T20190908_021603_683557-0%3", "input": "Put a chilled egg in the trash can. | STEP 1: Move to the center island on the right. | STEP 2: Pick up the egg from the island. | STEP 3: Bring the egg to the fridge.", "output": ["STEP 4: Chill the egg in the fridge."]} +{"id": "trial_T20190908_021603_683557-0%4", "input": "Put a chilled egg in the trash can. | STEP 1: Move to the center island on the right. | STEP 2: Pick up the egg from the island. | STEP 3: Bring the egg to the fridge. | STEP 4: Chill the egg in the fridge.", "output": ["STEP 5: Bring the egg to the trash can."]} +{"id": "trial_T20190908_021603_683557-0%5", "input": "Put a chilled egg in the trash can. | STEP 1: Move to the center island on the right. | STEP 2: Pick up the egg from the island. | STEP 3: Bring the egg to the fridge. | STEP 4: Chill the egg in the fridge. | STEP 5: Bring the egg to the trash can.", "output": ["STEP 6: Put the egg in the trash can. "]} +{"id": "trial_T20190908_021603_683557-0%6", "input": "Put a chilled egg in the trash can. | STEP 1: Move to the center island on the right. | STEP 2: Pick up the egg from the island. | STEP 3: Bring the egg to the fridge. | STEP 4: Chill the egg in the fridge. | STEP 5: Bring the egg to the trash can. | STEP 6: Put the egg in the trash can. ", "output": ["END"]} +{"id": "trial_T20190908_175642_334896-0%0", "input": "Put a chilled cup on the counter. ", "output": ["STEP 1: Turn left, move to the wall, turn right and face the green cup on the counter."]} +{"id": "trial_T20190908_175642_334896-0%1", "input": "Put a chilled cup on the counter. | STEP 1: Turn left, move to the wall, turn right and face the green cup on the counter.", "output": ["STEP 2: Pick up the green cup from the counter. "]} +{"id": "trial_T20190908_175642_334896-0%2", "input": "Put a chilled cup on the counter. | STEP 1: Turn left, move to the wall, turn right and face the green cup on the counter. | STEP 2: Pick up the green cup from the counter. ", "output": ["STEP 3: Turn right and bring the cup to the fridge."]} +{"id": "trial_T20190908_175642_334896-0%3", "input": "Put a chilled cup on the counter. | STEP 1: Turn left, move to the wall, turn right and face the green cup on the counter. | STEP 2: Pick up the green cup from the counter. | STEP 3: Turn right and bring the cup to the fridge.", "output": ["STEP 4: Chill the cup in the fridge. "]} +{"id": "trial_T20190908_175642_334896-0%4", "input": "Put a chilled cup on the counter. | STEP 1: Turn left, move to the wall, turn right and face the green cup on the counter. | STEP 2: Pick up the green cup from the counter. | STEP 3: Turn right and bring the cup to the fridge. | STEP 4: Chill the cup in the fridge. ", "output": ["STEP 5: Take the chilled cup from the fridge, turn left near the center counter. "]} +{"id": "trial_T20190908_175642_334896-0%5", "input": "Put a chilled cup on the counter. | STEP 1: Turn left, move to the wall, turn right and face the green cup on the counter. | STEP 2: Pick up the green cup from the counter. | STEP 3: Turn right and bring the cup to the fridge. | STEP 4: Chill the cup in the fridge. | STEP 5: Take the chilled cup from the fridge, turn left near the center counter. ", "output": ["STEP 6: Put the chilled cup on the counter to the left. "]} +{"id": "trial_T20190908_175642_334896-0%6", "input": "Put a chilled cup on the counter. | STEP 1: Turn left, move to the wall, turn right and face the green cup on the counter. | STEP 2: Pick up the green cup from the counter. | STEP 3: Turn right and bring the cup to the fridge. | STEP 4: Chill the cup in the fridge. | STEP 5: Take the chilled cup from the fridge, turn left near the center counter. | STEP 6: Put the chilled cup on the counter to the left. ", "output": ["END"]} +{"id": "trial_T20190908_175642_334896-3%0", "input": "Put a chilled cup on the counter.", "output": ["STEP 1: Turn left and stand behind the chairs."]} +{"id": "trial_T20190908_175642_334896-3%1", "input": "Put a chilled cup on the counter. | STEP 1: Turn left and stand behind the chairs.", "output": ["STEP 2: Pick up the green cup from the counter."]} +{"id": "trial_T20190908_175642_334896-3%2", "input": "Put a chilled cup on the counter. | STEP 1: Turn left and stand behind the chairs. | STEP 2: Pick up the green cup from the counter.", "output": ["STEP 3: Turn right and go to the fridge."]} +{"id": "trial_T20190908_175642_334896-3%3", "input": "Put a chilled cup on the counter. | STEP 1: Turn left and stand behind the chairs. | STEP 2: Pick up the green cup from the counter. | STEP 3: Turn right and go to the fridge.", "output": ["STEP 4: Chill the cup in the fridge."]} +{"id": "trial_T20190908_175642_334896-3%4", "input": "Put a chilled cup on the counter. | STEP 1: Turn left and stand behind the chairs. | STEP 2: Pick up the green cup from the counter. | STEP 3: Turn right and go to the fridge. | STEP 4: Chill the cup in the fridge.", "output": ["STEP 5: Turn to the left."]} +{"id": "trial_T20190908_175642_334896-3%5", "input": "Put a chilled cup on the counter. | STEP 1: Turn left and stand behind the chairs. | STEP 2: Pick up the green cup from the counter. | STEP 3: Turn right and go to the fridge. | STEP 4: Chill the cup in the fridge. | STEP 5: Turn to the left.", "output": ["STEP 6: Put the cup on the counter."]} +{"id": "trial_T20190908_175642_334896-3%6", "input": "Put a chilled cup on the counter. | STEP 1: Turn left and stand behind the chairs. | STEP 2: Pick up the green cup from the counter. | STEP 3: Turn right and go to the fridge. | STEP 4: Chill the cup in the fridge. | STEP 5: Turn to the left. | STEP 6: Put the cup on the counter.", "output": ["END"]} +{"id": "trial_T20190909_061918_161974-2%0", "input": "To heat a potato and put it down on the counter. ", "output": ["STEP 1: Turn right and walk to the left side of the sink. "]} +{"id": "trial_T20190909_061918_161974-2%1", "input": "To heat a potato and put it down on the counter. | STEP 1: Turn right and walk to the left side of the sink. ", "output": ["STEP 2: Pick up the potato from behind the sponge. "]} +{"id": "trial_T20190909_061918_161974-2%2", "input": "To heat a potato and put it down on the counter. | STEP 1: Turn right and walk to the left side of the sink. | STEP 2: Pick up the potato from behind the sponge. ", "output": ["STEP 3: Walk to the microwave above the oven. "]} +{"id": "trial_T20190909_061918_161974-2%3", "input": "To heat a potato and put it down on the counter. | STEP 1: Turn right and walk to the left side of the sink. | STEP 2: Pick up the potato from behind the sponge. | STEP 3: Walk to the microwave above the oven. ", "output": ["STEP 4: Put the potato in the microwave, heat up the potato, take the potato out of the microwave. "]} +{"id": "trial_T20190909_061918_161974-2%4", "input": "To heat a potato and put it down on the counter. | STEP 1: Turn right and walk to the left side of the sink. | STEP 2: Pick up the potato from behind the sponge. | STEP 3: Walk to the microwave above the oven. | STEP 4: Put the potato in the microwave, heat up the potato, take the potato out of the microwave. ", "output": ["STEP 5: Walk to the counter to the left of the oven with the toaster on it. "]} +{"id": "trial_T20190909_061918_161974-2%5", "input": "To heat a potato and put it down on the counter. | STEP 1: Turn right and walk to the left side of the sink. | STEP 2: Pick up the potato from behind the sponge. | STEP 3: Walk to the microwave above the oven. | STEP 4: Put the potato in the microwave, heat up the potato, take the potato out of the microwave. | STEP 5: Walk to the counter to the left of the oven with the toaster on it. ", "output": ["STEP 6: Put the potato down on the counter to the left of the white mug. "]} +{"id": "trial_T20190909_061918_161974-2%6", "input": "To heat a potato and put it down on the counter. | STEP 1: Turn right and walk to the left side of the sink. | STEP 2: Pick up the potato from behind the sponge. | STEP 3: Walk to the microwave above the oven. | STEP 4: Put the potato in the microwave, heat up the potato, take the potato out of the microwave. | STEP 5: Walk to the counter to the left of the oven with the toaster on it. | STEP 6: Put the potato down on the counter to the left of the white mug. ", "output": ["END"]} +{"id": "trial_T20190908_125627_181165-1%0", "input": "put 2 spray bottles on top of the water tank", "output": ["STEP 1: turn around to the left go forward towards the sink"]} +{"id": "trial_T20190908_125627_181165-1%1", "input": "put 2 spray bottles on top of the water tank | STEP 1: turn around to the left go forward towards the sink", "output": ["STEP 2: pick the spray bottle from the sink"]} +{"id": "trial_T20190908_125627_181165-1%2", "input": "put 2 spray bottles on top of the water tank | STEP 1: turn around to the left go forward towards the sink | STEP 2: pick the spray bottle from the sink", "output": ["STEP 3: turn around to the left go right and go forward towards the toilet"]} +{"id": "trial_T20190908_125627_181165-1%3", "input": "put 2 spray bottles on top of the water tank | STEP 1: turn around to the left go forward towards the sink | STEP 2: pick the spray bottle from the sink | STEP 3: turn around to the left go right and go forward towards the toilet", "output": ["STEP 4: put the spray bottle on top of the water tank"]} +{"id": "trial_T20190908_125627_181165-1%4", "input": "put 2 spray bottles on top of the water tank | STEP 1: turn around to the left go forward towards the sink | STEP 2: pick the spray bottle from the sink | STEP 3: turn around to the left go right and go forward towards the toilet | STEP 4: put the spray bottle on top of the water tank", "output": ["STEP 5: turn around to the right go left towards the sink "]} +{"id": "trial_T20190908_125627_181165-1%5", "input": "put 2 spray bottles on top of the water tank | STEP 1: turn around to the left go forward towards the sink | STEP 2: pick the spray bottle from the sink | STEP 3: turn around to the left go right and go forward towards the toilet | STEP 4: put the spray bottle on top of the water tank | STEP 5: turn around to the right go left towards the sink ", "output": ["STEP 6: pick up the spray bottle from the sink"]} +{"id": "trial_T20190908_125627_181165-1%6", "input": "put 2 spray bottles on top of the water tank | STEP 1: turn around to the left go forward towards the sink | STEP 2: pick the spray bottle from the sink | STEP 3: turn around to the left go right and go forward towards the toilet | STEP 4: put the spray bottle on top of the water tank | STEP 5: turn around to the right go left towards the sink | STEP 6: pick up the spray bottle from the sink", "output": ["STEP 7: turn around to the left go right and forward towards the toilet"]} +{"id": "trial_T20190908_125627_181165-1%7", "input": "put 2 spray bottles on top of the water tank | STEP 1: turn around to the left go forward towards the sink | STEP 2: pick the spray bottle from the sink | STEP 3: turn around to the left go right and go forward towards the toilet | STEP 4: put the spray bottle on top of the water tank | STEP 5: turn around to the right go left towards the sink | STEP 6: pick up the spray bottle from the sink | STEP 7: turn around to the left go right and forward towards the toilet", "output": ["STEP 8: put the spray bottle on top of the water tank"]} +{"id": "trial_T20190908_125627_181165-1%8", "input": "put 2 spray bottles on top of the water tank | STEP 1: turn around to the left go forward towards the sink | STEP 2: pick the spray bottle from the sink | STEP 3: turn around to the left go right and go forward towards the toilet | STEP 4: put the spray bottle on top of the water tank | STEP 5: turn around to the right go left towards the sink | STEP 6: pick up the spray bottle from the sink | STEP 7: turn around to the left go right and forward towards the toilet | STEP 8: put the spray bottle on top of the water tank", "output": ["END"]} +{"id": "trial_T20190909_020845_819287-0%0", "input": "Examine a yellow pencil in the light of a small lamp.", "output": ["STEP 1: Walk over to the wall, then turn right to face the white table."]} +{"id": "trial_T20190909_020845_819287-0%1", "input": "Examine a yellow pencil in the light of a small lamp. | STEP 1: Walk over to the wall, then turn right to face the white table.", "output": ["STEP 2: Pick up the yellow pencil off of the white table."]} +{"id": "trial_T20190909_020845_819287-0%2", "input": "Examine a yellow pencil in the light of a small lamp. | STEP 1: Walk over to the wall, then turn right to face the white table. | STEP 2: Pick up the yellow pencil off of the white table.", "output": ["STEP 3: Turn right and walk towards the dresser, then hang a left and walk up to the wall, turn left to face the small lamp on the white table."]} +{"id": "trial_T20190909_020845_819287-0%3", "input": "Examine a yellow pencil in the light of a small lamp. | STEP 1: Walk over to the wall, then turn right to face the white table. | STEP 2: Pick up the yellow pencil off of the white table. | STEP 3: Turn right and walk towards the dresser, then hang a left and walk up to the wall, turn left to face the small lamp on the white table.", "output": ["STEP 4: Turn on the light of the small lamp."]} +{"id": "trial_T20190909_020845_819287-0%4", "input": "Examine a yellow pencil in the light of a small lamp. | STEP 1: Walk over to the wall, then turn right to face the white table. | STEP 2: Pick up the yellow pencil off of the white table. | STEP 3: Turn right and walk towards the dresser, then hang a left and walk up to the wall, turn left to face the small lamp on the white table. | STEP 4: Turn on the light of the small lamp.", "output": ["END"]} +{"id": "trial_T20190909_020856_479123-1%0", "input": "Carry a pencil while turning on a lamp", "output": ["STEP 1: Move to the right side of the wooden dresser where the pencil is"]} +{"id": "trial_T20190909_020856_479123-1%1", "input": "Carry a pencil while turning on a lamp | STEP 1: Move to the right side of the wooden dresser where the pencil is", "output": ["STEP 2: Pick up the pencil on top of the dresser"]} +{"id": "trial_T20190909_020856_479123-1%2", "input": "Carry a pencil while turning on a lamp | STEP 1: Move to the right side of the wooden dresser where the pencil is | STEP 2: Pick up the pencil on top of the dresser", "output": ["STEP 3: Carry the pencil over to the right side of the white desk where the lamp is"]} +{"id": "trial_T20190909_020856_479123-1%3", "input": "Carry a pencil while turning on a lamp | STEP 1: Move to the right side of the wooden dresser where the pencil is | STEP 2: Pick up the pencil on top of the dresser | STEP 3: Carry the pencil over to the right side of the white desk where the lamp is", "output": ["STEP 4: Turn on the lamp"]} +{"id": "trial_T20190909_020856_479123-1%4", "input": "Carry a pencil while turning on a lamp | STEP 1: Move to the right side of the wooden dresser where the pencil is | STEP 2: Pick up the pencil on top of the dresser | STEP 3: Carry the pencil over to the right side of the white desk where the lamp is | STEP 4: Turn on the lamp", "output": ["END"]} +{"id": "trial_T20190908_123406_879650-1%0", "input": "Place two dog statues onto the coffee table.", "output": ["STEP 1: Move to the table that is left of the arm chair."]} +{"id": "trial_T20190908_123406_879650-1%1", "input": "Place two dog statues onto the coffee table. | STEP 1: Move to the table that is left of the arm chair.", "output": ["STEP 2: Pick up the dog from the table."]} +{"id": "trial_T20190908_123406_879650-1%2", "input": "Place two dog statues onto the coffee table. | STEP 1: Move to the table that is left of the arm chair. | STEP 2: Pick up the dog from the table.", "output": ["STEP 3: Turn left, move to the coffee table, between the table and couch."]} +{"id": "trial_T20190908_123406_879650-1%3", "input": "Place two dog statues onto the coffee table. | STEP 1: Move to the table that is left of the arm chair. | STEP 2: Pick up the dog from the table. | STEP 3: Turn left, move to the coffee table, between the table and couch.", "output": ["STEP 4: Put the dog statue on the coffee table."]} +{"id": "trial_T20190908_123406_879650-1%4", "input": "Place two dog statues onto the coffee table. | STEP 1: Move to the table that is left of the arm chair. | STEP 2: Pick up the dog from the table. | STEP 3: Turn left, move to the coffee table, between the table and couch. | STEP 4: Put the dog statue on the coffee table.", "output": ["STEP 5: Turn right, move to the end of the couch, near the door."]} +{"id": "trial_T20190908_123406_879650-1%5", "input": "Place two dog statues onto the coffee table. | STEP 1: Move to the table that is left of the arm chair. | STEP 2: Pick up the dog from the table. | STEP 3: Turn left, move to the coffee table, between the table and couch. | STEP 4: Put the dog statue on the coffee table. | STEP 5: Turn right, move to the end of the couch, near the door.", "output": ["STEP 6: Pick up the dog from the shelf."]} +{"id": "trial_T20190908_123406_879650-1%6", "input": "Place two dog statues onto the coffee table. | STEP 1: Move to the table that is left of the arm chair. | STEP 2: Pick up the dog from the table. | STEP 3: Turn left, move to the coffee table, between the table and couch. | STEP 4: Put the dog statue on the coffee table. | STEP 5: Turn right, move to the end of the couch, near the door. | STEP 6: Pick up the dog from the shelf.", "output": ["STEP 7: Turn right, move to the coffee table, between the table and couch."]} +{"id": "trial_T20190908_123406_879650-1%7", "input": "Place two dog statues onto the coffee table. | STEP 1: Move to the table that is left of the arm chair. | STEP 2: Pick up the dog from the table. | STEP 3: Turn left, move to the coffee table, between the table and couch. | STEP 4: Put the dog statue on the coffee table. | STEP 5: Turn right, move to the end of the couch, near the door. | STEP 6: Pick up the dog from the shelf. | STEP 7: Turn right, move to the coffee table, between the table and couch.", "output": ["STEP 8: Put the dog statue on the coffee table."]} +{"id": "trial_T20190908_123406_879650-1%8", "input": "Place two dog statues onto the coffee table. | STEP 1: Move to the table that is left of the arm chair. | STEP 2: Pick up the dog from the table. | STEP 3: Turn left, move to the coffee table, between the table and couch. | STEP 4: Put the dog statue on the coffee table. | STEP 5: Turn right, move to the end of the couch, near the door. | STEP 6: Pick up the dog from the shelf. | STEP 7: Turn right, move to the coffee table, between the table and couch. | STEP 8: Put the dog statue on the coffee table.", "output": ["END"]} +{"id": "trial_T20190908_123406_879650-2%0", "input": "Move two statues to the center table", "output": ["STEP 1: Go to the table with the statue on it"]} +{"id": "trial_T20190908_123406_879650-2%1", "input": "Move two statues to the center table | STEP 1: Go to the table with the statue on it", "output": ["STEP 2: Pick up the statue"]} +{"id": "trial_T20190908_123406_879650-2%2", "input": "Move two statues to the center table | STEP 1: Go to the table with the statue on it | STEP 2: Pick up the statue", "output": ["STEP 3: Go to the center table"]} +{"id": "trial_T20190908_123406_879650-2%3", "input": "Move two statues to the center table | STEP 1: Go to the table with the statue on it | STEP 2: Pick up the statue | STEP 3: Go to the center table", "output": ["STEP 4: Put the statue down on the center table"]} +{"id": "trial_T20190908_123406_879650-2%4", "input": "Move two statues to the center table | STEP 1: Go to the table with the statue on it | STEP 2: Pick up the statue | STEP 3: Go to the center table | STEP 4: Put the statue down on the center table", "output": ["STEP 5: Go to the shelf above the sofa"]} +{"id": "trial_T20190908_123406_879650-2%5", "input": "Move two statues to the center table | STEP 1: Go to the table with the statue on it | STEP 2: Pick up the statue | STEP 3: Go to the center table | STEP 4: Put the statue down on the center table | STEP 5: Go to the shelf above the sofa", "output": ["STEP 6: Pick up the statue from the shelf"]} +{"id": "trial_T20190908_123406_879650-2%6", "input": "Move two statues to the center table | STEP 1: Go to the table with the statue on it | STEP 2: Pick up the statue | STEP 3: Go to the center table | STEP 4: Put the statue down on the center table | STEP 5: Go to the shelf above the sofa | STEP 6: Pick up the statue from the shelf", "output": ["STEP 7: Go to the center table"]} +{"id": "trial_T20190908_123406_879650-2%7", "input": "Move two statues to the center table | STEP 1: Go to the table with the statue on it | STEP 2: Pick up the statue | STEP 3: Go to the center table | STEP 4: Put the statue down on the center table | STEP 5: Go to the shelf above the sofa | STEP 6: Pick up the statue from the shelf | STEP 7: Go to the center table", "output": ["STEP 8: Put the statue down on the center table"]} +{"id": "trial_T20190908_123406_879650-2%8", "input": "Move two statues to the center table | STEP 1: Go to the table with the statue on it | STEP 2: Pick up the statue | STEP 3: Go to the center table | STEP 4: Put the statue down on the center table | STEP 5: Go to the shelf above the sofa | STEP 6: Pick up the statue from the shelf | STEP 7: Go to the center table | STEP 8: Put the statue down on the center table", "output": ["END"]} +{"id": "trial_T20190909_075311_764952-0%0", "input": "Place a pencil on top of the wood drawer unit", "output": ["STEP 1: Move to the rectangular white table in the corner of the room"]} +{"id": "trial_T20190909_075311_764952-0%1", "input": "Place a pencil on top of the wood drawer unit | STEP 1: Move to the rectangular white table in the corner of the room", "output": ["STEP 2: Pick up the pencil on the table top"]} +{"id": "trial_T20190909_075311_764952-0%2", "input": "Place a pencil on top of the wood drawer unit | STEP 1: Move to the rectangular white table in the corner of the room | STEP 2: Pick up the pencil on the table top", "output": ["STEP 3: Carry the pencil over to the wood drawers under the white table on the left side"]} +{"id": "trial_T20190909_075311_764952-0%3", "input": "Place a pencil on top of the wood drawer unit | STEP 1: Move to the rectangular white table in the corner of the room | STEP 2: Pick up the pencil on the table top | STEP 3: Carry the pencil over to the wood drawers under the white table on the left side", "output": ["STEP 4: Place the pencil on top of the wood drawer unit"]} +{"id": "trial_T20190909_075311_764952-0%4", "input": "Place a pencil on top of the wood drawer unit | STEP 1: Move to the rectangular white table in the corner of the room | STEP 2: Pick up the pencil on the table top | STEP 3: Carry the pencil over to the wood drawers under the white table on the left side | STEP 4: Place the pencil on top of the wood drawer unit", "output": ["END"]} +{"id": "trial_T20190909_003645_531350-1%0", "input": "place a clean spoon down on the kitchen counter", "output": ["STEP 1: turn around and walk to the end of the kitchen counter on the left"]} +{"id": "trial_T20190909_003645_531350-1%1", "input": "place a clean spoon down on the kitchen counter | STEP 1: turn around and walk to the end of the kitchen counter on the left", "output": ["STEP 2: grab the spoon off of the kitchen counter"]} +{"id": "trial_T20190909_003645_531350-1%2", "input": "place a clean spoon down on the kitchen counter | STEP 1: turn around and walk to the end of the kitchen counter on the left | STEP 2: grab the spoon off of the kitchen counter", "output": ["STEP 3: turn left and walk over to the sink on the left side of the counter "]} +{"id": "trial_T20190909_003645_531350-1%3", "input": "place a clean spoon down on the kitchen counter | STEP 1: turn around and walk to the end of the kitchen counter on the left | STEP 2: grab the spoon off of the kitchen counter | STEP 3: turn left and walk over to the sink on the left side of the counter ", "output": ["STEP 4: place the spoon in the right side sink, rinse it off, then take it back out"]} +{"id": "trial_T20190909_003645_531350-1%4", "input": "place a clean spoon down on the kitchen counter | STEP 1: turn around and walk to the end of the kitchen counter on the left | STEP 2: grab the spoon off of the kitchen counter | STEP 3: turn left and walk over to the sink on the left side of the counter | STEP 4: place the spoon in the right side sink, rinse it off, then take it back out", "output": ["STEP 5: turn left and walk over to the end of the kitchen counter on the left"]} +{"id": "trial_T20190909_003645_531350-1%5", "input": "place a clean spoon down on the kitchen counter | STEP 1: turn around and walk to the end of the kitchen counter on the left | STEP 2: grab the spoon off of the kitchen counter | STEP 3: turn left and walk over to the sink on the left side of the counter | STEP 4: place the spoon in the right side sink, rinse it off, then take it back out | STEP 5: turn left and walk over to the end of the kitchen counter on the left", "output": ["STEP 6: place the spoon down on the counter"]} +{"id": "trial_T20190909_003645_531350-1%6", "input": "place a clean spoon down on the kitchen counter | STEP 1: turn around and walk to the end of the kitchen counter on the left | STEP 2: grab the spoon off of the kitchen counter | STEP 3: turn left and walk over to the sink on the left side of the counter | STEP 4: place the spoon in the right side sink, rinse it off, then take it back out | STEP 5: turn left and walk over to the end of the kitchen counter on the left | STEP 6: place the spoon down on the counter", "output": ["END"]} +{"id": "trial_T20190908_075703_979386-1%0", "input": "Examine a credit card by the light of a floor lamp.", "output": ["STEP 1: Turn right and walk forward to the left side of the shelves against on the wall on the right."]} +{"id": "trial_T20190908_075703_979386-1%1", "input": "Examine a credit card by the light of a floor lamp. | STEP 1: Turn right and walk forward to the left side of the shelves against on the wall on the right.", "output": ["STEP 2: Pick up the red credit card from the top shelf."]} +{"id": "trial_T20190908_075703_979386-1%2", "input": "Examine a credit card by the light of a floor lamp. | STEP 1: Turn right and walk forward to the left side of the shelves against on the wall on the right. | STEP 2: Pick up the red credit card from the top shelf.", "output": ["STEP 3: Turn around and walk to the front of the floor lamp which is to the left of the garbage bin on the floor."]} +{"id": "trial_T20190908_075703_979386-1%3", "input": "Examine a credit card by the light of a floor lamp. | STEP 1: Turn right and walk forward to the left side of the shelves against on the wall on the right. | STEP 2: Pick up the red credit card from the top shelf. | STEP 3: Turn around and walk to the front of the floor lamp which is to the left of the garbage bin on the floor.", "output": ["STEP 4: Turn on the lamp."]} +{"id": "trial_T20190908_075703_979386-1%4", "input": "Examine a credit card by the light of a floor lamp. | STEP 1: Turn right and walk forward to the left side of the shelves against on the wall on the right. | STEP 2: Pick up the red credit card from the top shelf. | STEP 3: Turn around and walk to the front of the floor lamp which is to the left of the garbage bin on the floor. | STEP 4: Turn on the lamp.", "output": ["END"]} +{"id": "trial_T20190908_075703_979386-2%0", "input": "Examine a credit card by the light of a lamp on the ground. ", "output": ["STEP 1: Turn right, move past the black shelf on the right, turn around to face the left side of the shelf."]} +{"id": "trial_T20190908_075703_979386-2%1", "input": "Examine a credit card by the light of a lamp on the ground. | STEP 1: Turn right, move past the black shelf on the right, turn around to face the left side of the shelf.", "output": ["STEP 2: Pick up the red credit card on the shelf. "]} +{"id": "trial_T20190908_075703_979386-2%2", "input": "Examine a credit card by the light of a lamp on the ground. | STEP 1: Turn right, move past the black shelf on the right, turn around to face the left side of the shelf. | STEP 2: Pick up the red credit card on the shelf. ", "output": ["STEP 3: Turn around, bring the credit card to the lamp on the ground next to the door. "]} +{"id": "trial_T20190908_075703_979386-2%3", "input": "Examine a credit card by the light of a lamp on the ground. | STEP 1: Turn right, move past the black shelf on the right, turn around to face the left side of the shelf. | STEP 2: Pick up the red credit card on the shelf. | STEP 3: Turn around, bring the credit card to the lamp on the ground next to the door. ", "output": ["STEP 4: Turn on the lamp on the ground. "]} +{"id": "trial_T20190908_075703_979386-2%4", "input": "Examine a credit card by the light of a lamp on the ground. | STEP 1: Turn right, move past the black shelf on the right, turn around to face the left side of the shelf. | STEP 2: Pick up the red credit card on the shelf. | STEP 3: Turn around, bring the credit card to the lamp on the ground next to the door. | STEP 4: Turn on the lamp on the ground. ", "output": ["END"]} +{"id": "trial_T20190907_180332_913940-1%0", "input": "heat the tomato in the microwave, put the tomato in the sink", "output": ["STEP 1: turn left, walk to the counter"]} +{"id": "trial_T20190907_180332_913940-1%1", "input": "heat the tomato in the microwave, put the tomato in the sink | STEP 1: turn left, walk to the counter", "output": ["STEP 2: grab the tomato on the counter"]} +{"id": "trial_T20190907_180332_913940-1%2", "input": "heat the tomato in the microwave, put the tomato in the sink | STEP 1: turn left, walk to the counter | STEP 2: grab the tomato on the counter", "output": ["STEP 3: walk to the right a little"]} +{"id": "trial_T20190907_180332_913940-1%3", "input": "heat the tomato in the microwave, put the tomato in the sink | STEP 1: turn left, walk to the counter | STEP 2: grab the tomato on the counter | STEP 3: walk to the right a little", "output": ["STEP 4: heat the tomato with the microwave, take the tomato out"]} +{"id": "trial_T20190907_180332_913940-1%4", "input": "heat the tomato in the microwave, put the tomato in the sink | STEP 1: turn left, walk to the counter | STEP 2: grab the tomato on the counter | STEP 3: walk to the right a little | STEP 4: heat the tomato with the microwave, take the tomato out", "output": ["STEP 5: turn left, walk to the sink on the left"]} +{"id": "trial_T20190907_180332_913940-1%5", "input": "heat the tomato in the microwave, put the tomato in the sink | STEP 1: turn left, walk to the counter | STEP 2: grab the tomato on the counter | STEP 3: walk to the right a little | STEP 4: heat the tomato with the microwave, take the tomato out | STEP 5: turn left, walk to the sink on the left", "output": ["STEP 6: put the tomato in the sink"]} +{"id": "trial_T20190907_180332_913940-1%6", "input": "heat the tomato in the microwave, put the tomato in the sink | STEP 1: turn left, walk to the counter | STEP 2: grab the tomato on the counter | STEP 3: walk to the right a little | STEP 4: heat the tomato with the microwave, take the tomato out | STEP 5: turn left, walk to the sink on the left | STEP 6: put the tomato in the sink", "output": ["END"]} +{"id": "trial_T20190907_180332_913940-2%0", "input": "Put a heated tomato inside the sink.", "output": ["STEP 1: Move to the counter to the right of the sink"]} +{"id": "trial_T20190907_180332_913940-2%1", "input": "Put a heated tomato inside the sink. | STEP 1: Move to the counter to the right of the sink", "output": ["STEP 2: Pick up tomato from the counter"]} +{"id": "trial_T20190907_180332_913940-2%2", "input": "Put a heated tomato inside the sink. | STEP 1: Move to the counter to the right of the sink | STEP 2: Pick up tomato from the counter", "output": ["STEP 3: Move to the microwave to the right"]} +{"id": "trial_T20190907_180332_913940-2%3", "input": "Put a heated tomato inside the sink. | STEP 1: Move to the counter to the right of the sink | STEP 2: Pick up tomato from the counter | STEP 3: Move to the microwave to the right", "output": ["STEP 4: Heat tomato with the microwave"]} +{"id": "trial_T20190907_180332_913940-2%4", "input": "Put a heated tomato inside the sink. | STEP 1: Move to the counter to the right of the sink | STEP 2: Pick up tomato from the counter | STEP 3: Move to the microwave to the right | STEP 4: Heat tomato with the microwave", "output": ["STEP 5: Move to the sink to the left of you"]} +{"id": "trial_T20190907_180332_913940-2%5", "input": "Put a heated tomato inside the sink. | STEP 1: Move to the counter to the right of the sink | STEP 2: Pick up tomato from the counter | STEP 3: Move to the microwave to the right | STEP 4: Heat tomato with the microwave | STEP 5: Move to the sink to the left of you", "output": ["STEP 6: Put tomato inside the sink"]} +{"id": "trial_T20190907_180332_913940-2%6", "input": "Put a heated tomato inside the sink. | STEP 1: Move to the counter to the right of the sink | STEP 2: Pick up tomato from the counter | STEP 3: Move to the microwave to the right | STEP 4: Heat tomato with the microwave | STEP 5: Move to the sink to the left of you | STEP 6: Put tomato inside the sink", "output": ["END"]} +{"id": "trial_T20190909_105426_604874-2%0", "input": "Put keys on a couch.", "output": ["STEP 1: Go right and then turn to the left to face the side of the brown chair."]} +{"id": "trial_T20190909_105426_604874-2%1", "input": "Put keys on a couch. | STEP 1: Go right and then turn to the left to face the side of the brown chair.", "output": ["STEP 2: Pick the keys in the middle of the chair up."]} +{"id": "trial_T20190909_105426_604874-2%2", "input": "Put keys on a couch. | STEP 1: Go right and then turn to the left to face the side of the brown chair. | STEP 2: Pick the keys in the middle of the chair up.", "output": ["STEP 3: Go left and then turn to the left to face the couch"]} +{"id": "trial_T20190909_105426_604874-2%3", "input": "Put keys on a couch. | STEP 1: Go right and then turn to the left to face the side of the brown chair. | STEP 2: Pick the keys in the middle of the chair up. | STEP 3: Go left and then turn to the left to face the couch", "output": ["STEP 4: Put the keys down on the right side of the couch."]} +{"id": "trial_T20190909_105426_604874-2%4", "input": "Put keys on a couch. | STEP 1: Go right and then turn to the left to face the side of the brown chair. | STEP 2: Pick the keys in the middle of the chair up. | STEP 3: Go left and then turn to the left to face the couch | STEP 4: Put the keys down on the right side of the couch.", "output": ["END"]} +{"id": "trial_T20190907_163220_817822-0%0", "input": "Take two cells phones from the end table, put them on the bed.", "output": ["STEP 1: Turn right, walk to the wall and turn left then walk to the wall and turn right and walk past the dresser, walk around the bed to the end table with two cell phones."]} +{"id": "trial_T20190907_163220_817822-0%1", "input": "Take two cells phones from the end table, put them on the bed. | STEP 1: Turn right, walk to the wall and turn left then walk to the wall and turn right and walk past the dresser, walk around the bed to the end table with two cell phones.", "output": ["STEP 2: Pick up the cell phone closest to the bed."]} +{"id": "trial_T20190907_163220_817822-0%2", "input": "Take two cells phones from the end table, put them on the bed. | STEP 1: Turn right, walk to the wall and turn left then walk to the wall and turn right and walk past the dresser, walk around the bed to the end table with two cell phones. | STEP 2: Pick up the cell phone closest to the bed.", "output": ["STEP 3: Turn around and walk around the bed to the left side of the bed."]} +{"id": "trial_T20190907_163220_817822-0%3", "input": "Take two cells phones from the end table, put them on the bed. | STEP 1: Turn right, walk to the wall and turn left then walk to the wall and turn right and walk past the dresser, walk around the bed to the end table with two cell phones. | STEP 2: Pick up the cell phone closest to the bed. | STEP 3: Turn around and walk around the bed to the left side of the bed.", "output": ["STEP 4: Put the cell phone on the bed."]} +{"id": "trial_T20190907_163220_817822-0%4", "input": "Take two cells phones from the end table, put them on the bed. | STEP 1: Turn right, walk to the wall and turn left then walk to the wall and turn right and walk past the dresser, walk around the bed to the end table with two cell phones. | STEP 2: Pick up the cell phone closest to the bed. | STEP 3: Turn around and walk around the bed to the left side of the bed. | STEP 4: Put the cell phone on the bed.", "output": ["STEP 5: Turn right and walk around the bed to the end table on the other side with one cell phone on it."]} +{"id": "trial_T20190907_163220_817822-0%5", "input": "Take two cells phones from the end table, put them on the bed. | STEP 1: Turn right, walk to the wall and turn left then walk to the wall and turn right and walk past the dresser, walk around the bed to the end table with two cell phones. | STEP 2: Pick up the cell phone closest to the bed. | STEP 3: Turn around and walk around the bed to the left side of the bed. | STEP 4: Put the cell phone on the bed. | STEP 5: Turn right and walk around the bed to the end table on the other side with one cell phone on it.", "output": ["STEP 6: Take the cell phone from the end table."]} +{"id": "trial_T20190907_163220_817822-0%6", "input": "Take two cells phones from the end table, put them on the bed. | STEP 1: Turn right, walk to the wall and turn left then walk to the wall and turn right and walk past the dresser, walk around the bed to the end table with two cell phones. | STEP 2: Pick up the cell phone closest to the bed. | STEP 3: Turn around and walk around the bed to the left side of the bed. | STEP 4: Put the cell phone on the bed. | STEP 5: Turn right and walk around the bed to the end table on the other side with one cell phone on it. | STEP 6: Take the cell phone from the end table.", "output": ["STEP 7: Turn around and walk to the other side of the bed."]} +{"id": "trial_T20190907_163220_817822-0%7", "input": "Take two cells phones from the end table, put them on the bed. | STEP 1: Turn right, walk to the wall and turn left then walk to the wall and turn right and walk past the dresser, walk around the bed to the end table with two cell phones. | STEP 2: Pick up the cell phone closest to the bed. | STEP 3: Turn around and walk around the bed to the left side of the bed. | STEP 4: Put the cell phone on the bed. | STEP 5: Turn right and walk around the bed to the end table on the other side with one cell phone on it. | STEP 6: Take the cell phone from the end table. | STEP 7: Turn around and walk to the other side of the bed.", "output": ["STEP 8: Put the cell phone on the bed next to the other cell phone."]} +{"id": "trial_T20190907_163220_817822-0%8", "input": "Take two cells phones from the end table, put them on the bed. | STEP 1: Turn right, walk to the wall and turn left then walk to the wall and turn right and walk past the dresser, walk around the bed to the end table with two cell phones. | STEP 2: Pick up the cell phone closest to the bed. | STEP 3: Turn around and walk around the bed to the left side of the bed. | STEP 4: Put the cell phone on the bed. | STEP 5: Turn right and walk around the bed to the end table on the other side with one cell phone on it. | STEP 6: Take the cell phone from the end table. | STEP 7: Turn around and walk to the other side of the bed. | STEP 8: Put the cell phone on the bed next to the other cell phone.", "output": ["END"]} +{"id": "trial_T20190907_163131_241971-2%0", "input": "Put two blue phones on the bed.", "output": ["STEP 1: Move to the dresser to the left of the bed"]} +{"id": "trial_T20190907_163131_241971-2%1", "input": "Put two blue phones on the bed. | STEP 1: Move to the dresser to the left of the bed", "output": ["STEP 2: Pick up a phone from the dresser"]} +{"id": "trial_T20190907_163131_241971-2%2", "input": "Put two blue phones on the bed. | STEP 1: Move to the dresser to the left of the bed | STEP 2: Pick up a phone from the dresser", "output": ["STEP 3: Move to the bed behind you"]} +{"id": "trial_T20190907_163131_241971-2%3", "input": "Put two blue phones on the bed. | STEP 1: Move to the dresser to the left of the bed | STEP 2: Pick up a phone from the dresser | STEP 3: Move to the bed behind you", "output": ["STEP 4: Place the phone on the bed"]} +{"id": "trial_T20190907_163131_241971-2%4", "input": "Put two blue phones on the bed. | STEP 1: Move to the dresser to the left of the bed | STEP 2: Pick up a phone from the dresser | STEP 3: Move to the bed behind you | STEP 4: Place the phone on the bed", "output": ["STEP 5: Move to the dresser to the behind you"]} +{"id": "trial_T20190907_163131_241971-2%5", "input": "Put two blue phones on the bed. | STEP 1: Move to the dresser to the left of the bed | STEP 2: Pick up a phone from the dresser | STEP 3: Move to the bed behind you | STEP 4: Place the phone on the bed | STEP 5: Move to the dresser to the behind you", "output": ["STEP 6: Pick up a phone from the dresser"]} +{"id": "trial_T20190907_163131_241971-2%6", "input": "Put two blue phones on the bed. | STEP 1: Move to the dresser to the left of the bed | STEP 2: Pick up a phone from the dresser | STEP 3: Move to the bed behind you | STEP 4: Place the phone on the bed | STEP 5: Move to the dresser to the behind you | STEP 6: Pick up a phone from the dresser", "output": ["STEP 7: Move to the bed behind you"]} +{"id": "trial_T20190907_163131_241971-2%7", "input": "Put two blue phones on the bed. | STEP 1: Move to the dresser to the left of the bed | STEP 2: Pick up a phone from the dresser | STEP 3: Move to the bed behind you | STEP 4: Place the phone on the bed | STEP 5: Move to the dresser to the behind you | STEP 6: Pick up a phone from the dresser | STEP 7: Move to the bed behind you", "output": ["STEP 8: Place the phone on the bed"]} +{"id": "trial_T20190907_163131_241971-2%8", "input": "Put two blue phones on the bed. | STEP 1: Move to the dresser to the left of the bed | STEP 2: Pick up a phone from the dresser | STEP 3: Move to the bed behind you | STEP 4: Place the phone on the bed | STEP 5: Move to the dresser to the behind you | STEP 6: Pick up a phone from the dresser | STEP 7: Move to the bed behind you | STEP 8: Place the phone on the bed", "output": ["END"]} +{"id": "trial_T20190908_045900_272790-1%0", "input": "Put a candle on the toilet tank lid. ", "output": ["STEP 1: Head to the shelf on the left with the candle."]} +{"id": "trial_T20190908_045900_272790-1%1", "input": "Put a candle on the toilet tank lid. | STEP 1: Head to the shelf on the left with the candle.", "output": ["STEP 2: Pick up the candle on the shelf. "]} +{"id": "trial_T20190908_045900_272790-1%2", "input": "Put a candle on the toilet tank lid. | STEP 1: Head to the shelf on the left with the candle. | STEP 2: Pick up the candle on the shelf. ", "output": ["STEP 3: Turn around and bring the candle to the toilet."]} +{"id": "trial_T20190908_045900_272790-1%3", "input": "Put a candle on the toilet tank lid. | STEP 1: Head to the shelf on the left with the candle. | STEP 2: Pick up the candle on the shelf. | STEP 3: Turn around and bring the candle to the toilet.", "output": ["STEP 4: Put the candle on the toilet tank lid. "]} +{"id": "trial_T20190908_045900_272790-1%4", "input": "Put a candle on the toilet tank lid. | STEP 1: Head to the shelf on the left with the candle. | STEP 2: Pick up the candle on the shelf. | STEP 3: Turn around and bring the candle to the toilet. | STEP 4: Put the candle on the toilet tank lid. ", "output": ["END"]} +{"id": "trial_T20190919_025650_156562-2%0", "input": "slice 2 pieces of potato putting them inside the sink", "output": ["STEP 1: turn to the right and across the room go right face the counter"]} +{"id": "trial_T20190919_025650_156562-2%1", "input": "slice 2 pieces of potato putting them inside the sink | STEP 1: turn to the right and across the room go right face the counter", "output": ["STEP 2: pick up a potato from the counter"]} +{"id": "trial_T20190919_025650_156562-2%2", "input": "slice 2 pieces of potato putting them inside the sink | STEP 1: turn to the right and across the room go right face the counter | STEP 2: pick up a potato from the counter", "output": ["STEP 3: turn to the right across the room"]} +{"id": "trial_T20190919_025650_156562-2%3", "input": "slice 2 pieces of potato putting them inside the sink | STEP 1: turn to the right and across the room go right face the counter | STEP 2: pick up a potato from the counter | STEP 3: turn to the right across the room", "output": ["STEP 4: leave the potato in the sink"]} +{"id": "trial_T20190919_025650_156562-2%4", "input": "slice 2 pieces of potato putting them inside the sink | STEP 1: turn to the right and across the room go right face the counter | STEP 2: pick up a potato from the counter | STEP 3: turn to the right across the room | STEP 4: leave the potato in the sink", "output": ["STEP 5: turn around to the right"]} +{"id": "trial_T20190919_025650_156562-2%5", "input": "slice 2 pieces of potato putting them inside the sink | STEP 1: turn to the right and across the room go right face the counter | STEP 2: pick up a potato from the counter | STEP 3: turn to the right across the room | STEP 4: leave the potato in the sink | STEP 5: turn around to the right", "output": ["STEP 6: pick up the knife from the counter"]} +{"id": "trial_T20190919_025650_156562-2%6", "input": "slice 2 pieces of potato putting them inside the sink | STEP 1: turn to the right and across the room go right face the counter | STEP 2: pick up a potato from the counter | STEP 3: turn to the right across the room | STEP 4: leave the potato in the sink | STEP 5: turn around to the right | STEP 6: pick up the knife from the counter", "output": ["STEP 7: turn to the left"]} +{"id": "trial_T20190919_025650_156562-2%7", "input": "slice 2 pieces of potato putting them inside the sink | STEP 1: turn to the right and across the room go right face the counter | STEP 2: pick up a potato from the counter | STEP 3: turn to the right across the room | STEP 4: leave the potato in the sink | STEP 5: turn around to the right | STEP 6: pick up the knife from the counter | STEP 7: turn to the left", "output": ["STEP 8: slice the potato that is on the counter"]} +{"id": "trial_T20190919_025650_156562-2%8", "input": "slice 2 pieces of potato putting them inside the sink | STEP 1: turn to the right and across the room go right face the counter | STEP 2: pick up a potato from the counter | STEP 3: turn to the right across the room | STEP 4: leave the potato in the sink | STEP 5: turn around to the right | STEP 6: pick up the knife from the counter | STEP 7: turn to the left | STEP 8: slice the potato that is on the counter", "output": ["STEP 9: turn to the right face the sink"]} +{"id": "trial_T20190919_025650_156562-2%9", "input": "slice 2 pieces of potato putting them inside the sink | STEP 1: turn to the right and across the room go right face the counter | STEP 2: pick up a potato from the counter | STEP 3: turn to the right across the room | STEP 4: leave the potato in the sink | STEP 5: turn around to the right | STEP 6: pick up the knife from the counter | STEP 7: turn to the left | STEP 8: slice the potato that is on the counter | STEP 9: turn to the right face the sink", "output": ["STEP 10: slice the potato that is in the sink"]} +{"id": "trial_T20190919_025650_156562-2%10", "input": "slice 2 pieces of potato putting them inside the sink | STEP 1: turn to the right and across the room go right face the counter | STEP 2: pick up a potato from the counter | STEP 3: turn to the right across the room | STEP 4: leave the potato in the sink | STEP 5: turn around to the right | STEP 6: pick up the knife from the counter | STEP 7: turn to the left | STEP 8: slice the potato that is on the counter | STEP 9: turn to the right face the sink | STEP 10: slice the potato that is in the sink", "output": ["STEP 11: turn around to the right"]} +{"id": "trial_T20190919_025650_156562-2%11", "input": "slice 2 pieces of potato putting them inside the sink | STEP 1: turn to the right and across the room go right face the counter | STEP 2: pick up a potato from the counter | STEP 3: turn to the right across the room | STEP 4: leave the potato in the sink | STEP 5: turn around to the right | STEP 6: pick up the knife from the counter | STEP 7: turn to the left | STEP 8: slice the potato that is on the counter | STEP 9: turn to the right face the sink | STEP 10: slice the potato that is in the sink | STEP 11: turn around to the right", "output": ["STEP 12: pick up a slice of potato"]} +{"id": "trial_T20190919_025650_156562-2%12", "input": "slice 2 pieces of potato putting them inside the sink | STEP 1: turn to the right and across the room go right face the counter | STEP 2: pick up a potato from the counter | STEP 3: turn to the right across the room | STEP 4: leave the potato in the sink | STEP 5: turn around to the right | STEP 6: pick up the knife from the counter | STEP 7: turn to the left | STEP 8: slice the potato that is on the counter | STEP 9: turn to the right face the sink | STEP 10: slice the potato that is in the sink | STEP 11: turn around to the right | STEP 12: pick up a slice of potato", "output": ["STEP 13: turn around to the right again"]} +{"id": "trial_T20190919_025650_156562-2%13", "input": "slice 2 pieces of potato putting them inside the sink | STEP 1: turn to the right and across the room go right face the counter | STEP 2: pick up a potato from the counter | STEP 3: turn to the right across the room | STEP 4: leave the potato in the sink | STEP 5: turn around to the right | STEP 6: pick up the knife from the counter | STEP 7: turn to the left | STEP 8: slice the potato that is on the counter | STEP 9: turn to the right face the sink | STEP 10: slice the potato that is in the sink | STEP 11: turn around to the right | STEP 12: pick up a slice of potato | STEP 13: turn around to the right again", "output": ["STEP 14: face the counter area pick up a slice of potato"]} +{"id": "trial_T20190919_025650_156562-2%14", "input": "slice 2 pieces of potato putting them inside the sink | STEP 1: turn to the right and across the room go right face the counter | STEP 2: pick up a potato from the counter | STEP 3: turn to the right across the room | STEP 4: leave the potato in the sink | STEP 5: turn around to the right | STEP 6: pick up the knife from the counter | STEP 7: turn to the left | STEP 8: slice the potato that is on the counter | STEP 9: turn to the right face the sink | STEP 10: slice the potato that is in the sink | STEP 11: turn around to the right | STEP 12: pick up a slice of potato | STEP 13: turn around to the right again | STEP 14: face the counter area pick up a slice of potato", "output": ["STEP 15: turn to the right leave the slice inside the sink"]} +{"id": "trial_T20190919_025650_156562-2%15", "input": "slice 2 pieces of potato putting them inside the sink | STEP 1: turn to the right and across the room go right face the counter | STEP 2: pick up a potato from the counter | STEP 3: turn to the right across the room | STEP 4: leave the potato in the sink | STEP 5: turn around to the right | STEP 6: pick up the knife from the counter | STEP 7: turn to the left | STEP 8: slice the potato that is on the counter | STEP 9: turn to the right face the sink | STEP 10: slice the potato that is in the sink | STEP 11: turn around to the right | STEP 12: pick up a slice of potato | STEP 13: turn around to the right again | STEP 14: face the counter area pick up a slice of potato | STEP 15: turn to the right leave the slice inside the sink", "output": ["END"]} +{"id": "trial_T20190907_041348_432699-2%0", "input": "place a clean glass inside of the fridge", "output": ["STEP 1: turn left to face the kitchen counter"]} +{"id": "trial_T20190907_041348_432699-2%1", "input": "place a clean glass inside of the fridge | STEP 1: turn left to face the kitchen counter", "output": ["STEP 2: grab the glass cup off of the kitchen counter"]} +{"id": "trial_T20190907_041348_432699-2%2", "input": "place a clean glass inside of the fridge | STEP 1: turn left to face the kitchen counter | STEP 2: grab the glass cup off of the kitchen counter", "output": ["STEP 3: turn around and walk over to the kitchen sink on your right"]} +{"id": "trial_T20190907_041348_432699-2%3", "input": "place a clean glass inside of the fridge | STEP 1: turn left to face the kitchen counter | STEP 2: grab the glass cup off of the kitchen counter | STEP 3: turn around and walk over to the kitchen sink on your right", "output": ["STEP 4: place the glass inside of the kitchen sink and clean it off"]} +{"id": "trial_T20190907_041348_432699-2%4", "input": "place a clean glass inside of the fridge | STEP 1: turn left to face the kitchen counter | STEP 2: grab the glass cup off of the kitchen counter | STEP 3: turn around and walk over to the kitchen sink on your right | STEP 4: place the glass inside of the kitchen sink and clean it off", "output": ["STEP 5: turn around and walk over to the right side of the room where the fridge is"]} +{"id": "trial_T20190907_041348_432699-2%5", "input": "place a clean glass inside of the fridge | STEP 1: turn left to face the kitchen counter | STEP 2: grab the glass cup off of the kitchen counter | STEP 3: turn around and walk over to the kitchen sink on your right | STEP 4: place the glass inside of the kitchen sink and clean it off | STEP 5: turn around and walk over to the right side of the room where the fridge is", "output": ["STEP 6: place the glass inside of the fridge"]} +{"id": "trial_T20190907_041348_432699-2%6", "input": "place a clean glass inside of the fridge | STEP 1: turn left to face the kitchen counter | STEP 2: grab the glass cup off of the kitchen counter | STEP 3: turn around and walk over to the kitchen sink on your right | STEP 4: place the glass inside of the kitchen sink and clean it off | STEP 5: turn around and walk over to the right side of the room where the fridge is | STEP 6: place the glass inside of the fridge", "output": ["END"]} +{"id": "trial_T20190909_075519_322891-1%0", "input": "Move the tissue box to the back end of the toilet. ", "output": ["STEP 1: Turn around completely and turn right and face the white shelves"]} +{"id": "trial_T20190909_075519_322891-1%1", "input": "Move the tissue box to the back end of the toilet. | STEP 1: Turn around completely and turn right and face the white shelves", "output": ["STEP 2: Pick up the tissue box from the shelf. "]} +{"id": "trial_T20190909_075519_322891-1%2", "input": "Move the tissue box to the back end of the toilet. | STEP 1: Turn around completely and turn right and face the white shelves | STEP 2: Pick up the tissue box from the shelf. ", "output": ["STEP 3: Turn to the left and then turn again to face the toilet."]} +{"id": "trial_T20190909_075519_322891-1%3", "input": "Move the tissue box to the back end of the toilet. | STEP 1: Turn around completely and turn right and face the white shelves | STEP 2: Pick up the tissue box from the shelf. | STEP 3: Turn to the left and then turn again to face the toilet.", "output": ["STEP 4: Place the tissue box on the back end of the toilet."]} +{"id": "trial_T20190909_075519_322891-1%4", "input": "Move the tissue box to the back end of the toilet. | STEP 1: Turn around completely and turn right and face the white shelves | STEP 2: Pick up the tissue box from the shelf. | STEP 3: Turn to the left and then turn again to face the toilet. | STEP 4: Place the tissue box on the back end of the toilet.", "output": ["END"]} +{"id": "trial_T20190909_153454_351725-1%0", "input": "Look at a laptop by the light of a lamp.", "output": ["STEP 1: Turn right and walk past the coffee table, then walk left to the side by the couch. Then turn to look at the coffee table."]} +{"id": "trial_T20190909_153454_351725-1%1", "input": "Look at a laptop by the light of a lamp. | STEP 1: Turn right and walk past the coffee table, then walk left to the side by the couch. Then turn to look at the coffee table.", "output": ["STEP 2: Close the laptop and pick it up."]} +{"id": "trial_T20190909_153454_351725-1%2", "input": "Look at a laptop by the light of a lamp. | STEP 1: Turn right and walk past the coffee table, then walk left to the side by the couch. Then turn to look at the coffee table. | STEP 2: Close the laptop and pick it up.", "output": ["STEP 3: Turn right and walk to the table at the end of the couch."]} +{"id": "trial_T20190909_153454_351725-1%3", "input": "Look at a laptop by the light of a lamp. | STEP 1: Turn right and walk past the coffee table, then walk left to the side by the couch. Then turn to look at the coffee table. | STEP 2: Close the laptop and pick it up. | STEP 3: Turn right and walk to the table at the end of the couch.", "output": ["STEP 4: Turn on the lamp on the table."]} +{"id": "trial_T20190909_153454_351725-1%4", "input": "Look at a laptop by the light of a lamp. | STEP 1: Turn right and walk past the coffee table, then walk left to the side by the couch. Then turn to look at the coffee table. | STEP 2: Close the laptop and pick it up. | STEP 3: Turn right and walk to the table at the end of the couch. | STEP 4: Turn on the lamp on the table.", "output": ["END"]} +{"id": "trial_T20190907_091412_793531-0%0", "input": "Move a phone from the dresser to the bed", "output": ["STEP 1: Move to the right side of the large black dresser"]} +{"id": "trial_T20190907_091412_793531-0%1", "input": "Move a phone from the dresser to the bed | STEP 1: Move to the right side of the large black dresser", "output": ["STEP 2: Pick up the phone that is in a blue case sitting on top of the dresser"]} +{"id": "trial_T20190907_091412_793531-0%2", "input": "Move a phone from the dresser to the bed | STEP 1: Move to the right side of the large black dresser | STEP 2: Pick up the phone that is in a blue case sitting on top of the dresser", "output": ["STEP 3: Carry the phone to the left side of the bed"]} +{"id": "trial_T20190907_091412_793531-0%3", "input": "Move a phone from the dresser to the bed | STEP 1: Move to the right side of the large black dresser | STEP 2: Pick up the phone that is in a blue case sitting on top of the dresser | STEP 3: Carry the phone to the left side of the bed", "output": ["STEP 4: Place the phone in front of the orange pillow that is on top of the bed"]} +{"id": "trial_T20190907_091412_793531-0%4", "input": "Move a phone from the dresser to the bed | STEP 1: Move to the right side of the large black dresser | STEP 2: Pick up the phone that is in a blue case sitting on top of the dresser | STEP 3: Carry the phone to the left side of the bed | STEP 4: Place the phone in front of the orange pillow that is on top of the bed", "output": ["END"]} +{"id": "trial_T20190907_091412_793531-2%0", "input": "Put the cell phone on the bed.", "output": ["STEP 1: Go to the dresser, across from the bed."]} +{"id": "trial_T20190907_091412_793531-2%1", "input": "Put the cell phone on the bed. | STEP 1: Go to the dresser, across from the bed.", "output": ["STEP 2: Pick up the cell phone from the dresser, to the left of the pencil."]} +{"id": "trial_T20190907_091412_793531-2%2", "input": "Put the cell phone on the bed. | STEP 1: Go to the dresser, across from the bed. | STEP 2: Pick up the cell phone from the dresser, to the left of the pencil.", "output": ["STEP 3: Turn around, then go left, move forward, then turn right, move forward, then turn right to face the bed."]} +{"id": "trial_T20190907_091412_793531-2%3", "input": "Put the cell phone on the bed. | STEP 1: Go to the dresser, across from the bed. | STEP 2: Pick up the cell phone from the dresser, to the left of the pencil. | STEP 3: Turn around, then go left, move forward, then turn right, move forward, then turn right to face the bed.", "output": ["STEP 4: Place the cell phone on the bed , to the right of the nearest pillow."]} +{"id": "trial_T20190907_091412_793531-2%4", "input": "Put the cell phone on the bed. | STEP 1: Go to the dresser, across from the bed. | STEP 2: Pick up the cell phone from the dresser, to the left of the pencil. | STEP 3: Turn around, then go left, move forward, then turn right, move forward, then turn right to face the bed. | STEP 4: Place the cell phone on the bed , to the right of the nearest pillow.", "output": ["END"]} +{"id": "trial_T20190907_091412_793531-3%0", "input": "move phone from dresser to the bed", "output": ["STEP 1: walk towards the bed, turn right, walk towards dresser, turn left, turn right to face dresser"]} +{"id": "trial_T20190907_091412_793531-3%1", "input": "move phone from dresser to the bed | STEP 1: walk towards the bed, turn right, walk towards dresser, turn left, turn right to face dresser", "output": ["STEP 2: pick up the phone that is on the dresser"]} +{"id": "trial_T20190907_091412_793531-3%2", "input": "move phone from dresser to the bed | STEP 1: walk towards the bed, turn right, walk towards dresser, turn left, turn right to face dresser | STEP 2: pick up the phone that is on the dresser", "output": ["STEP 3: turn around, walk forward, turn right at bed, walk forward, turn right to face bed"]} +{"id": "trial_T20190907_091412_793531-3%3", "input": "move phone from dresser to the bed | STEP 1: walk towards the bed, turn right, walk towards dresser, turn left, turn right to face dresser | STEP 2: pick up the phone that is on the dresser | STEP 3: turn around, walk forward, turn right at bed, walk forward, turn right to face bed", "output": ["STEP 4: put phone on to the bed"]} +{"id": "trial_T20190907_091412_793531-3%4", "input": "move phone from dresser to the bed | STEP 1: walk towards the bed, turn right, walk towards dresser, turn left, turn right to face dresser | STEP 2: pick up the phone that is on the dresser | STEP 3: turn around, walk forward, turn right at bed, walk forward, turn right to face bed | STEP 4: put phone on to the bed", "output": ["END"]} +{"id": "trial_T20190908_044140_445283-0%0", "input": "Put a knife and chilled tomato slice in the microwave", "output": ["STEP 1: Walk to the sink"]} +{"id": "trial_T20190908_044140_445283-0%1", "input": "Put a knife and chilled tomato slice in the microwave | STEP 1: Walk to the sink", "output": ["STEP 2: Pick up knife from the sink"]} +{"id": "trial_T20190908_044140_445283-0%2", "input": "Put a knife and chilled tomato slice in the microwave | STEP 1: Walk to the sink | STEP 2: Pick up knife from the sink", "output": ["STEP 3: Walk to the bin"]} +{"id": "trial_T20190908_044140_445283-0%3", "input": "Put a knife and chilled tomato slice in the microwave | STEP 1: Walk to the sink | STEP 2: Pick up knife from the sink | STEP 3: Walk to the bin", "output": ["STEP 4: Cut the tomato in the bin"]} +{"id": "trial_T20190908_044140_445283-0%4", "input": "Put a knife and chilled tomato slice in the microwave | STEP 1: Walk to the sink | STEP 2: Pick up knife from the sink | STEP 3: Walk to the bin | STEP 4: Cut the tomato in the bin", "output": ["STEP 5: Walk to the microwave above the stove"]} +{"id": "trial_T20190908_044140_445283-0%5", "input": "Put a knife and chilled tomato slice in the microwave | STEP 1: Walk to the sink | STEP 2: Pick up knife from the sink | STEP 3: Walk to the bin | STEP 4: Cut the tomato in the bin | STEP 5: Walk to the microwave above the stove", "output": ["STEP 6: Put the knife in the microwave"]} +{"id": "trial_T20190908_044140_445283-0%6", "input": "Put a knife and chilled tomato slice in the microwave | STEP 1: Walk to the sink | STEP 2: Pick up knife from the sink | STEP 3: Walk to the bin | STEP 4: Cut the tomato in the bin | STEP 5: Walk to the microwave above the stove | STEP 6: Put the knife in the microwave", "output": ["STEP 7: Walk to the bin"]} +{"id": "trial_T20190908_044140_445283-0%7", "input": "Put a knife and chilled tomato slice in the microwave | STEP 1: Walk to the sink | STEP 2: Pick up knife from the sink | STEP 3: Walk to the bin | STEP 4: Cut the tomato in the bin | STEP 5: Walk to the microwave above the stove | STEP 6: Put the knife in the microwave | STEP 7: Walk to the bin", "output": ["STEP 8: Pick up a tomato slice from the bin"]} +{"id": "trial_T20190908_044140_445283-0%8", "input": "Put a knife and chilled tomato slice in the microwave | STEP 1: Walk to the sink | STEP 2: Pick up knife from the sink | STEP 3: Walk to the bin | STEP 4: Cut the tomato in the bin | STEP 5: Walk to the microwave above the stove | STEP 6: Put the knife in the microwave | STEP 7: Walk to the bin | STEP 8: Pick up a tomato slice from the bin", "output": ["STEP 9: Walk to the refrigerator"]} +{"id": "trial_T20190908_044140_445283-0%9", "input": "Put a knife and chilled tomato slice in the microwave | STEP 1: Walk to the sink | STEP 2: Pick up knife from the sink | STEP 3: Walk to the bin | STEP 4: Cut the tomato in the bin | STEP 5: Walk to the microwave above the stove | STEP 6: Put the knife in the microwave | STEP 7: Walk to the bin | STEP 8: Pick up a tomato slice from the bin | STEP 9: Walk to the refrigerator", "output": ["STEP 10: Chill the tomato slice in the fridge"]} +{"id": "trial_T20190908_044140_445283-0%10", "input": "Put a knife and chilled tomato slice in the microwave | STEP 1: Walk to the sink | STEP 2: Pick up knife from the sink | STEP 3: Walk to the bin | STEP 4: Cut the tomato in the bin | STEP 5: Walk to the microwave above the stove | STEP 6: Put the knife in the microwave | STEP 7: Walk to the bin | STEP 8: Pick up a tomato slice from the bin | STEP 9: Walk to the refrigerator | STEP 10: Chill the tomato slice in the fridge", "output": ["STEP 11: Walk to the microwave"]} +{"id": "trial_T20190908_044140_445283-0%11", "input": "Put a knife and chilled tomato slice in the microwave | STEP 1: Walk to the sink | STEP 2: Pick up knife from the sink | STEP 3: Walk to the bin | STEP 4: Cut the tomato in the bin | STEP 5: Walk to the microwave above the stove | STEP 6: Put the knife in the microwave | STEP 7: Walk to the bin | STEP 8: Pick up a tomato slice from the bin | STEP 9: Walk to the refrigerator | STEP 10: Chill the tomato slice in the fridge | STEP 11: Walk to the microwave", "output": ["STEP 12: Put the tomato slice in the microwave"]} +{"id": "trial_T20190908_044140_445283-0%12", "input": "Put a knife and chilled tomato slice in the microwave | STEP 1: Walk to the sink | STEP 2: Pick up knife from the sink | STEP 3: Walk to the bin | STEP 4: Cut the tomato in the bin | STEP 5: Walk to the microwave above the stove | STEP 6: Put the knife in the microwave | STEP 7: Walk to the bin | STEP 8: Pick up a tomato slice from the bin | STEP 9: Walk to the refrigerator | STEP 10: Chill the tomato slice in the fridge | STEP 11: Walk to the microwave | STEP 12: Put the tomato slice in the microwave", "output": ["END"]} +{"id": "trial_T20190908_044140_445283-1%0", "input": "slice a tomato put it inside the microwave", "output": ["STEP 1: turn around to the left towards the sink"]} +{"id": "trial_T20190908_044140_445283-1%1", "input": "slice a tomato put it inside the microwave | STEP 1: turn around to the left towards the sink", "output": ["STEP 2: pick up a knife from the sink"]} +{"id": "trial_T20190908_044140_445283-1%2", "input": "slice a tomato put it inside the microwave | STEP 1: turn around to the left towards the sink | STEP 2: pick up a knife from the sink", "output": ["STEP 3: go left go right towards a blue container"]} +{"id": "trial_T20190908_044140_445283-1%3", "input": "slice a tomato put it inside the microwave | STEP 1: turn around to the left towards the sink | STEP 2: pick up a knife from the sink | STEP 3: go left go right towards a blue container", "output": ["STEP 4: slice a tomato that is inside the blue container"]} +{"id": "trial_T20190908_044140_445283-1%4", "input": "slice a tomato put it inside the microwave | STEP 1: turn around to the left towards the sink | STEP 2: pick up a knife from the sink | STEP 3: go left go right towards a blue container | STEP 4: slice a tomato that is inside the blue container", "output": ["STEP 5: turn around to the left go forward towards the microwave"]} +{"id": "trial_T20190908_044140_445283-1%5", "input": "slice a tomato put it inside the microwave | STEP 1: turn around to the left towards the sink | STEP 2: pick up a knife from the sink | STEP 3: go left go right towards a blue container | STEP 4: slice a tomato that is inside the blue container | STEP 5: turn around to the left go forward towards the microwave", "output": ["STEP 6: put the knife inside the microwave "]} +{"id": "trial_T20190908_044140_445283-1%6", "input": "slice a tomato put it inside the microwave | STEP 1: turn around to the left towards the sink | STEP 2: pick up a knife from the sink | STEP 3: go left go right towards a blue container | STEP 4: slice a tomato that is inside the blue container | STEP 5: turn around to the left go forward towards the microwave | STEP 6: put the knife inside the microwave ", "output": ["STEP 7: turn to the left go right"]} +{"id": "trial_T20190908_044140_445283-1%7", "input": "slice a tomato put it inside the microwave | STEP 1: turn around to the left towards the sink | STEP 2: pick up a knife from the sink | STEP 3: go left go right towards a blue container | STEP 4: slice a tomato that is inside the blue container | STEP 5: turn around to the left go forward towards the microwave | STEP 6: put the knife inside the microwave | STEP 7: turn to the left go right", "output": ["STEP 8: towards the blue container"]} +{"id": "trial_T20190908_044140_445283-1%8", "input": "slice a tomato put it inside the microwave | STEP 1: turn around to the left towards the sink | STEP 2: pick up a knife from the sink | STEP 3: go left go right towards a blue container | STEP 4: slice a tomato that is inside the blue container | STEP 5: turn around to the left go forward towards the microwave | STEP 6: put the knife inside the microwave | STEP 7: turn to the left go right | STEP 8: towards the blue container", "output": ["STEP 9: pick up a slice of tomato"]} +{"id": "trial_T20190908_044140_445283-1%9", "input": "slice a tomato put it inside the microwave | STEP 1: turn around to the left towards the sink | STEP 2: pick up a knife from the sink | STEP 3: go left go right towards a blue container | STEP 4: slice a tomato that is inside the blue container | STEP 5: turn around to the left go forward towards the microwave | STEP 6: put the knife inside the microwave | STEP 7: turn to the left go right | STEP 8: towards the blue container | STEP 9: pick up a slice of tomato", "output": ["STEP 10: turn to the right forward go right face the refrigerator put the slice in the refrigerator "]} +{"id": "trial_T20190908_044140_445283-1%10", "input": "slice a tomato put it inside the microwave | STEP 1: turn around to the left towards the sink | STEP 2: pick up a knife from the sink | STEP 3: go left go right towards a blue container | STEP 4: slice a tomato that is inside the blue container | STEP 5: turn around to the left go forward towards the microwave | STEP 6: put the knife inside the microwave | STEP 7: turn to the left go right | STEP 8: towards the blue container | STEP 9: pick up a slice of tomato | STEP 10: turn to the right forward go right face the refrigerator put the slice in the refrigerator ", "output": ["STEP 11: get it back out from the refrigerator turn to the right towards the microwave"]} +{"id": "trial_T20190908_044140_445283-1%11", "input": "slice a tomato put it inside the microwave | STEP 1: turn around to the left towards the sink | STEP 2: pick up a knife from the sink | STEP 3: go left go right towards a blue container | STEP 4: slice a tomato that is inside the blue container | STEP 5: turn around to the left go forward towards the microwave | STEP 6: put the knife inside the microwave | STEP 7: turn to the left go right | STEP 8: towards the blue container | STEP 9: pick up a slice of tomato | STEP 10: turn to the right forward go right face the refrigerator put the slice in the refrigerator | STEP 11: get it back out from the refrigerator turn to the right towards the microwave", "output": ["STEP 12: open the microwave door put the slice of tomato inside the microwave"]} +{"id": "trial_T20190908_044140_445283-1%12", "input": "slice a tomato put it inside the microwave | STEP 1: turn around to the left towards the sink | STEP 2: pick up a knife from the sink | STEP 3: go left go right towards a blue container | STEP 4: slice a tomato that is inside the blue container | STEP 5: turn around to the left go forward towards the microwave | STEP 6: put the knife inside the microwave | STEP 7: turn to the left go right | STEP 8: towards the blue container | STEP 9: pick up a slice of tomato | STEP 10: turn to the right forward go right face the refrigerator put the slice in the refrigerator | STEP 11: get it back out from the refrigerator turn to the right towards the microwave | STEP 12: open the microwave door put the slice of tomato inside the microwave", "output": ["END"]} +{"id": "trial_T20190908_083915_133247-0%0", "input": "To put a lettuce slice in a bowl plus move them to the fridge.", "output": ["STEP 1: Take a step to the left to face the counter."]} +{"id": "trial_T20190908_083915_133247-0%1", "input": "To put a lettuce slice in a bowl plus move them to the fridge. | STEP 1: Take a step to the left to face the counter.", "output": ["STEP 2: Pick up the knife on the counter."]} +{"id": "trial_T20190908_083915_133247-0%2", "input": "To put a lettuce slice in a bowl plus move them to the fridge. | STEP 1: Take a step to the left to face the counter. | STEP 2: Pick up the knife on the counter.", "output": ["STEP 3: Take a step to the left to face the lettuce on the counter."]} +{"id": "trial_T20190908_083915_133247-0%3", "input": "To put a lettuce slice in a bowl plus move them to the fridge. | STEP 1: Take a step to the left to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step to the left to face the lettuce on the counter.", "output": ["STEP 4: Cut the lettuce on the counter into slices."]} +{"id": "trial_T20190908_083915_133247-0%4", "input": "To put a lettuce slice in a bowl plus move them to the fridge. | STEP 1: Take a step to the left to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step to the left to face the lettuce on the counter. | STEP 4: Cut the lettuce on the counter into slices.", "output": ["STEP 5: Turn around and step forward to face the fridge."]} +{"id": "trial_T20190908_083915_133247-0%5", "input": "To put a lettuce slice in a bowl plus move them to the fridge. | STEP 1: Take a step to the left to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step to the left to face the lettuce on the counter. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around and step forward to face the fridge.", "output": ["STEP 6: Place the knife in the fridge."]} +{"id": "trial_T20190908_083915_133247-0%6", "input": "To put a lettuce slice in a bowl plus move them to the fridge. | STEP 1: Take a step to the left to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step to the left to face the lettuce on the counter. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around and step forward to face the fridge. | STEP 6: Place the knife in the fridge.", "output": ["STEP 7: Turn around and step forward to face the lettuce on the counter."]} +{"id": "trial_T20190908_083915_133247-0%7", "input": "To put a lettuce slice in a bowl plus move them to the fridge. | STEP 1: Take a step to the left to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step to the left to face the lettuce on the counter. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around and step forward to face the fridge. | STEP 6: Place the knife in the fridge. | STEP 7: Turn around and step forward to face the lettuce on the counter.", "output": ["STEP 8: Pick up a slice of lettuce on the counter."]} +{"id": "trial_T20190908_083915_133247-0%8", "input": "To put a lettuce slice in a bowl plus move them to the fridge. | STEP 1: Take a step to the left to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step to the left to face the lettuce on the counter. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around and step forward to face the fridge. | STEP 6: Place the knife in the fridge. | STEP 7: Turn around and step forward to face the lettuce on the counter. | STEP 8: Pick up a slice of lettuce on the counter.", "output": ["STEP 9: Take a step to the left and look up to face the cabinet above the microwave."]} +{"id": "trial_T20190908_083915_133247-0%9", "input": "To put a lettuce slice in a bowl plus move them to the fridge. | STEP 1: Take a step to the left to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step to the left to face the lettuce on the counter. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around and step forward to face the fridge. | STEP 6: Place the knife in the fridge. | STEP 7: Turn around and step forward to face the lettuce on the counter. | STEP 8: Pick up a slice of lettuce on the counter. | STEP 9: Take a step to the left and look up to face the cabinet above the microwave.", "output": ["STEP 10: Place the lettuce slice in the bowl above the microwave."]} +{"id": "trial_T20190908_083915_133247-0%10", "input": "To put a lettuce slice in a bowl plus move them to the fridge. | STEP 1: Take a step to the left to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step to the left to face the lettuce on the counter. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around and step forward to face the fridge. | STEP 6: Place the knife in the fridge. | STEP 7: Turn around and step forward to face the lettuce on the counter. | STEP 8: Pick up a slice of lettuce on the counter. | STEP 9: Take a step to the left and look up to face the cabinet above the microwave. | STEP 10: Place the lettuce slice in the bowl above the microwave.", "output": ["STEP 11: Pick up the bowl with the lettuce slice in it in the cabinet above the microwave."]} +{"id": "trial_T20190908_083915_133247-0%11", "input": "To put a lettuce slice in a bowl plus move them to the fridge. | STEP 1: Take a step to the left to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step to the left to face the lettuce on the counter. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around and step forward to face the fridge. | STEP 6: Place the knife in the fridge. | STEP 7: Turn around and step forward to face the lettuce on the counter. | STEP 8: Pick up a slice of lettuce on the counter. | STEP 9: Take a step to the left and look up to face the cabinet above the microwave. | STEP 10: Place the lettuce slice in the bowl above the microwave. | STEP 11: Pick up the bowl with the lettuce slice in it in the cabinet above the microwave.", "output": ["STEP 12: Turn right and walk across the room and turn right to face the fridge."]} +{"id": "trial_T20190908_083915_133247-0%12", "input": "To put a lettuce slice in a bowl plus move them to the fridge. | STEP 1: Take a step to the left to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step to the left to face the lettuce on the counter. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around and step forward to face the fridge. | STEP 6: Place the knife in the fridge. | STEP 7: Turn around and step forward to face the lettuce on the counter. | STEP 8: Pick up a slice of lettuce on the counter. | STEP 9: Take a step to the left and look up to face the cabinet above the microwave. | STEP 10: Place the lettuce slice in the bowl above the microwave. | STEP 11: Pick up the bowl with the lettuce slice in it in the cabinet above the microwave. | STEP 12: Turn right and walk across the room and turn right to face the fridge.", "output": ["STEP 13: Place the bowl with the lettuce slice in it in the fridge."]} +{"id": "trial_T20190908_083915_133247-0%13", "input": "To put a lettuce slice in a bowl plus move them to the fridge. | STEP 1: Take a step to the left to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step to the left to face the lettuce on the counter. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around and step forward to face the fridge. | STEP 6: Place the knife in the fridge. | STEP 7: Turn around and step forward to face the lettuce on the counter. | STEP 8: Pick up a slice of lettuce on the counter. | STEP 9: Take a step to the left and look up to face the cabinet above the microwave. | STEP 10: Place the lettuce slice in the bowl above the microwave. | STEP 11: Pick up the bowl with the lettuce slice in it in the cabinet above the microwave. | STEP 12: Turn right and walk across the room and turn right to face the fridge. | STEP 13: Place the bowl with the lettuce slice in it in the fridge.", "output": ["END"]} +{"id": "trial_T20190908_182552_717460-0%0", "input": "Put a warm egg on the table. ", "output": ["STEP 1: Turn around and walk past the sink on your right, then turn right, into the kitchen, and go to the counter top on the right, just past the sink."]} +{"id": "trial_T20190908_182552_717460-0%1", "input": "Put a warm egg on the table. | STEP 1: Turn around and walk past the sink on your right, then turn right, into the kitchen, and go to the counter top on the right, just past the sink.", "output": ["STEP 2: Pick up the egg between the plate and the sink, on the counter. "]} +{"id": "trial_T20190908_182552_717460-0%2", "input": "Put a warm egg on the table. | STEP 1: Turn around and walk past the sink on your right, then turn right, into the kitchen, and go to the counter top on the right, just past the sink. | STEP 2: Pick up the egg between the plate and the sink, on the counter. ", "output": ["STEP 3: Turn around and go to the microwave above the stove. "]} +{"id": "trial_T20190908_182552_717460-0%3", "input": "Put a warm egg on the table. | STEP 1: Turn around and walk past the sink on your right, then turn right, into the kitchen, and go to the counter top on the right, just past the sink. | STEP 2: Pick up the egg between the plate and the sink, on the counter. | STEP 3: Turn around and go to the microwave above the stove. ", "output": ["STEP 4: Place the egg in the microwave, heat it up, then remove the egg from the microwave. "]} +{"id": "trial_T20190908_182552_717460-0%4", "input": "Put a warm egg on the table. | STEP 1: Turn around and walk past the sink on your right, then turn right, into the kitchen, and go to the counter top on the right, just past the sink. | STEP 2: Pick up the egg between the plate and the sink, on the counter. | STEP 3: Turn around and go to the microwave above the stove. | STEP 4: Place the egg in the microwave, heat it up, then remove the egg from the microwave. ", "output": ["STEP 5: Turn to your left and walk past the stove, and out of the kitchen, then turn to your right and go to the table at the end of the room. "]} +{"id": "trial_T20190908_182552_717460-0%5", "input": "Put a warm egg on the table. | STEP 1: Turn around and walk past the sink on your right, then turn right, into the kitchen, and go to the counter top on the right, just past the sink. | STEP 2: Pick up the egg between the plate and the sink, on the counter. | STEP 3: Turn around and go to the microwave above the stove. | STEP 4: Place the egg in the microwave, heat it up, then remove the egg from the microwave. | STEP 5: Turn to your left and walk past the stove, and out of the kitchen, then turn to your right and go to the table at the end of the room. ", "output": ["STEP 6: Place the egg on the table between the butter knife and the sponge. "]} +{"id": "trial_T20190908_182552_717460-0%6", "input": "Put a warm egg on the table. | STEP 1: Turn around and walk past the sink on your right, then turn right, into the kitchen, and go to the counter top on the right, just past the sink. | STEP 2: Pick up the egg between the plate and the sink, on the counter. | STEP 3: Turn around and go to the microwave above the stove. | STEP 4: Place the egg in the microwave, heat it up, then remove the egg from the microwave. | STEP 5: Turn to your left and walk past the stove, and out of the kitchen, then turn to your right and go to the table at the end of the room. | STEP 6: Place the egg on the table between the butter knife and the sponge. ", "output": ["END"]} +{"id": "trial_T20190908_182552_717460-2%0", "input": "Put a heated egg on a table.", "output": ["STEP 1: Go to the left and stand in front of the sink."]} +{"id": "trial_T20190908_182552_717460-2%1", "input": "Put a heated egg on a table. | STEP 1: Go to the left and stand in front of the sink.", "output": ["STEP 2: Pick the egg up from the left of the sink."]} +{"id": "trial_T20190908_182552_717460-2%2", "input": "Put a heated egg on a table. | STEP 1: Go to the left and stand in front of the sink. | STEP 2: Pick the egg up from the left of the sink.", "output": ["STEP 3: Turn around and face the microwave that is above the stove."]} +{"id": "trial_T20190908_182552_717460-2%3", "input": "Put a heated egg on a table. | STEP 1: Go to the left and stand in front of the sink. | STEP 2: Pick the egg up from the left of the sink. | STEP 3: Turn around and face the microwave that is above the stove.", "output": ["STEP 4: Put the egg in the microwave and shut the door and then open the door and take the egg out again."]} +{"id": "trial_T20190908_182552_717460-2%4", "input": "Put a heated egg on a table. | STEP 1: Go to the left and stand in front of the sink. | STEP 2: Pick the egg up from the left of the sink. | STEP 3: Turn around and face the microwave that is above the stove. | STEP 4: Put the egg in the microwave and shut the door and then open the door and take the egg out again.", "output": ["STEP 5: Go left and then left again to stand in front of the small, round, gray table."]} +{"id": "trial_T20190908_182552_717460-2%5", "input": "Put a heated egg on a table. | STEP 1: Go to the left and stand in front of the sink. | STEP 2: Pick the egg up from the left of the sink. | STEP 3: Turn around and face the microwave that is above the stove. | STEP 4: Put the egg in the microwave and shut the door and then open the door and take the egg out again. | STEP 5: Go left and then left again to stand in front of the small, round, gray table.", "output": ["STEP 6: Put the egg on the table."]} +{"id": "trial_T20190908_182552_717460-2%6", "input": "Put a heated egg on a table. | STEP 1: Go to the left and stand in front of the sink. | STEP 2: Pick the egg up from the left of the sink. | STEP 3: Turn around and face the microwave that is above the stove. | STEP 4: Put the egg in the microwave and shut the door and then open the door and take the egg out again. | STEP 5: Go left and then left again to stand in front of the small, round, gray table. | STEP 6: Put the egg on the table.", "output": ["END"]} +{"id": "trial_T20190909_073823_724192-0%0", "input": "Move two soap dispenser to the white shelves. ", "output": ["STEP 1: Walk forward and turn left to face a bin, "]} +{"id": "trial_T20190909_073823_724192-0%1", "input": "Move two soap dispenser to the white shelves. | STEP 1: Walk forward and turn left to face a bin, ", "output": ["STEP 2: Pick up the soap dispenser from the bin. "]} +{"id": "trial_T20190909_073823_724192-0%2", "input": "Move two soap dispenser to the white shelves. | STEP 1: Walk forward and turn left to face a bin, | STEP 2: Pick up the soap dispenser from the bin. ", "output": ["STEP 3: Turn around completely and walk to the white shelves."]} +{"id": "trial_T20190909_073823_724192-0%3", "input": "Move two soap dispenser to the white shelves. | STEP 1: Walk forward and turn left to face a bin, | STEP 2: Pick up the soap dispenser from the bin. | STEP 3: Turn around completely and walk to the white shelves.", "output": ["STEP 4: Place the soap dispenser on the shelf."]} +{"id": "trial_T20190909_073823_724192-0%4", "input": "Move two soap dispenser to the white shelves. | STEP 1: Walk forward and turn left to face a bin, | STEP 2: Pick up the soap dispenser from the bin. | STEP 3: Turn around completely and walk to the white shelves. | STEP 4: Place the soap dispenser on the shelf.", "output": ["STEP 5: Turn around completely and walk back to the bin. "]} +{"id": "trial_T20190909_073823_724192-0%5", "input": "Move two soap dispenser to the white shelves. | STEP 1: Walk forward and turn left to face a bin, | STEP 2: Pick up the soap dispenser from the bin. | STEP 3: Turn around completely and walk to the white shelves. | STEP 4: Place the soap dispenser on the shelf. | STEP 5: Turn around completely and walk back to the bin. ", "output": ["STEP 6: Pick up the other soap dispenser from the bin. "]} +{"id": "trial_T20190909_073823_724192-0%6", "input": "Move two soap dispenser to the white shelves. | STEP 1: Walk forward and turn left to face a bin, | STEP 2: Pick up the soap dispenser from the bin. | STEP 3: Turn around completely and walk to the white shelves. | STEP 4: Place the soap dispenser on the shelf. | STEP 5: Turn around completely and walk back to the bin. | STEP 6: Pick up the other soap dispenser from the bin. ", "output": ["STEP 7: Turn around completely and walk to the white shelves."]} +{"id": "trial_T20190909_073823_724192-0%7", "input": "Move two soap dispenser to the white shelves. | STEP 1: Walk forward and turn left to face a bin, | STEP 2: Pick up the soap dispenser from the bin. | STEP 3: Turn around completely and walk to the white shelves. | STEP 4: Place the soap dispenser on the shelf. | STEP 5: Turn around completely and walk back to the bin. | STEP 6: Pick up the other soap dispenser from the bin. | STEP 7: Turn around completely and walk to the white shelves.", "output": ["STEP 8: Place the soap dispenser on the shelf."]} +{"id": "trial_T20190909_073823_724192-0%8", "input": "Move two soap dispenser to the white shelves. | STEP 1: Walk forward and turn left to face a bin, | STEP 2: Pick up the soap dispenser from the bin. | STEP 3: Turn around completely and walk to the white shelves. | STEP 4: Place the soap dispenser on the shelf. | STEP 5: Turn around completely and walk back to the bin. | STEP 6: Pick up the other soap dispenser from the bin. | STEP 7: Turn around completely and walk to the white shelves. | STEP 8: Place the soap dispenser on the shelf.", "output": ["END"]} +{"id": "trial_T20190909_085709_382477-1%0", "input": "To heat a potato slice and place it in the sink.", "output": ["STEP 1: Turn left to face the knife on the counter."]} +{"id": "trial_T20190909_085709_382477-1%1", "input": "To heat a potato slice and place it in the sink. | STEP 1: Turn left to face the knife on the counter.", "output": ["STEP 2: Pick up the knife on the counter."]} +{"id": "trial_T20190909_085709_382477-1%2", "input": "To heat a potato slice and place it in the sink. | STEP 1: Turn left to face the knife on the counter. | STEP 2: Pick up the knife on the counter.", "output": ["STEP 3: Turn left and cross the room and turn right to face the trash can."]} +{"id": "trial_T20190909_085709_382477-1%3", "input": "To heat a potato slice and place it in the sink. | STEP 1: Turn left to face the knife on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left and cross the room and turn right to face the trash can.", "output": ["STEP 4: Cut the potato in the trash can into slices."]} +{"id": "trial_T20190909_085709_382477-1%4", "input": "To heat a potato slice and place it in the sink. | STEP 1: Turn left to face the knife on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left and cross the room and turn right to face the trash can. | STEP 4: Cut the potato in the trash can into slices.", "output": ["STEP 5: Turn around and walk forward to face the sink."]} +{"id": "trial_T20190909_085709_382477-1%5", "input": "To heat a potato slice and place it in the sink. | STEP 1: Turn left to face the knife on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left and cross the room and turn right to face the trash can. | STEP 4: Cut the potato in the trash can into slices. | STEP 5: Turn around and walk forward to face the sink.", "output": ["STEP 6: Place the knife in the sink."]} +{"id": "trial_T20190909_085709_382477-1%6", "input": "To heat a potato slice and place it in the sink. | STEP 1: Turn left to face the knife on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left and cross the room and turn right to face the trash can. | STEP 4: Cut the potato in the trash can into slices. | STEP 5: Turn around and walk forward to face the sink. | STEP 6: Place the knife in the sink.", "output": ["STEP 7: Turn around and walk to the left to face the trash can."]} +{"id": "trial_T20190909_085709_382477-1%7", "input": "To heat a potato slice and place it in the sink. | STEP 1: Turn left to face the knife on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left and cross the room and turn right to face the trash can. | STEP 4: Cut the potato in the trash can into slices. | STEP 5: Turn around and walk forward to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around and walk to the left to face the trash can.", "output": ["STEP 8: Pick up a potato slice in the trash can."]} +{"id": "trial_T20190909_085709_382477-1%8", "input": "To heat a potato slice and place it in the sink. | STEP 1: Turn left to face the knife on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left and cross the room and turn right to face the trash can. | STEP 4: Cut the potato in the trash can into slices. | STEP 5: Turn around and walk forward to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around and walk to the left to face the trash can. | STEP 8: Pick up a potato slice in the trash can.", "output": ["STEP 9: Turn right and walk forward and turn left and look up to face the microwave."]} +{"id": "trial_T20190909_085709_382477-1%9", "input": "To heat a potato slice and place it in the sink. | STEP 1: Turn left to face the knife on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left and cross the room and turn right to face the trash can. | STEP 4: Cut the potato in the trash can into slices. | STEP 5: Turn around and walk forward to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around and walk to the left to face the trash can. | STEP 8: Pick up a potato slice in the trash can. | STEP 9: Turn right and walk forward and turn left and look up to face the microwave.", "output": ["STEP 10: Heat the potato in the microwave and remove it."]} +{"id": "trial_T20190909_085709_382477-1%10", "input": "To heat a potato slice and place it in the sink. | STEP 1: Turn left to face the knife on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left and cross the room and turn right to face the trash can. | STEP 4: Cut the potato in the trash can into slices. | STEP 5: Turn around and walk forward to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around and walk to the left to face the trash can. | STEP 8: Pick up a potato slice in the trash can. | STEP 9: Turn right and walk forward and turn left and look up to face the microwave. | STEP 10: Heat the potato in the microwave and remove it.", "output": ["STEP 11: Turn around and step forward to face the sink."]} +{"id": "trial_T20190909_085709_382477-1%11", "input": "To heat a potato slice and place it in the sink. | STEP 1: Turn left to face the knife on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left and cross the room and turn right to face the trash can. | STEP 4: Cut the potato in the trash can into slices. | STEP 5: Turn around and walk forward to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around and walk to the left to face the trash can. | STEP 8: Pick up a potato slice in the trash can. | STEP 9: Turn right and walk forward and turn left and look up to face the microwave. | STEP 10: Heat the potato in the microwave and remove it. | STEP 11: Turn around and step forward to face the sink.", "output": ["STEP 12: Place the potato slice in the sink."]} +{"id": "trial_T20190909_085709_382477-1%12", "input": "To heat a potato slice and place it in the sink. | STEP 1: Turn left to face the knife on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left and cross the room and turn right to face the trash can. | STEP 4: Cut the potato in the trash can into slices. | STEP 5: Turn around and walk forward to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around and walk to the left to face the trash can. | STEP 8: Pick up a potato slice in the trash can. | STEP 9: Turn right and walk forward and turn left and look up to face the microwave. | STEP 10: Heat the potato in the microwave and remove it. | STEP 11: Turn around and step forward to face the sink. | STEP 12: Place the potato slice in the sink.", "output": ["END"]} +{"id": "trial_T20190909_153940_526649-0%0", "input": "Move a bottle of lotion to the toilet tank.", "output": ["STEP 1: Walk forward, then turn right and walk up to the counter."]} +{"id": "trial_T20190909_153940_526649-0%1", "input": "Move a bottle of lotion to the toilet tank. | STEP 1: Walk forward, then turn right and walk up to the counter.", "output": ["STEP 2: Pick up the bottle of lotion that is to the right of the sink."]} +{"id": "trial_T20190909_153940_526649-0%2", "input": "Move a bottle of lotion to the toilet tank. | STEP 1: Walk forward, then turn right and walk up to the counter. | STEP 2: Pick up the bottle of lotion that is to the right of the sink.", "output": ["STEP 3: Walk over to the toilet behind you."]} +{"id": "trial_T20190909_153940_526649-0%3", "input": "Move a bottle of lotion to the toilet tank. | STEP 1: Walk forward, then turn right and walk up to the counter. | STEP 2: Pick up the bottle of lotion that is to the right of the sink. | STEP 3: Walk over to the toilet behind you.", "output": ["STEP 4: Put the bottle of lotion on top of the toilet tank."]} +{"id": "trial_T20190909_153940_526649-0%4", "input": "Move a bottle of lotion to the toilet tank. | STEP 1: Walk forward, then turn right and walk up to the counter. | STEP 2: Pick up the bottle of lotion that is to the right of the sink. | STEP 3: Walk over to the toilet behind you. | STEP 4: Put the bottle of lotion on top of the toilet tank.", "output": ["END"]} +{"id": "trial_T20190909_145844_073286-0%0", "input": "take the remote from the desk to the chair", "output": ["STEP 1: go to the desk"]} +{"id": "trial_T20190909_145844_073286-0%1", "input": "take the remote from the desk to the chair | STEP 1: go to the desk", "output": ["STEP 2: pick up the remote from the desk"]} +{"id": "trial_T20190909_145844_073286-0%2", "input": "take the remote from the desk to the chair | STEP 1: go to the desk | STEP 2: pick up the remote from the desk", "output": ["STEP 3: take the remote to the brown chair"]} +{"id": "trial_T20190909_145844_073286-0%3", "input": "take the remote from the desk to the chair | STEP 1: go to the desk | STEP 2: pick up the remote from the desk | STEP 3: take the remote to the brown chair", "output": ["STEP 4: put the remote in the chair"]} +{"id": "trial_T20190909_145844_073286-0%4", "input": "take the remote from the desk to the chair | STEP 1: go to the desk | STEP 2: pick up the remote from the desk | STEP 3: take the remote to the brown chair | STEP 4: put the remote in the chair", "output": ["END"]} +{"id": "trial_T20190909_145844_073286-1%0", "input": "move the remote from the table to the chair", "output": ["STEP 1: walk straight a bit then turn left and walk straight towards the table"]} +{"id": "trial_T20190909_145844_073286-1%1", "input": "move the remote from the table to the chair | STEP 1: walk straight a bit then turn left and walk straight towards the table", "output": ["STEP 2: pick up the remote on the table"]} +{"id": "trial_T20190909_145844_073286-1%2", "input": "move the remote from the table to the chair | STEP 1: walk straight a bit then turn left and walk straight towards the table | STEP 2: pick up the remote on the table", "output": ["STEP 3: turn around and then turn left and then walk straight a bit then turn left towards the chair"]} +{"id": "trial_T20190909_145844_073286-1%3", "input": "move the remote from the table to the chair | STEP 1: walk straight a bit then turn left and walk straight towards the table | STEP 2: pick up the remote on the table | STEP 3: turn around and then turn left and then walk straight a bit then turn left towards the chair", "output": ["STEP 4: put the remote down on the chair"]} +{"id": "trial_T20190909_145844_073286-1%4", "input": "move the remote from the table to the chair | STEP 1: walk straight a bit then turn left and walk straight towards the table | STEP 2: pick up the remote on the table | STEP 3: turn around and then turn left and then walk straight a bit then turn left towards the chair | STEP 4: put the remote down on the chair", "output": ["END"]} +{"id": "trial_T20190908_160726_275072-1%0", "input": "Put a pan with knife on the table. ", "output": ["STEP 1: Turn left, move to the round table on the left."]} +{"id": "trial_T20190908_160726_275072-1%1", "input": "Put a pan with knife on the table. | STEP 1: Turn left, move to the round table on the left.", "output": ["STEP 2: Pick up the yellow knife on the table. "]} +{"id": "trial_T20190908_160726_275072-1%2", "input": "Put a pan with knife on the table. | STEP 1: Turn left, move to the round table on the left. | STEP 2: Pick up the yellow knife on the table. ", "output": ["STEP 3: Turn around, bring the knife to the stove on the left counter."]} +{"id": "trial_T20190908_160726_275072-1%3", "input": "Put a pan with knife on the table. | STEP 1: Turn left, move to the round table on the left. | STEP 2: Pick up the yellow knife on the table. | STEP 3: Turn around, bring the knife to the stove on the left counter.", "output": ["STEP 4: Stand the knife on its tip, in the right pan on the stove. "]} +{"id": "trial_T20190908_160726_275072-1%4", "input": "Put a pan with knife on the table. | STEP 1: Turn left, move to the round table on the left. | STEP 2: Pick up the yellow knife on the table. | STEP 3: Turn around, bring the knife to the stove on the left counter. | STEP 4: Stand the knife on its tip, in the right pan on the stove. ", "output": ["STEP 5: Pick up the the pan with knife from on the stove. "]} +{"id": "trial_T20190908_160726_275072-1%5", "input": "Put a pan with knife on the table. | STEP 1: Turn left, move to the round table on the left. | STEP 2: Pick up the yellow knife on the table. | STEP 3: Turn around, bring the knife to the stove on the left counter. | STEP 4: Stand the knife on its tip, in the right pan on the stove. | STEP 5: Pick up the the pan with knife from on the stove. ", "output": ["STEP 6: Turn left, bring the pan to the small table on the left."]} +{"id": "trial_T20190908_160726_275072-1%6", "input": "Put a pan with knife on the table. | STEP 1: Turn left, move to the round table on the left. | STEP 2: Pick up the yellow knife on the table. | STEP 3: Turn around, bring the knife to the stove on the left counter. | STEP 4: Stand the knife on its tip, in the right pan on the stove. | STEP 5: Pick up the the pan with knife from on the stove. | STEP 6: Turn left, bring the pan to the small table on the left.", "output": ["STEP 7: Put the pan with knife on the table."]} +{"id": "trial_T20190908_160726_275072-1%7", "input": "Put a pan with knife on the table. | STEP 1: Turn left, move to the round table on the left. | STEP 2: Pick up the yellow knife on the table. | STEP 3: Turn around, bring the knife to the stove on the left counter. | STEP 4: Stand the knife on its tip, in the right pan on the stove. | STEP 5: Pick up the the pan with knife from on the stove. | STEP 6: Turn left, bring the pan to the small table on the left. | STEP 7: Put the pan with knife on the table.", "output": ["END"]} +{"id": "trial_T20190908_160726_275072-2%0", "input": "put a dish and knife onto a table", "output": ["STEP 1: turn to face small grey kitchen table"]} +{"id": "trial_T20190908_160726_275072-2%1", "input": "put a dish and knife onto a table | STEP 1: turn to face small grey kitchen table", "output": ["STEP 2: pick up sharp knife with yellow handle from the table"]} +{"id": "trial_T20190908_160726_275072-2%2", "input": "put a dish and knife onto a table | STEP 1: turn to face small grey kitchen table | STEP 2: pick up sharp knife with yellow handle from the table", "output": ["STEP 3: walk to face the stove top"]} +{"id": "trial_T20190908_160726_275072-2%3", "input": "put a dish and knife onto a table | STEP 1: turn to face small grey kitchen table | STEP 2: pick up sharp knife with yellow handle from the table | STEP 3: walk to face the stove top", "output": ["STEP 4: put the knife into the dish on the bottom right burner on the stove"]} +{"id": "trial_T20190908_160726_275072-2%4", "input": "put a dish and knife onto a table | STEP 1: turn to face small grey kitchen table | STEP 2: pick up sharp knife with yellow handle from the table | STEP 3: walk to face the stove top | STEP 4: put the knife into the dish on the bottom right burner on the stove", "output": ["STEP 5: pick up the dish from the stove"]} +{"id": "trial_T20190908_160726_275072-2%5", "input": "put a dish and knife onto a table | STEP 1: turn to face small grey kitchen table | STEP 2: pick up sharp knife with yellow handle from the table | STEP 3: walk to face the stove top | STEP 4: put the knife into the dish on the bottom right burner on the stove | STEP 5: pick up the dish from the stove", "output": ["STEP 6: walk to face the grey table"]} +{"id": "trial_T20190908_160726_275072-2%6", "input": "put a dish and knife onto a table | STEP 1: turn to face small grey kitchen table | STEP 2: pick up sharp knife with yellow handle from the table | STEP 3: walk to face the stove top | STEP 4: put the knife into the dish on the bottom right burner on the stove | STEP 5: pick up the dish from the stove | STEP 6: walk to face the grey table", "output": ["STEP 7: put the dish on to the table"]} +{"id": "trial_T20190908_160726_275072-2%7", "input": "put a dish and knife onto a table | STEP 1: turn to face small grey kitchen table | STEP 2: pick up sharp knife with yellow handle from the table | STEP 3: walk to face the stove top | STEP 4: put the knife into the dish on the bottom right burner on the stove | STEP 5: pick up the dish from the stove | STEP 6: walk to face the grey table | STEP 7: put the dish on to the table", "output": ["END"]} +{"id": "trial_T20190907_180418_742691-0%0", "input": "Heat the tomato and set it in the sink.", "output": ["STEP 1: Turn right to near the toaster."]} +{"id": "trial_T20190907_180418_742691-0%1", "input": "Heat the tomato and set it in the sink. | STEP 1: Turn right to near the toaster.", "output": ["STEP 2: Pick up the tomato off of the counter."]} +{"id": "trial_T20190907_180418_742691-0%2", "input": "Heat the tomato and set it in the sink. | STEP 1: Turn right to near the toaster. | STEP 2: Pick up the tomato off of the counter.", "output": ["STEP 3: Go to the microwave on the right."]} +{"id": "trial_T20190907_180418_742691-0%3", "input": "Heat the tomato and set it in the sink. | STEP 1: Turn right to near the toaster. | STEP 2: Pick up the tomato off of the counter. | STEP 3: Go to the microwave on the right.", "output": ["STEP 4: Open the microwave, heat the tomato and take the tomato out."]} +{"id": "trial_T20190907_180418_742691-0%4", "input": "Heat the tomato and set it in the sink. | STEP 1: Turn right to near the toaster. | STEP 2: Pick up the tomato off of the counter. | STEP 3: Go to the microwave on the right. | STEP 4: Open the microwave, heat the tomato and take the tomato out.", "output": ["STEP 5: Turn left and take the tomato to the sink."]} +{"id": "trial_T20190907_180418_742691-0%5", "input": "Heat the tomato and set it in the sink. | STEP 1: Turn right to near the toaster. | STEP 2: Pick up the tomato off of the counter. | STEP 3: Go to the microwave on the right. | STEP 4: Open the microwave, heat the tomato and take the tomato out. | STEP 5: Turn left and take the tomato to the sink.", "output": ["STEP 6: Set the tomato in the sink."]} +{"id": "trial_T20190907_180418_742691-0%6", "input": "Heat the tomato and set it in the sink. | STEP 1: Turn right to near the toaster. | STEP 2: Pick up the tomato off of the counter. | STEP 3: Go to the microwave on the right. | STEP 4: Open the microwave, heat the tomato and take the tomato out. | STEP 5: Turn left and take the tomato to the sink. | STEP 6: Set the tomato in the sink.", "output": ["END"]} +{"id": "trial_T20190907_234127_934392-1%0", "input": "Place the cup with a knife on the circle table.", "output": ["STEP 1: Turn around, walk past the oven, and then turn left to find a loaf of bread on the counter."]} +{"id": "trial_T20190907_234127_934392-1%1", "input": "Place the cup with a knife on the circle table. | STEP 1: Turn around, walk past the oven, and then turn left to find a loaf of bread on the counter.", "output": ["STEP 2: Pick up the knife to the left of the bread."]} +{"id": "trial_T20190907_234127_934392-1%2", "input": "Place the cup with a knife on the circle table. | STEP 1: Turn around, walk past the oven, and then turn left to find a loaf of bread on the counter. | STEP 2: Pick up the knife to the left of the bread.", "output": ["STEP 3: Look up to the cabinets above."]} +{"id": "trial_T20190907_234127_934392-1%3", "input": "Place the cup with a knife on the circle table. | STEP 1: Turn around, walk past the oven, and then turn left to find a loaf of bread on the counter. | STEP 2: Pick up the knife to the left of the bread. | STEP 3: Look up to the cabinets above.", "output": ["STEP 4: Open the left cabinet and place the knife in the clear cup."]} +{"id": "trial_T20190907_234127_934392-1%4", "input": "Place the cup with a knife on the circle table. | STEP 1: Turn around, walk past the oven, and then turn left to find a loaf of bread on the counter. | STEP 2: Pick up the knife to the left of the bread. | STEP 3: Look up to the cabinets above. | STEP 4: Open the left cabinet and place the knife in the clear cup.", "output": ["STEP 5: Take out the cup with the knife from the cabinet and close it."]} +{"id": "trial_T20190907_234127_934392-1%5", "input": "Place the cup with a knife on the circle table. | STEP 1: Turn around, walk past the oven, and then turn left to find a loaf of bread on the counter. | STEP 2: Pick up the knife to the left of the bread. | STEP 3: Look up to the cabinets above. | STEP 4: Open the left cabinet and place the knife in the clear cup. | STEP 5: Take out the cup with the knife from the cabinet and close it.", "output": ["STEP 6: Turn left, walk past the kitchen counter, and turn left towards a small circle table."]} +{"id": "trial_T20190907_234127_934392-1%6", "input": "Place the cup with a knife on the circle table. | STEP 1: Turn around, walk past the oven, and then turn left to find a loaf of bread on the counter. | STEP 2: Pick up the knife to the left of the bread. | STEP 3: Look up to the cabinets above. | STEP 4: Open the left cabinet and place the knife in the clear cup. | STEP 5: Take out the cup with the knife from the cabinet and close it. | STEP 6: Turn left, walk past the kitchen counter, and turn left towards a small circle table.", "output": ["STEP 7: Place the glass cup next to the salt shaker on the table."]} +{"id": "trial_T20190907_234127_934392-1%7", "input": "Place the cup with a knife on the circle table. | STEP 1: Turn around, walk past the oven, and then turn left to find a loaf of bread on the counter. | STEP 2: Pick up the knife to the left of the bread. | STEP 3: Look up to the cabinets above. | STEP 4: Open the left cabinet and place the knife in the clear cup. | STEP 5: Take out the cup with the knife from the cabinet and close it. | STEP 6: Turn left, walk past the kitchen counter, and turn left towards a small circle table. | STEP 7: Place the glass cup next to the salt shaker on the table.", "output": ["END"]} +{"id": "trial_T20190908_121612_995194-0%0", "input": "Place a chilled piece of lettuce near a pot", "output": ["STEP 1: Go to the small covered gray table"]} +{"id": "trial_T20190908_121612_995194-0%1", "input": "Place a chilled piece of lettuce near a pot | STEP 1: Go to the small covered gray table", "output": ["STEP 2: Pick up a knife from the table"]} +{"id": "trial_T20190908_121612_995194-0%2", "input": "Place a chilled piece of lettuce near a pot | STEP 1: Go to the small covered gray table | STEP 2: Pick up a knife from the table", "output": ["STEP 3: Go to the counter right of the stove"]} +{"id": "trial_T20190908_121612_995194-0%3", "input": "Place a chilled piece of lettuce near a pot | STEP 1: Go to the small covered gray table | STEP 2: Pick up a knife from the table | STEP 3: Go to the counter right of the stove", "output": ["STEP 4: Cut the lettuce on the counter"]} +{"id": "trial_T20190908_121612_995194-0%4", "input": "Place a chilled piece of lettuce near a pot | STEP 1: Go to the small covered gray table | STEP 2: Pick up a knife from the table | STEP 3: Go to the counter right of the stove | STEP 4: Cut the lettuce on the counter", "output": ["STEP 5: Go to the fridge"]} +{"id": "trial_T20190908_121612_995194-0%5", "input": "Place a chilled piece of lettuce near a pot | STEP 1: Go to the small covered gray table | STEP 2: Pick up a knife from the table | STEP 3: Go to the counter right of the stove | STEP 4: Cut the lettuce on the counter | STEP 5: Go to the fridge", "output": ["STEP 6: Place the knife in the fridge"]} +{"id": "trial_T20190908_121612_995194-0%6", "input": "Place a chilled piece of lettuce near a pot | STEP 1: Go to the small covered gray table | STEP 2: Pick up a knife from the table | STEP 3: Go to the counter right of the stove | STEP 4: Cut the lettuce on the counter | STEP 5: Go to the fridge | STEP 6: Place the knife in the fridge", "output": ["STEP 7: Go to the counter where the lettuce is"]} +{"id": "trial_T20190908_121612_995194-0%7", "input": "Place a chilled piece of lettuce near a pot | STEP 1: Go to the small covered gray table | STEP 2: Pick up a knife from the table | STEP 3: Go to the counter right of the stove | STEP 4: Cut the lettuce on the counter | STEP 5: Go to the fridge | STEP 6: Place the knife in the fridge | STEP 7: Go to the counter where the lettuce is", "output": ["STEP 8: Take a piece of lettuce"]} +{"id": "trial_T20190908_121612_995194-0%8", "input": "Place a chilled piece of lettuce near a pot | STEP 1: Go to the small covered gray table | STEP 2: Pick up a knife from the table | STEP 3: Go to the counter right of the stove | STEP 4: Cut the lettuce on the counter | STEP 5: Go to the fridge | STEP 6: Place the knife in the fridge | STEP 7: Go to the counter where the lettuce is | STEP 8: Take a piece of lettuce", "output": ["STEP 9: Go to the fridge"]} +{"id": "trial_T20190908_121612_995194-0%9", "input": "Place a chilled piece of lettuce near a pot | STEP 1: Go to the small covered gray table | STEP 2: Pick up a knife from the table | STEP 3: Go to the counter right of the stove | STEP 4: Cut the lettuce on the counter | STEP 5: Go to the fridge | STEP 6: Place the knife in the fridge | STEP 7: Go to the counter where the lettuce is | STEP 8: Take a piece of lettuce | STEP 9: Go to the fridge", "output": ["STEP 10: Chill the lettuce"]} +{"id": "trial_T20190908_121612_995194-0%10", "input": "Place a chilled piece of lettuce near a pot | STEP 1: Go to the small covered gray table | STEP 2: Pick up a knife from the table | STEP 3: Go to the counter right of the stove | STEP 4: Cut the lettuce on the counter | STEP 5: Go to the fridge | STEP 6: Place the knife in the fridge | STEP 7: Go to the counter where the lettuce is | STEP 8: Take a piece of lettuce | STEP 9: Go to the fridge | STEP 10: Chill the lettuce", "output": ["STEP 11: Go to the counter"]} +{"id": "trial_T20190908_121612_995194-0%11", "input": "Place a chilled piece of lettuce near a pot | STEP 1: Go to the small covered gray table | STEP 2: Pick up a knife from the table | STEP 3: Go to the counter right of the stove | STEP 4: Cut the lettuce on the counter | STEP 5: Go to the fridge | STEP 6: Place the knife in the fridge | STEP 7: Go to the counter where the lettuce is | STEP 8: Take a piece of lettuce | STEP 9: Go to the fridge | STEP 10: Chill the lettuce | STEP 11: Go to the counter", "output": ["STEP 12: Place the lettuce near a pot"]} +{"id": "trial_T20190908_121612_995194-0%12", "input": "Place a chilled piece of lettuce near a pot | STEP 1: Go to the small covered gray table | STEP 2: Pick up a knife from the table | STEP 3: Go to the counter right of the stove | STEP 4: Cut the lettuce on the counter | STEP 5: Go to the fridge | STEP 6: Place the knife in the fridge | STEP 7: Go to the counter where the lettuce is | STEP 8: Take a piece of lettuce | STEP 9: Go to the fridge | STEP 10: Chill the lettuce | STEP 11: Go to the counter | STEP 12: Place the lettuce near a pot", "output": ["END"]} +{"id": "trial_T20190909_160509_108044-1%0", "input": "Move the glass and spoon from the counter to the sink.", "output": ["STEP 1: Turn right and go to the counter to the left of the stove."]} +{"id": "trial_T20190909_160509_108044-1%1", "input": "Move the glass and spoon from the counter to the sink. | STEP 1: Turn right and go to the counter to the left of the stove.", "output": ["STEP 2: Pick up the glass with the spoon in it."]} +{"id": "trial_T20190909_160509_108044-1%2", "input": "Move the glass and spoon from the counter to the sink. | STEP 1: Turn right and go to the counter to the left of the stove. | STEP 2: Pick up the glass with the spoon in it.", "output": ["STEP 3: Turn around and go to the sink."]} +{"id": "trial_T20190909_160509_108044-1%3", "input": "Move the glass and spoon from the counter to the sink. | STEP 1: Turn right and go to the counter to the left of the stove. | STEP 2: Pick up the glass with the spoon in it. | STEP 3: Turn around and go to the sink.", "output": ["STEP 4: Put the glass and spoon in the sink."]} +{"id": "trial_T20190909_160509_108044-1%4", "input": "Move the glass and spoon from the counter to the sink. | STEP 1: Turn right and go to the counter to the left of the stove. | STEP 2: Pick up the glass with the spoon in it. | STEP 3: Turn around and go to the sink. | STEP 4: Put the glass and spoon in the sink.", "output": ["END"]} +{"id": "trial_T20190909_075345_247619-1%0", "input": "Put a microwaved potato on a kitchen table.", "output": ["STEP 1: Go forward past the end of the left counter and turn left to go to the round table in the corner."]} +{"id": "trial_T20190909_075345_247619-1%1", "input": "Put a microwaved potato on a kitchen table. | STEP 1: Go forward past the end of the left counter and turn left to go to the round table in the corner.", "output": ["STEP 2: Pick up the potato from the table."]} +{"id": "trial_T20190909_075345_247619-1%2", "input": "Put a microwaved potato on a kitchen table. | STEP 1: Go forward past the end of the left counter and turn left to go to the round table in the corner. | STEP 2: Pick up the potato from the table.", "output": ["STEP 3: Turn and go to the stove behind you."]} +{"id": "trial_T20190909_075345_247619-1%3", "input": "Put a microwaved potato on a kitchen table. | STEP 1: Go forward past the end of the left counter and turn left to go to the round table in the corner. | STEP 2: Pick up the potato from the table. | STEP 3: Turn and go to the stove behind you.", "output": ["STEP 4: Cook the potato in the microwave above the stove."]} +{"id": "trial_T20190909_075345_247619-1%4", "input": "Put a microwaved potato on a kitchen table. | STEP 1: Go forward past the end of the left counter and turn left to go to the round table in the corner. | STEP 2: Pick up the potato from the table. | STEP 3: Turn and go to the stove behind you. | STEP 4: Cook the potato in the microwave above the stove.", "output": ["STEP 5: Take the cooked potato back to the round table."]} +{"id": "trial_T20190909_075345_247619-1%5", "input": "Put a microwaved potato on a kitchen table. | STEP 1: Go forward past the end of the left counter and turn left to go to the round table in the corner. | STEP 2: Pick up the potato from the table. | STEP 3: Turn and go to the stove behind you. | STEP 4: Cook the potato in the microwave above the stove. | STEP 5: Take the cooked potato back to the round table.", "output": ["STEP 6: Put the potato back on the table."]} +{"id": "trial_T20190909_075345_247619-1%6", "input": "Put a microwaved potato on a kitchen table. | STEP 1: Go forward past the end of the left counter and turn left to go to the round table in the corner. | STEP 2: Pick up the potato from the table. | STEP 3: Turn and go to the stove behind you. | STEP 4: Cook the potato in the microwave above the stove. | STEP 5: Take the cooked potato back to the round table. | STEP 6: Put the potato back on the table.", "output": ["END"]} +{"id": "trial_T20190908_044410_129734-0%0", "input": "Place the refrigerated slice of lettuce in the recycle bin in the corner of the room.", "output": ["STEP 1: Go straight and move to the left to face the blue plate on the counter top."]} +{"id": "trial_T20190908_044410_129734-0%1", "input": "Place the refrigerated slice of lettuce in the recycle bin in the corner of the room. | STEP 1: Go straight and move to the left to face the blue plate on the counter top.", "output": ["STEP 2: Pick the knife up from off of the counter top."]} +{"id": "trial_T20190908_044410_129734-0%2", "input": "Place the refrigerated slice of lettuce in the recycle bin in the corner of the room. | STEP 1: Go straight and move to the left to face the blue plate on the counter top. | STEP 2: Pick the knife up from off of the counter top.", "output": ["STEP 3: Turn around and move to the left to face the toaster next to the refrigerator."]} +{"id": "trial_T20190908_044410_129734-0%3", "input": "Place the refrigerated slice of lettuce in the recycle bin in the corner of the room. | STEP 1: Go straight and move to the left to face the blue plate on the counter top. | STEP 2: Pick the knife up from off of the counter top. | STEP 3: Turn around and move to the left to face the toaster next to the refrigerator.", "output": ["STEP 4: Slice the lettuce on the counter top."]} +{"id": "trial_T20190908_044410_129734-0%4", "input": "Place the refrigerated slice of lettuce in the recycle bin in the corner of the room. | STEP 1: Go straight and move to the left to face the blue plate on the counter top. | STEP 2: Pick the knife up from off of the counter top. | STEP 3: Turn around and move to the left to face the toaster next to the refrigerator. | STEP 4: Slice the lettuce on the counter top.", "output": ["STEP 5: Turn around and move to the left to face the blue recycle bin in the corner of the room."]} +{"id": "trial_T20190908_044410_129734-0%5", "input": "Place the refrigerated slice of lettuce in the recycle bin in the corner of the room. | STEP 1: Go straight and move to the left to face the blue plate on the counter top. | STEP 2: Pick the knife up from off of the counter top. | STEP 3: Turn around and move to the left to face the toaster next to the refrigerator. | STEP 4: Slice the lettuce on the counter top. | STEP 5: Turn around and move to the left to face the blue recycle bin in the corner of the room.", "output": ["STEP 6: Place the knife in the recycle bin."]} +{"id": "trial_T20190908_044410_129734-0%6", "input": "Place the refrigerated slice of lettuce in the recycle bin in the corner of the room. | STEP 1: Go straight and move to the left to face the blue plate on the counter top. | STEP 2: Pick the knife up from off of the counter top. | STEP 3: Turn around and move to the left to face the toaster next to the refrigerator. | STEP 4: Slice the lettuce on the counter top. | STEP 5: Turn around and move to the left to face the blue recycle bin in the corner of the room. | STEP 6: Place the knife in the recycle bin.", "output": ["STEP 7: Turn around and walk to the end of the room and turn right to face the counter top next to the refrigerator."]} +{"id": "trial_T20190908_044410_129734-0%7", "input": "Place the refrigerated slice of lettuce in the recycle bin in the corner of the room. | STEP 1: Go straight and move to the left to face the blue plate on the counter top. | STEP 2: Pick the knife up from off of the counter top. | STEP 3: Turn around and move to the left to face the toaster next to the refrigerator. | STEP 4: Slice the lettuce on the counter top. | STEP 5: Turn around and move to the left to face the blue recycle bin in the corner of the room. | STEP 6: Place the knife in the recycle bin. | STEP 7: Turn around and walk to the end of the room and turn right to face the counter top next to the refrigerator.", "output": ["STEP 8: Pick up a slice of the lettuce."]} +{"id": "trial_T20190908_044410_129734-0%8", "input": "Place the refrigerated slice of lettuce in the recycle bin in the corner of the room. | STEP 1: Go straight and move to the left to face the blue plate on the counter top. | STEP 2: Pick the knife up from off of the counter top. | STEP 3: Turn around and move to the left to face the toaster next to the refrigerator. | STEP 4: Slice the lettuce on the counter top. | STEP 5: Turn around and move to the left to face the blue recycle bin in the corner of the room. | STEP 6: Place the knife in the recycle bin. | STEP 7: Turn around and walk to the end of the room and turn right to face the counter top next to the refrigerator. | STEP 8: Pick up a slice of the lettuce.", "output": ["STEP 9: Move to the left to face the refrigerator."]} +{"id": "trial_T20190908_044410_129734-0%9", "input": "Place the refrigerated slice of lettuce in the recycle bin in the corner of the room. | STEP 1: Go straight and move to the left to face the blue plate on the counter top. | STEP 2: Pick the knife up from off of the counter top. | STEP 3: Turn around and move to the left to face the toaster next to the refrigerator. | STEP 4: Slice the lettuce on the counter top. | STEP 5: Turn around and move to the left to face the blue recycle bin in the corner of the room. | STEP 6: Place the knife in the recycle bin. | STEP 7: Turn around and walk to the end of the room and turn right to face the counter top next to the refrigerator. | STEP 8: Pick up a slice of the lettuce. | STEP 9: Move to the left to face the refrigerator.", "output": ["STEP 10: Place the slice of lettuce in the refrigerator, close the refrigerator, wait a second, open the refrigerator, pick up the slice of lettuce and close the refrigerator."]} +{"id": "trial_T20190908_044410_129734-0%10", "input": "Place the refrigerated slice of lettuce in the recycle bin in the corner of the room. | STEP 1: Go straight and move to the left to face the blue plate on the counter top. | STEP 2: Pick the knife up from off of the counter top. | STEP 3: Turn around and move to the left to face the toaster next to the refrigerator. | STEP 4: Slice the lettuce on the counter top. | STEP 5: Turn around and move to the left to face the blue recycle bin in the corner of the room. | STEP 6: Place the knife in the recycle bin. | STEP 7: Turn around and walk to the end of the room and turn right to face the counter top next to the refrigerator. | STEP 8: Pick up a slice of the lettuce. | STEP 9: Move to the left to face the refrigerator. | STEP 10: Place the slice of lettuce in the refrigerator, close the refrigerator, wait a second, open the refrigerator, pick up the slice of lettuce and close the refrigerator.", "output": ["STEP 11: Turn to the right and walk to the end of the room to face the blue recycle bin in the corner of the room."]} +{"id": "trial_T20190908_044410_129734-0%11", "input": "Place the refrigerated slice of lettuce in the recycle bin in the corner of the room. | STEP 1: Go straight and move to the left to face the blue plate on the counter top. | STEP 2: Pick the knife up from off of the counter top. | STEP 3: Turn around and move to the left to face the toaster next to the refrigerator. | STEP 4: Slice the lettuce on the counter top. | STEP 5: Turn around and move to the left to face the blue recycle bin in the corner of the room. | STEP 6: Place the knife in the recycle bin. | STEP 7: Turn around and walk to the end of the room and turn right to face the counter top next to the refrigerator. | STEP 8: Pick up a slice of the lettuce. | STEP 9: Move to the left to face the refrigerator. | STEP 10: Place the slice of lettuce in the refrigerator, close the refrigerator, wait a second, open the refrigerator, pick up the slice of lettuce and close the refrigerator. | STEP 11: Turn to the right and walk to the end of the room to face the blue recycle bin in the corner of the room.", "output": ["STEP 12: Place the slice of lettuce in the recycle bin."]} +{"id": "trial_T20190908_044410_129734-0%12", "input": "Place the refrigerated slice of lettuce in the recycle bin in the corner of the room. | STEP 1: Go straight and move to the left to face the blue plate on the counter top. | STEP 2: Pick the knife up from off of the counter top. | STEP 3: Turn around and move to the left to face the toaster next to the refrigerator. | STEP 4: Slice the lettuce on the counter top. | STEP 5: Turn around and move to the left to face the blue recycle bin in the corner of the room. | STEP 6: Place the knife in the recycle bin. | STEP 7: Turn around and walk to the end of the room and turn right to face the counter top next to the refrigerator. | STEP 8: Pick up a slice of the lettuce. | STEP 9: Move to the left to face the refrigerator. | STEP 10: Place the slice of lettuce in the refrigerator, close the refrigerator, wait a second, open the refrigerator, pick up the slice of lettuce and close the refrigerator. | STEP 11: Turn to the right and walk to the end of the room to face the blue recycle bin in the corner of the room. | STEP 12: Place the slice of lettuce in the recycle bin.", "output": ["END"]} +{"id": "trial_T20190912_012305_974925-1%0", "input": "put two pens in the drawer in the cabinet", "output": ["STEP 1: turn right and move to the cabinet on the right"]} +{"id": "trial_T20190912_012305_974925-1%1", "input": "put two pens in the drawer in the cabinet | STEP 1: turn right and move to the cabinet on the right", "output": ["STEP 2: grab the pen off of the top of the cabinet"]} +{"id": "trial_T20190912_012305_974925-1%2", "input": "put two pens in the drawer in the cabinet | STEP 1: turn right and move to the cabinet on the right | STEP 2: grab the pen off of the top of the cabinet", "output": ["STEP 3: turn right and walk over to the tall cabinet at the end of the room"]} +{"id": "trial_T20190912_012305_974925-1%3", "input": "put two pens in the drawer in the cabinet | STEP 1: turn right and move to the cabinet on the right | STEP 2: grab the pen off of the top of the cabinet | STEP 3: turn right and walk over to the tall cabinet at the end of the room", "output": ["STEP 4: put the pen in the second to the bottom drawer"]} +{"id": "trial_T20190912_012305_974925-1%4", "input": "put two pens in the drawer in the cabinet | STEP 1: turn right and move to the cabinet on the right | STEP 2: grab the pen off of the top of the cabinet | STEP 3: turn right and walk over to the tall cabinet at the end of the room | STEP 4: put the pen in the second to the bottom drawer", "output": ["STEP 5: move right a bit to stand in front of the cabinet"]} +{"id": "trial_T20190912_012305_974925-1%5", "input": "put two pens in the drawer in the cabinet | STEP 1: turn right and move to the cabinet on the right | STEP 2: grab the pen off of the top of the cabinet | STEP 3: turn right and walk over to the tall cabinet at the end of the room | STEP 4: put the pen in the second to the bottom drawer | STEP 5: move right a bit to stand in front of the cabinet", "output": ["STEP 6: grab the pen off of the cabinet"]} +{"id": "trial_T20190912_012305_974925-1%6", "input": "put two pens in the drawer in the cabinet | STEP 1: turn right and move to the cabinet on the right | STEP 2: grab the pen off of the top of the cabinet | STEP 3: turn right and walk over to the tall cabinet at the end of the room | STEP 4: put the pen in the second to the bottom drawer | STEP 5: move right a bit to stand in front of the cabinet | STEP 6: grab the pen off of the cabinet", "output": ["STEP 7: move to the left a bit to stand on the left side of the cabinet"]} +{"id": "trial_T20190912_012305_974925-1%7", "input": "put two pens in the drawer in the cabinet | STEP 1: turn right and move to the cabinet on the right | STEP 2: grab the pen off of the top of the cabinet | STEP 3: turn right and walk over to the tall cabinet at the end of the room | STEP 4: put the pen in the second to the bottom drawer | STEP 5: move right a bit to stand in front of the cabinet | STEP 6: grab the pen off of the cabinet | STEP 7: move to the left a bit to stand on the left side of the cabinet", "output": ["STEP 8: place the pen in the same drawer you put the other pen in"]} +{"id": "trial_T20190912_012305_974925-1%8", "input": "put two pens in the drawer in the cabinet | STEP 1: turn right and move to the cabinet on the right | STEP 2: grab the pen off of the top of the cabinet | STEP 3: turn right and walk over to the tall cabinet at the end of the room | STEP 4: put the pen in the second to the bottom drawer | STEP 5: move right a bit to stand in front of the cabinet | STEP 6: grab the pen off of the cabinet | STEP 7: move to the left a bit to stand on the left side of the cabinet | STEP 8: place the pen in the same drawer you put the other pen in", "output": ["END"]} +{"id": "trial_T20190912_012305_974925-2%0", "input": "Place two red pens in top drawer of brown cabinet", "output": ["STEP 1: go to black dresser on the left"]} +{"id": "trial_T20190912_012305_974925-2%1", "input": "Place two red pens in top drawer of brown cabinet | STEP 1: go to black dresser on the left", "output": ["STEP 2: pick up red pen to right of CD"]} +{"id": "trial_T20190912_012305_974925-2%2", "input": "Place two red pens in top drawer of brown cabinet | STEP 1: go to black dresser on the left | STEP 2: pick up red pen to right of CD", "output": ["STEP 3: go to left side of brown cabinet on the right "]} +{"id": "trial_T20190912_012305_974925-2%3", "input": "Place two red pens in top drawer of brown cabinet | STEP 1: go to black dresser on the left | STEP 2: pick up red pen to right of CD | STEP 3: go to left side of brown cabinet on the right ", "output": ["STEP 4: open top drawer below red pen on shelf of cabinet, place red pen in drawer, close drawer"]} +{"id": "trial_T20190912_012305_974925-2%4", "input": "Place two red pens in top drawer of brown cabinet | STEP 1: go to black dresser on the left | STEP 2: pick up red pen to right of CD | STEP 3: go to left side of brown cabinet on the right | STEP 4: open top drawer below red pen on shelf of cabinet, place red pen in drawer, close drawer", "output": ["STEP 5: face the front of brown cabinet"]} +{"id": "trial_T20190912_012305_974925-2%5", "input": "Place two red pens in top drawer of brown cabinet | STEP 1: go to black dresser on the left | STEP 2: pick up red pen to right of CD | STEP 3: go to left side of brown cabinet on the right | STEP 4: open top drawer below red pen on shelf of cabinet, place red pen in drawer, close drawer | STEP 5: face the front of brown cabinet", "output": ["STEP 6: pick up red pen from cabinet shelf"]} +{"id": "trial_T20190912_012305_974925-2%6", "input": "Place two red pens in top drawer of brown cabinet | STEP 1: go to black dresser on the left | STEP 2: pick up red pen to right of CD | STEP 3: go to left side of brown cabinet on the right | STEP 4: open top drawer below red pen on shelf of cabinet, place red pen in drawer, close drawer | STEP 5: face the front of brown cabinet | STEP 6: pick up red pen from cabinet shelf", "output": ["STEP 7: go to left side of brown cabinet"]} +{"id": "trial_T20190912_012305_974925-2%7", "input": "Place two red pens in top drawer of brown cabinet | STEP 1: go to black dresser on the left | STEP 2: pick up red pen to right of CD | STEP 3: go to left side of brown cabinet on the right | STEP 4: open top drawer below red pen on shelf of cabinet, place red pen in drawer, close drawer | STEP 5: face the front of brown cabinet | STEP 6: pick up red pen from cabinet shelf | STEP 7: go to left side of brown cabinet", "output": ["STEP 8: place red pen in cabinet, close drawer"]} +{"id": "trial_T20190912_012305_974925-2%8", "input": "Place two red pens in top drawer of brown cabinet | STEP 1: go to black dresser on the left | STEP 2: pick up red pen to right of CD | STEP 3: go to left side of brown cabinet on the right | STEP 4: open top drawer below red pen on shelf of cabinet, place red pen in drawer, close drawer | STEP 5: face the front of brown cabinet | STEP 6: pick up red pen from cabinet shelf | STEP 7: go to left side of brown cabinet | STEP 8: place red pen in cabinet, close drawer", "output": ["END"]} +{"id": "trial_T20190907_153633_892990-1%0", "input": "grab the water can from shelf, turn on the lamp", "output": ["STEP 1: turn around, walk across the room to the black shelves"]} +{"id": "trial_T20190907_153633_892990-1%1", "input": "grab the water can from shelf, turn on the lamp | STEP 1: turn around, walk across the room to the black shelves", "output": ["STEP 2: take the water can on the shelf"]} +{"id": "trial_T20190907_153633_892990-1%2", "input": "grab the water can from shelf, turn on the lamp | STEP 1: turn around, walk across the room to the black shelves | STEP 2: take the water can on the shelf", "output": ["STEP 3: turn right, walk to the end table with a lamp on it"]} +{"id": "trial_T20190907_153633_892990-1%3", "input": "grab the water can from shelf, turn on the lamp | STEP 1: turn around, walk across the room to the black shelves | STEP 2: take the water can on the shelf | STEP 3: turn right, walk to the end table with a lamp on it", "output": ["STEP 4: turn on the lamp"]} +{"id": "trial_T20190907_153633_892990-1%4", "input": "grab the water can from shelf, turn on the lamp | STEP 1: turn around, walk across the room to the black shelves | STEP 2: take the water can on the shelf | STEP 3: turn right, walk to the end table with a lamp on it | STEP 4: turn on the lamp", "output": ["END"]} +{"id": "trial_T20190907_153633_892990-2%0", "input": "Examine a water canister next to the light of a desk lamp.", "output": ["STEP 1: Turn around towards the door, turn left towards the lamp, and then walk straight towards the wooden shelves."]} +{"id": "trial_T20190907_153633_892990-2%1", "input": "Examine a water canister next to the light of a desk lamp. | STEP 1: Turn around towards the door, turn left towards the lamp, and then walk straight towards the wooden shelves.", "output": ["STEP 2: Pick up the water canister on the bottom of the shelves."]} +{"id": "trial_T20190907_153633_892990-2%2", "input": "Examine a water canister next to the light of a desk lamp. | STEP 1: Turn around towards the door, turn left towards the lamp, and then walk straight towards the wooden shelves. | STEP 2: Pick up the water canister on the bottom of the shelves.", "output": ["STEP 3: Turn right towards the lamp"]} +{"id": "trial_T20190907_153633_892990-2%3", "input": "Examine a water canister next to the light of a desk lamp. | STEP 1: Turn around towards the door, turn left towards the lamp, and then walk straight towards the wooden shelves. | STEP 2: Pick up the water canister on the bottom of the shelves. | STEP 3: Turn right towards the lamp", "output": ["STEP 4: Turn on the lamp."]} +{"id": "trial_T20190907_153633_892990-2%4", "input": "Examine a water canister next to the light of a desk lamp. | STEP 1: Turn around towards the door, turn left towards the lamp, and then walk straight towards the wooden shelves. | STEP 2: Pick up the water canister on the bottom of the shelves. | STEP 3: Turn right towards the lamp | STEP 4: Turn on the lamp.", "output": ["END"]} +{"id": "trial_T20190907_153633_892990-4%0", "input": "Examine a watering can by the light of a desk lamp.", "output": ["STEP 1: Turn around and walk to the black shelves against the wall containing a statue."]} +{"id": "trial_T20190907_153633_892990-4%1", "input": "Examine a watering can by the light of a desk lamp. | STEP 1: Turn around and walk to the black shelves against the wall containing a statue.", "output": ["STEP 2: Pick up the watering can from the bottom shelf."]} +{"id": "trial_T20190907_153633_892990-4%2", "input": "Examine a watering can by the light of a desk lamp. | STEP 1: Turn around and walk to the black shelves against the wall containing a statue. | STEP 2: Pick up the watering can from the bottom shelf.", "output": ["STEP 3: Turn around and walk to the lamp on the small desk next to the sofa."]} +{"id": "trial_T20190907_153633_892990-4%3", "input": "Examine a watering can by the light of a desk lamp. | STEP 1: Turn around and walk to the black shelves against the wall containing a statue. | STEP 2: Pick up the watering can from the bottom shelf. | STEP 3: Turn around and walk to the lamp on the small desk next to the sofa.", "output": ["STEP 4: Turn on the lamp."]} +{"id": "trial_T20190907_153633_892990-4%4", "input": "Examine a watering can by the light of a desk lamp. | STEP 1: Turn around and walk to the black shelves against the wall containing a statue. | STEP 2: Pick up the watering can from the bottom shelf. | STEP 3: Turn around and walk to the lamp on the small desk next to the sofa. | STEP 4: Turn on the lamp.", "output": ["END"]} +{"id": "trial_T20190907_153633_892990-5%0", "input": "Carry a tea pot while turning on a lamp", "output": ["STEP 1: Move across the room to the right side of the large brown side table "]} +{"id": "trial_T20190907_153633_892990-5%1", "input": "Carry a tea pot while turning on a lamp | STEP 1: Move across the room to the right side of the large brown side table ", "output": ["STEP 2: Pick up the tea pot from the bottom shelf on the side table "]} +{"id": "trial_T20190907_153633_892990-5%2", "input": "Carry a tea pot while turning on a lamp | STEP 1: Move across the room to the right side of the large brown side table | STEP 2: Pick up the tea pot from the bottom shelf on the side table ", "output": ["STEP 3: Carry the tea pot to the lamp on top of the small round end table"]} +{"id": "trial_T20190907_153633_892990-5%3", "input": "Carry a tea pot while turning on a lamp | STEP 1: Move across the room to the right side of the large brown side table | STEP 2: Pick up the tea pot from the bottom shelf on the side table | STEP 3: Carry the tea pot to the lamp on top of the small round end table", "output": ["STEP 4: Turn on the lamp"]} +{"id": "trial_T20190907_153633_892990-5%4", "input": "Carry a tea pot while turning on a lamp | STEP 1: Move across the room to the right side of the large brown side table | STEP 2: Pick up the tea pot from the bottom shelf on the side table | STEP 3: Carry the tea pot to the lamp on top of the small round end table | STEP 4: Turn on the lamp", "output": ["END"]} +{"id": "trial_T20190906_202607_123061-1%0", "input": "Move the plunger from the toilet to underneath the sink.", "output": ["STEP 1: Turn around and walk to the toilet."]} +{"id": "trial_T20190906_202607_123061-1%1", "input": "Move the plunger from the toilet to underneath the sink. | STEP 1: Turn around and walk to the toilet.", "output": ["STEP 2: Pick up the plunger to the right of the toilet."]} +{"id": "trial_T20190906_202607_123061-1%2", "input": "Move the plunger from the toilet to underneath the sink. | STEP 1: Turn around and walk to the toilet. | STEP 2: Pick up the plunger to the right of the toilet.", "output": ["STEP 3: Turn around and face the sink."]} +{"id": "trial_T20190906_202607_123061-1%3", "input": "Move the plunger from the toilet to underneath the sink. | STEP 1: Turn around and walk to the toilet. | STEP 2: Pick up the plunger to the right of the toilet. | STEP 3: Turn around and face the sink.", "output": ["STEP 4: Open the right drawer and place the plunger inside."]} +{"id": "trial_T20190906_202607_123061-1%4", "input": "Move the plunger from the toilet to underneath the sink. | STEP 1: Turn around and walk to the toilet. | STEP 2: Pick up the plunger to the right of the toilet. | STEP 3: Turn around and face the sink. | STEP 4: Open the right drawer and place the plunger inside.", "output": ["END"]} +{"id": "trial_T20190909_151858_764613-1%0", "input": "Examine a watch by the light of a small lamp.", "output": ["STEP 1: Turn left, hang a right at the chair and walk to the rack of wooden shelves against the wall."]} +{"id": "trial_T20190909_151858_764613-1%1", "input": "Examine a watch by the light of a small lamp. | STEP 1: Turn left, hang a right at the chair and walk to the rack of wooden shelves against the wall.", "output": ["STEP 2: Pick up the watch in front of the statue on the top shelf on the left side."]} +{"id": "trial_T20190909_151858_764613-1%2", "input": "Examine a watch by the light of a small lamp. | STEP 1: Turn left, hang a right at the chair and walk to the rack of wooden shelves against the wall. | STEP 2: Pick up the watch in front of the statue on the top shelf on the left side.", "output": ["STEP 3: Turn right, hang a right at the table and walk to the round wooden table on the left with the small lamp."]} +{"id": "trial_T20190909_151858_764613-1%3", "input": "Examine a watch by the light of a small lamp. | STEP 1: Turn left, hang a right at the chair and walk to the rack of wooden shelves against the wall. | STEP 2: Pick up the watch in front of the statue on the top shelf on the left side. | STEP 3: Turn right, hang a right at the table and walk to the round wooden table on the left with the small lamp.", "output": ["STEP 4: Turn on the small lamp."]} +{"id": "trial_T20190909_151858_764613-1%4", "input": "Examine a watch by the light of a small lamp. | STEP 1: Turn left, hang a right at the chair and walk to the rack of wooden shelves against the wall. | STEP 2: Pick up the watch in front of the statue on the top shelf on the left side. | STEP 3: Turn right, hang a right at the table and walk to the round wooden table on the left with the small lamp. | STEP 4: Turn on the small lamp.", "output": ["END"]} +{"id": "trial_T20190909_151858_764613-2%0", "input": "Look at a watch by the light of a lamp.", "output": ["STEP 1: Walk to the left of the chair, then straight ahead to thee shelving unit."]} +{"id": "trial_T20190909_151858_764613-2%1", "input": "Look at a watch by the light of a lamp. | STEP 1: Walk to the left of the chair, then straight ahead to thee shelving unit.", "output": ["STEP 2: Pick up the watch on the top shelf."]} +{"id": "trial_T20190909_151858_764613-2%2", "input": "Look at a watch by the light of a lamp. | STEP 1: Walk to the left of the chair, then straight ahead to thee shelving unit. | STEP 2: Pick up the watch on the top shelf.", "output": ["STEP 3: Turn around and veer left past the couch to the side table."]} +{"id": "trial_T20190909_151858_764613-2%3", "input": "Look at a watch by the light of a lamp. | STEP 1: Walk to the left of the chair, then straight ahead to thee shelving unit. | STEP 2: Pick up the watch on the top shelf. | STEP 3: Turn around and veer left past the couch to the side table.", "output": ["STEP 4: Turn on the lamp on the table."]} +{"id": "trial_T20190909_151858_764613-2%4", "input": "Look at a watch by the light of a lamp. | STEP 1: Walk to the left of the chair, then straight ahead to thee shelving unit. | STEP 2: Pick up the watch on the top shelf. | STEP 3: Turn around and veer left past the couch to the side table. | STEP 4: Turn on the lamp on the table.", "output": ["END"]} +{"id": "trial_T20190909_014054_515047-1%0", "input": "place clean fork to right of spatula on table", "output": ["STEP 1: turn around, go to gray round table to the left"]} +{"id": "trial_T20190909_014054_515047-1%1", "input": "place clean fork to right of spatula on table | STEP 1: turn around, go to gray round table to the left", "output": ["STEP 2: pick up fork from the gray table"]} +{"id": "trial_T20190909_014054_515047-1%2", "input": "place clean fork to right of spatula on table | STEP 1: turn around, go to gray round table to the left | STEP 2: pick up fork from the gray table", "output": ["STEP 3: turn around, go to sink to the right"]} +{"id": "trial_T20190909_014054_515047-1%3", "input": "place clean fork to right of spatula on table | STEP 1: turn around, go to gray round table to the left | STEP 2: pick up fork from the gray table | STEP 3: turn around, go to sink to the right", "output": ["STEP 4: place fork in sink, turn on water, turn off water, pick up fork from sink"]} +{"id": "trial_T20190909_014054_515047-1%4", "input": "place clean fork to right of spatula on table | STEP 1: turn around, go to gray round table to the left | STEP 2: pick up fork from the gray table | STEP 3: turn around, go to sink to the right | STEP 4: place fork in sink, turn on water, turn off water, pick up fork from sink", "output": ["STEP 5: go to gray table to the right"]} +{"id": "trial_T20190909_014054_515047-1%5", "input": "place clean fork to right of spatula on table | STEP 1: turn around, go to gray round table to the left | STEP 2: pick up fork from the gray table | STEP 3: turn around, go to sink to the right | STEP 4: place fork in sink, turn on water, turn off water, pick up fork from sink | STEP 5: go to gray table to the right", "output": ["STEP 6: place fork to the right of spatula on gray table"]} +{"id": "trial_T20190909_014054_515047-1%6", "input": "place clean fork to right of spatula on table | STEP 1: turn around, go to gray round table to the left | STEP 2: pick up fork from the gray table | STEP 3: turn around, go to sink to the right | STEP 4: place fork in sink, turn on water, turn off water, pick up fork from sink | STEP 5: go to gray table to the right | STEP 6: place fork to the right of spatula on gray table", "output": ["END"]} +{"id": "trial_T20190909_014054_515047-2%0", "input": "stand a clean fork up on the table", "output": ["STEP 1: go to the round dining table in the corner"]} +{"id": "trial_T20190909_014054_515047-2%1", "input": "stand a clean fork up on the table | STEP 1: go to the round dining table in the corner", "output": ["STEP 2: pick up the fork from the table"]} +{"id": "trial_T20190909_014054_515047-2%2", "input": "stand a clean fork up on the table | STEP 1: go to the round dining table in the corner | STEP 2: pick up the fork from the table", "output": ["STEP 3: take the fork to the sink"]} +{"id": "trial_T20190909_014054_515047-2%3", "input": "stand a clean fork up on the table | STEP 1: go to the round dining table in the corner | STEP 2: pick up the fork from the table | STEP 3: take the fork to the sink", "output": ["STEP 4: rinse the fork in the sink with the existing veggies"]} +{"id": "trial_T20190909_014054_515047-2%4", "input": "stand a clean fork up on the table | STEP 1: go to the round dining table in the corner | STEP 2: pick up the fork from the table | STEP 3: take the fork to the sink | STEP 4: rinse the fork in the sink with the existing veggies", "output": ["STEP 5: take the cleaned fork back to the table"]} +{"id": "trial_T20190909_014054_515047-2%5", "input": "stand a clean fork up on the table | STEP 1: go to the round dining table in the corner | STEP 2: pick up the fork from the table | STEP 3: take the fork to the sink | STEP 4: rinse the fork in the sink with the existing veggies | STEP 5: take the cleaned fork back to the table", "output": ["STEP 6: stand the fork on the table"]} +{"id": "trial_T20190909_014054_515047-2%6", "input": "stand a clean fork up on the table | STEP 1: go to the round dining table in the corner | STEP 2: pick up the fork from the table | STEP 3: take the fork to the sink | STEP 4: rinse the fork in the sink with the existing veggies | STEP 5: take the cleaned fork back to the table | STEP 6: stand the fork on the table", "output": ["END"]} +{"id": "trial_T20190907_184754_957681-0%0", "input": "cut a slice of a potato put it in the microwave put it on the counter next to the knife", "output": ["STEP 1: turn to the left and across the room"]} +{"id": "trial_T20190907_184754_957681-0%1", "input": "cut a slice of a potato put it in the microwave put it on the counter next to the knife | STEP 1: turn to the left and across the room", "output": ["STEP 2: pick up the knife from the counter"]} +{"id": "trial_T20190907_184754_957681-0%2", "input": "cut a slice of a potato put it in the microwave put it on the counter next to the knife | STEP 1: turn to the left and across the room | STEP 2: pick up the knife from the counter", "output": ["STEP 3: turn to the left to the sink"]} +{"id": "trial_T20190907_184754_957681-0%3", "input": "cut a slice of a potato put it in the microwave put it on the counter next to the knife | STEP 1: turn to the left and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the left to the sink", "output": ["STEP 4: cut a slice of a potato "]} +{"id": "trial_T20190907_184754_957681-0%4", "input": "cut a slice of a potato put it in the microwave put it on the counter next to the knife | STEP 1: turn to the left and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the left to the sink | STEP 4: cut a slice of a potato ", "output": ["STEP 5: turn to the right and across the room"]} +{"id": "trial_T20190907_184754_957681-0%5", "input": "cut a slice of a potato put it in the microwave put it on the counter next to the knife | STEP 1: turn to the left and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the left to the sink | STEP 4: cut a slice of a potato | STEP 5: turn to the right and across the room", "output": ["STEP 6: turn to the left and leave the knife on the opposite counter"]} +{"id": "trial_T20190907_184754_957681-0%6", "input": "cut a slice of a potato put it in the microwave put it on the counter next to the knife | STEP 1: turn to the left and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the left to the sink | STEP 4: cut a slice of a potato | STEP 5: turn to the right and across the room | STEP 6: turn to the left and leave the knife on the opposite counter", "output": ["STEP 7: turn to the left again face the sink"]} +{"id": "trial_T20190907_184754_957681-0%7", "input": "cut a slice of a potato put it in the microwave put it on the counter next to the knife | STEP 1: turn to the left and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the left to the sink | STEP 4: cut a slice of a potato | STEP 5: turn to the right and across the room | STEP 6: turn to the left and leave the knife on the opposite counter | STEP 7: turn to the left again face the sink", "output": ["STEP 8: pick up the slice of potato and turn to the left"]} +{"id": "trial_T20190907_184754_957681-0%8", "input": "cut a slice of a potato put it in the microwave put it on the counter next to the knife | STEP 1: turn to the left and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the left to the sink | STEP 4: cut a slice of a potato | STEP 5: turn to the right and across the room | STEP 6: turn to the left and leave the knife on the opposite counter | STEP 7: turn to the left again face the sink | STEP 8: pick up the slice of potato and turn to the left", "output": ["STEP 9: open the microwave door "]} +{"id": "trial_T20190907_184754_957681-0%9", "input": "cut a slice of a potato put it in the microwave put it on the counter next to the knife | STEP 1: turn to the left and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the left to the sink | STEP 4: cut a slice of a potato | STEP 5: turn to the right and across the room | STEP 6: turn to the left and leave the knife on the opposite counter | STEP 7: turn to the left again face the sink | STEP 8: pick up the slice of potato and turn to the left | STEP 9: open the microwave door ", "output": ["STEP 10: put slice of the potato into the microwave close the microwave door"]} +{"id": "trial_T20190907_184754_957681-0%10", "input": "cut a slice of a potato put it in the microwave put it on the counter next to the knife | STEP 1: turn to the left and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the left to the sink | STEP 4: cut a slice of a potato | STEP 5: turn to the right and across the room | STEP 6: turn to the left and leave the knife on the opposite counter | STEP 7: turn to the left again face the sink | STEP 8: pick up the slice of potato and turn to the left | STEP 9: open the microwave door | STEP 10: put slice of the potato into the microwave close the microwave door", "output": ["STEP 11: get the slice out of the microwave and turn to the right"]} +{"id": "trial_T20190907_184754_957681-0%11", "input": "cut a slice of a potato put it in the microwave put it on the counter next to the knife | STEP 1: turn to the left and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the left to the sink | STEP 4: cut a slice of a potato | STEP 5: turn to the right and across the room | STEP 6: turn to the left and leave the knife on the opposite counter | STEP 7: turn to the left again face the sink | STEP 8: pick up the slice of potato and turn to the left | STEP 9: open the microwave door | STEP 10: put slice of the potato into the microwave close the microwave door | STEP 11: get the slice out of the microwave and turn to the right", "output": ["STEP 12: put the slice next to the knife in the counter"]} +{"id": "trial_T20190907_184754_957681-0%12", "input": "cut a slice of a potato put it in the microwave put it on the counter next to the knife | STEP 1: turn to the left and across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the left to the sink | STEP 4: cut a slice of a potato | STEP 5: turn to the right and across the room | STEP 6: turn to the left and leave the knife on the opposite counter | STEP 7: turn to the left again face the sink | STEP 8: pick up the slice of potato and turn to the left | STEP 9: open the microwave door | STEP 10: put slice of the potato into the microwave close the microwave door | STEP 11: get the slice out of the microwave and turn to the right | STEP 12: put the slice next to the knife in the counter", "output": ["END"]} +{"id": "trial_T20190907_184754_957681-1%0", "input": "Slice potato, put knife on above third cabinet, place potato slice to the right of the knife", "output": ["STEP 1: turn around, go to dishwasher to the right"]} +{"id": "trial_T20190907_184754_957681-1%1", "input": "Slice potato, put knife on above third cabinet, place potato slice to the right of the knife | STEP 1: turn around, go to dishwasher to the right", "output": ["STEP 2: pick up knife on counter in front of loaf of bread"]} +{"id": "trial_T20190907_184754_957681-1%2", "input": "Slice potato, put knife on above third cabinet, place potato slice to the right of the knife | STEP 1: turn around, go to dishwasher to the right | STEP 2: pick up knife on counter in front of loaf of bread", "output": ["STEP 3: go to sink to the right"]} +{"id": "trial_T20190907_184754_957681-1%3", "input": "Slice potato, put knife on above third cabinet, place potato slice to the right of the knife | STEP 1: turn around, go to dishwasher to the right | STEP 2: pick up knife on counter in front of loaf of bread | STEP 3: go to sink to the right", "output": ["STEP 4: slice potato in the sink"]} +{"id": "trial_T20190907_184754_957681-1%4", "input": "Slice potato, put knife on above third cabinet, place potato slice to the right of the knife | STEP 1: turn around, go to dishwasher to the right | STEP 2: pick up knife on counter in front of loaf of bread | STEP 3: go to sink to the right | STEP 4: slice potato in the sink", "output": ["STEP 5: turn around, go to third cabinet from the right"]} +{"id": "trial_T20190907_184754_957681-1%5", "input": "Slice potato, put knife on above third cabinet, place potato slice to the right of the knife | STEP 1: turn around, go to dishwasher to the right | STEP 2: pick up knife on counter in front of loaf of bread | STEP 3: go to sink to the right | STEP 4: slice potato in the sink | STEP 5: turn around, go to third cabinet from the right", "output": ["STEP 6: place knife on the counter above third cabinet"]} +{"id": "trial_T20190907_184754_957681-1%6", "input": "Slice potato, put knife on above third cabinet, place potato slice to the right of the knife | STEP 1: turn around, go to dishwasher to the right | STEP 2: pick up knife on counter in front of loaf of bread | STEP 3: go to sink to the right | STEP 4: slice potato in the sink | STEP 5: turn around, go to third cabinet from the right | STEP 6: place knife on the counter above third cabinet", "output": ["STEP 7: turn around, go to sink to the right"]} +{"id": "trial_T20190907_184754_957681-1%7", "input": "Slice potato, put knife on above third cabinet, place potato slice to the right of the knife | STEP 1: turn around, go to dishwasher to the right | STEP 2: pick up knife on counter in front of loaf of bread | STEP 3: go to sink to the right | STEP 4: slice potato in the sink | STEP 5: turn around, go to third cabinet from the right | STEP 6: place knife on the counter above third cabinet | STEP 7: turn around, go to sink to the right", "output": ["STEP 8: pick up slice of potato from the sink"]} +{"id": "trial_T20190907_184754_957681-1%8", "input": "Slice potato, put knife on above third cabinet, place potato slice to the right of the knife | STEP 1: turn around, go to dishwasher to the right | STEP 2: pick up knife on counter in front of loaf of bread | STEP 3: go to sink to the right | STEP 4: slice potato in the sink | STEP 5: turn around, go to third cabinet from the right | STEP 6: place knife on the counter above third cabinet | STEP 7: turn around, go to sink to the right | STEP 8: pick up slice of potato from the sink", "output": ["STEP 9: turn around, face stove, look upward to microwave"]} +{"id": "trial_T20190907_184754_957681-1%9", "input": "Slice potato, put knife on above third cabinet, place potato slice to the right of the knife | STEP 1: turn around, go to dishwasher to the right | STEP 2: pick up knife on counter in front of loaf of bread | STEP 3: go to sink to the right | STEP 4: slice potato in the sink | STEP 5: turn around, go to third cabinet from the right | STEP 6: place knife on the counter above third cabinet | STEP 7: turn around, go to sink to the right | STEP 8: pick up slice of potato from the sink | STEP 9: turn around, face stove, look upward to microwave", "output": ["STEP 10: open microwave, microwave potato slice, remove potato from microwave, close microwave door"]} +{"id": "trial_T20190907_184754_957681-1%10", "input": "Slice potato, put knife on above third cabinet, place potato slice to the right of the knife | STEP 1: turn around, go to dishwasher to the right | STEP 2: pick up knife on counter in front of loaf of bread | STEP 3: go to sink to the right | STEP 4: slice potato in the sink | STEP 5: turn around, go to third cabinet from the right | STEP 6: place knife on the counter above third cabinet | STEP 7: turn around, go to sink to the right | STEP 8: pick up slice of potato from the sink | STEP 9: turn around, face stove, look upward to microwave | STEP 10: open microwave, microwave potato slice, remove potato from microwave, close microwave door", "output": ["STEP 11: turn right, go to knife on the counter to the right"]} +{"id": "trial_T20190907_184754_957681-1%11", "input": "Slice potato, put knife on above third cabinet, place potato slice to the right of the knife | STEP 1: turn around, go to dishwasher to the right | STEP 2: pick up knife on counter in front of loaf of bread | STEP 3: go to sink to the right | STEP 4: slice potato in the sink | STEP 5: turn around, go to third cabinet from the right | STEP 6: place knife on the counter above third cabinet | STEP 7: turn around, go to sink to the right | STEP 8: pick up slice of potato from the sink | STEP 9: turn around, face stove, look upward to microwave | STEP 10: open microwave, microwave potato slice, remove potato from microwave, close microwave door | STEP 11: turn right, go to knife on the counter to the right", "output": ["STEP 12: place potato slice to the right of the knife"]} +{"id": "trial_T20190907_184754_957681-1%12", "input": "Slice potato, put knife on above third cabinet, place potato slice to the right of the knife | STEP 1: turn around, go to dishwasher to the right | STEP 2: pick up knife on counter in front of loaf of bread | STEP 3: go to sink to the right | STEP 4: slice potato in the sink | STEP 5: turn around, go to third cabinet from the right | STEP 6: place knife on the counter above third cabinet | STEP 7: turn around, go to sink to the right | STEP 8: pick up slice of potato from the sink | STEP 9: turn around, face stove, look upward to microwave | STEP 10: open microwave, microwave potato slice, remove potato from microwave, close microwave door | STEP 11: turn right, go to knife on the counter to the right | STEP 12: place potato slice to the right of the knife", "output": ["END"]} +{"id": "trial_T20190907_211109_208315-2%0", "input": "Put a apple in the sink from a microwave.", "output": ["STEP 1: Move to the stove to the left of the sink"]} +{"id": "trial_T20190907_211109_208315-2%1", "input": "Put a apple in the sink from a microwave. | STEP 1: Move to the stove to the left of the sink", "output": ["STEP 2: Pick up a apple from the microwave above"]} +{"id": "trial_T20190907_211109_208315-2%2", "input": "Put a apple in the sink from a microwave. | STEP 1: Move to the stove to the left of the sink | STEP 2: Pick up a apple from the microwave above", "output": ["STEP 3: Move to the sink behind you"]} +{"id": "trial_T20190907_211109_208315-2%3", "input": "Put a apple in the sink from a microwave. | STEP 1: Move to the stove to the left of the sink | STEP 2: Pick up a apple from the microwave above | STEP 3: Move to the sink behind you", "output": ["STEP 4: Put the apple in the sink"]} +{"id": "trial_T20190907_211109_208315-2%4", "input": "Put a apple in the sink from a microwave. | STEP 1: Move to the stove to the left of the sink | STEP 2: Pick up a apple from the microwave above | STEP 3: Move to the sink behind you | STEP 4: Put the apple in the sink", "output": ["END"]} +{"id": "trial_T20190918_211808_959558-1%0", "input": "Move two butter knives to a round table.", "output": ["STEP 1: Take a step forward, then turn right and begin walking across the room, hang a right and walk up to the section of counter to the right of the coffee machine."]} +{"id": "trial_T20190918_211808_959558-1%1", "input": "Move two butter knives to a round table. | STEP 1: Take a step forward, then turn right and begin walking across the room, hang a right and walk up to the section of counter to the right of the coffee machine.", "output": ["STEP 2: Pick up the metal butter knife to the right of the coffee machine."]} +{"id": "trial_T20190918_211808_959558-1%2", "input": "Move two butter knives to a round table. | STEP 1: Take a step forward, then turn right and begin walking across the room, hang a right and walk up to the section of counter to the right of the coffee machine. | STEP 2: Pick up the metal butter knife to the right of the coffee machine.", "output": ["STEP 3: Turn around and take a step forward, then turn left and begin walking across the room, hang a left before the window and walk over to the small round table."]} +{"id": "trial_T20190918_211808_959558-1%3", "input": "Move two butter knives to a round table. | STEP 1: Take a step forward, then turn right and begin walking across the room, hang a right and walk up to the section of counter to the right of the coffee machine. | STEP 2: Pick up the metal butter knife to the right of the coffee machine. | STEP 3: Turn around and take a step forward, then turn left and begin walking across the room, hang a left before the window and walk over to the small round table.", "output": ["STEP 4: Place the butter knife in front of the sponge onto the small round table."]} +{"id": "trial_T20190918_211808_959558-1%4", "input": "Move two butter knives to a round table. | STEP 1: Take a step forward, then turn right and begin walking across the room, hang a right and walk up to the section of counter to the right of the coffee machine. | STEP 2: Pick up the metal butter knife to the right of the coffee machine. | STEP 3: Turn around and take a step forward, then turn left and begin walking across the room, hang a left before the window and walk over to the small round table. | STEP 4: Place the butter knife in front of the sponge onto the small round table.", "output": ["STEP 5: Turn left and walk over to the section of counter across from the toaster."]} +{"id": "trial_T20190918_211808_959558-1%5", "input": "Move two butter knives to a round table. | STEP 1: Take a step forward, then turn right and begin walking across the room, hang a right and walk up to the section of counter to the right of the coffee machine. | STEP 2: Pick up the metal butter knife to the right of the coffee machine. | STEP 3: Turn around and take a step forward, then turn left and begin walking across the room, hang a left before the window and walk over to the small round table. | STEP 4: Place the butter knife in front of the sponge onto the small round table. | STEP 5: Turn left and walk over to the section of counter across from the toaster.", "output": ["STEP 6: Pick up the metal butter knife that is on the front edge of the counter."]} +{"id": "trial_T20190918_211808_959558-1%6", "input": "Move two butter knives to a round table. | STEP 1: Take a step forward, then turn right and begin walking across the room, hang a right and walk up to the section of counter to the right of the coffee machine. | STEP 2: Pick up the metal butter knife to the right of the coffee machine. | STEP 3: Turn around and take a step forward, then turn left and begin walking across the room, hang a left before the window and walk over to the small round table. | STEP 4: Place the butter knife in front of the sponge onto the small round table. | STEP 5: Turn left and walk over to the section of counter across from the toaster. | STEP 6: Pick up the metal butter knife that is on the front edge of the counter.", "output": ["STEP 7: Turn left and walk over to the small round table in the corner of the room."]} +{"id": "trial_T20190918_211808_959558-1%7", "input": "Move two butter knives to a round table. | STEP 1: Take a step forward, then turn right and begin walking across the room, hang a right and walk up to the section of counter to the right of the coffee machine. | STEP 2: Pick up the metal butter knife to the right of the coffee machine. | STEP 3: Turn around and take a step forward, then turn left and begin walking across the room, hang a left before the window and walk over to the small round table. | STEP 4: Place the butter knife in front of the sponge onto the small round table. | STEP 5: Turn left and walk over to the section of counter across from the toaster. | STEP 6: Pick up the metal butter knife that is on the front edge of the counter. | STEP 7: Turn left and walk over to the small round table in the corner of the room.", "output": ["STEP 8: Stick the butter knife into the table point down near the handle of the butter knife that is already there."]} +{"id": "trial_T20190918_211808_959558-1%8", "input": "Move two butter knives to a round table. | STEP 1: Take a step forward, then turn right and begin walking across the room, hang a right and walk up to the section of counter to the right of the coffee machine. | STEP 2: Pick up the metal butter knife to the right of the coffee machine. | STEP 3: Turn around and take a step forward, then turn left and begin walking across the room, hang a left before the window and walk over to the small round table. | STEP 4: Place the butter knife in front of the sponge onto the small round table. | STEP 5: Turn left and walk over to the section of counter across from the toaster. | STEP 6: Pick up the metal butter knife that is on the front edge of the counter. | STEP 7: Turn left and walk over to the small round table in the corner of the room. | STEP 8: Stick the butter knife into the table point down near the handle of the butter knife that is already there.", "output": ["END"]} +{"id": "trial_T20190918_211808_959558-2%0", "input": "put the two knife from the counter on the corner table", "output": ["STEP 1: turn right, walk to the coffee machine on the right"]} +{"id": "trial_T20190918_211808_959558-2%1", "input": "put the two knife from the counter on the corner table | STEP 1: turn right, walk to the coffee machine on the right", "output": ["STEP 2: grab the knife on the counter"]} +{"id": "trial_T20190918_211808_959558-2%2", "input": "put the two knife from the counter on the corner table | STEP 1: turn right, walk to the coffee machine on the right | STEP 2: grab the knife on the counter", "output": ["STEP 3: turn around, walk across the room to the corner table"]} +{"id": "trial_T20190918_211808_959558-2%3", "input": "put the two knife from the counter on the corner table | STEP 1: turn right, walk to the coffee machine on the right | STEP 2: grab the knife on the counter | STEP 3: turn around, walk across the room to the corner table", "output": ["STEP 4: put the knife on the table"]} +{"id": "trial_T20190918_211808_959558-2%4", "input": "put the two knife from the counter on the corner table | STEP 1: turn right, walk to the coffee machine on the right | STEP 2: grab the knife on the counter | STEP 3: turn around, walk across the room to the corner table | STEP 4: put the knife on the table", "output": ["STEP 5: turn left, walk to the counter across the refrigerator"]} +{"id": "trial_T20190918_211808_959558-2%5", "input": "put the two knife from the counter on the corner table | STEP 1: turn right, walk to the coffee machine on the right | STEP 2: grab the knife on the counter | STEP 3: turn around, walk across the room to the corner table | STEP 4: put the knife on the table | STEP 5: turn left, walk to the counter across the refrigerator", "output": ["STEP 6: grab the knife on the counter"]} +{"id": "trial_T20190918_211808_959558-2%6", "input": "put the two knife from the counter on the corner table | STEP 1: turn right, walk to the coffee machine on the right | STEP 2: grab the knife on the counter | STEP 3: turn around, walk across the room to the corner table | STEP 4: put the knife on the table | STEP 5: turn left, walk to the counter across the refrigerator | STEP 6: grab the knife on the counter", "output": ["STEP 7: turn left, walk across the room to the corner table"]} +{"id": "trial_T20190918_211808_959558-2%7", "input": "put the two knife from the counter on the corner table | STEP 1: turn right, walk to the coffee machine on the right | STEP 2: grab the knife on the counter | STEP 3: turn around, walk across the room to the corner table | STEP 4: put the knife on the table | STEP 5: turn left, walk to the counter across the refrigerator | STEP 6: grab the knife on the counter | STEP 7: turn left, walk across the room to the corner table", "output": ["STEP 8: put the knife on the table"]} +{"id": "trial_T20190918_211808_959558-2%8", "input": "put the two knife from the counter on the corner table | STEP 1: turn right, walk to the coffee machine on the right | STEP 2: grab the knife on the counter | STEP 3: turn around, walk across the room to the corner table | STEP 4: put the knife on the table | STEP 5: turn left, walk to the counter across the refrigerator | STEP 6: grab the knife on the counter | STEP 7: turn left, walk across the room to the corner table | STEP 8: put the knife on the table", "output": ["END"]} +{"id": "trial_T20190918_211808_959558-4%0", "input": "Put two knives on the table to the right of the sink.", "output": ["STEP 1: Move to the left of the sink"]} +{"id": "trial_T20190918_211808_959558-4%1", "input": "Put two knives on the table to the right of the sink. | STEP 1: Move to the left of the sink", "output": ["STEP 2: Pick up a knife from the counter"]} +{"id": "trial_T20190918_211808_959558-4%2", "input": "Put two knives on the table to the right of the sink. | STEP 1: Move to the left of the sink | STEP 2: Pick up a knife from the counter", "output": ["STEP 3: Move to the table to the right of the sink"]} +{"id": "trial_T20190918_211808_959558-4%3", "input": "Put two knives on the table to the right of the sink. | STEP 1: Move to the left of the sink | STEP 2: Pick up a knife from the counter | STEP 3: Move to the table to the right of the sink", "output": ["STEP 4: Place the knife on the table"]} +{"id": "trial_T20190918_211808_959558-4%4", "input": "Put two knives on the table to the right of the sink. | STEP 1: Move to the left of the sink | STEP 2: Pick up a knife from the counter | STEP 3: Move to the table to the right of the sink | STEP 4: Place the knife on the table", "output": ["STEP 5: Move to the right of the fridge to the counter"]} +{"id": "trial_T20190918_211808_959558-4%5", "input": "Put two knives on the table to the right of the sink. | STEP 1: Move to the left of the sink | STEP 2: Pick up a knife from the counter | STEP 3: Move to the table to the right of the sink | STEP 4: Place the knife on the table | STEP 5: Move to the right of the fridge to the counter", "output": ["STEP 6: Pick up a knife from the counter"]} +{"id": "trial_T20190918_211808_959558-4%6", "input": "Put two knives on the table to the right of the sink. | STEP 1: Move to the left of the sink | STEP 2: Pick up a knife from the counter | STEP 3: Move to the table to the right of the sink | STEP 4: Place the knife on the table | STEP 5: Move to the right of the fridge to the counter | STEP 6: Pick up a knife from the counter", "output": ["STEP 7: Move to the table to the right of the sink"]} +{"id": "trial_T20190918_211808_959558-4%7", "input": "Put two knives on the table to the right of the sink. | STEP 1: Move to the left of the sink | STEP 2: Pick up a knife from the counter | STEP 3: Move to the table to the right of the sink | STEP 4: Place the knife on the table | STEP 5: Move to the right of the fridge to the counter | STEP 6: Pick up a knife from the counter | STEP 7: Move to the table to the right of the sink", "output": ["STEP 8: Place the knife on the table"]} +{"id": "trial_T20190918_211808_959558-4%8", "input": "Put two knives on the table to the right of the sink. | STEP 1: Move to the left of the sink | STEP 2: Pick up a knife from the counter | STEP 3: Move to the table to the right of the sink | STEP 4: Place the knife on the table | STEP 5: Move to the right of the fridge to the counter | STEP 6: Pick up a knife from the counter | STEP 7: Move to the table to the right of the sink | STEP 8: Place the knife on the table", "output": ["END"]} +{"id": "trial_T20190909_044357_289832-1%0", "input": "Place a soap bottle on a shelf.", "output": ["STEP 1: Walk ahead and turn right, facing the sink."]} +{"id": "trial_T20190909_044357_289832-1%1", "input": "Place a soap bottle on a shelf. | STEP 1: Walk ahead and turn right, facing the sink.", "output": ["STEP 2: Take a soap bottle out of the trash can on the floor."]} +{"id": "trial_T20190909_044357_289832-1%2", "input": "Place a soap bottle on a shelf. | STEP 1: Walk ahead and turn right, facing the sink. | STEP 2: Take a soap bottle out of the trash can on the floor.", "output": ["STEP 3: Turn around and walk to the shelves on the right side of the wall."]} +{"id": "trial_T20190909_044357_289832-1%3", "input": "Place a soap bottle on a shelf. | STEP 1: Walk ahead and turn right, facing the sink. | STEP 2: Take a soap bottle out of the trash can on the floor. | STEP 3: Turn around and walk to the shelves on the right side of the wall.", "output": ["STEP 4: Place the soap bottle on the bottom shelf, just right of center."]} +{"id": "trial_T20190909_044357_289832-1%4", "input": "Place a soap bottle on a shelf. | STEP 1: Walk ahead and turn right, facing the sink. | STEP 2: Take a soap bottle out of the trash can on the floor. | STEP 3: Turn around and walk to the shelves on the right side of the wall. | STEP 4: Place the soap bottle on the bottom shelf, just right of center.", "output": ["END"]} +{"id": "trial_T20190908_161237_451696-2%0", "input": "Put the pan with knife on the small round table", "output": ["STEP 1: Walk forward then turn right to face the sink"]} +{"id": "trial_T20190908_161237_451696-2%1", "input": "Put the pan with knife on the small round table | STEP 1: Walk forward then turn right to face the sink", "output": ["STEP 2: Pick up the knife from the sink"]} +{"id": "trial_T20190908_161237_451696-2%2", "input": "Put the pan with knife on the small round table | STEP 1: Walk forward then turn right to face the sink | STEP 2: Pick up the knife from the sink", "output": ["STEP 3: Turn around and walk up to the stove"]} +{"id": "trial_T20190908_161237_451696-2%3", "input": "Put the pan with knife on the small round table | STEP 1: Walk forward then turn right to face the sink | STEP 2: Pick up the knife from the sink | STEP 3: Turn around and walk up to the stove", "output": ["STEP 4: Put the knife in the pan on the stove"]} +{"id": "trial_T20190908_161237_451696-2%4", "input": "Put the pan with knife on the small round table | STEP 1: Walk forward then turn right to face the sink | STEP 2: Pick up the knife from the sink | STEP 3: Turn around and walk up to the stove | STEP 4: Put the knife in the pan on the stove", "output": ["STEP 5: Pick up the pan from the stove"]} +{"id": "trial_T20190908_161237_451696-2%5", "input": "Put the pan with knife on the small round table | STEP 1: Walk forward then turn right to face the sink | STEP 2: Pick up the knife from the sink | STEP 3: Turn around and walk up to the stove | STEP 4: Put the knife in the pan on the stove | STEP 5: Pick up the pan from the stove", "output": ["STEP 6: Turn left and walk forward then left again and walk up to the small round table"]} +{"id": "trial_T20190908_161237_451696-2%6", "input": "Put the pan with knife on the small round table | STEP 1: Walk forward then turn right to face the sink | STEP 2: Pick up the knife from the sink | STEP 3: Turn around and walk up to the stove | STEP 4: Put the knife in the pan on the stove | STEP 5: Pick up the pan from the stove | STEP 6: Turn left and walk forward then left again and walk up to the small round table", "output": ["STEP 7: Put the pan on the small round table"]} +{"id": "trial_T20190908_161237_451696-2%7", "input": "Put the pan with knife on the small round table | STEP 1: Walk forward then turn right to face the sink | STEP 2: Pick up the knife from the sink | STEP 3: Turn around and walk up to the stove | STEP 4: Put the knife in the pan on the stove | STEP 5: Pick up the pan from the stove | STEP 6: Turn left and walk forward then left again and walk up to the small round table | STEP 7: Put the pan on the small round table", "output": ["END"]} +{"id": "trial_T20190909_151728_326769-1%0", "input": "Use a lamp to look at a watch.", "output": ["STEP 1: Turn around and walk to the table with the lamp in front of you."]} +{"id": "trial_T20190909_151728_326769-1%1", "input": "Use a lamp to look at a watch. | STEP 1: Turn around and walk to the table with the lamp in front of you.", "output": ["STEP 2: Turn on the lamp."]} +{"id": "trial_T20190909_151728_326769-1%2", "input": "Use a lamp to look at a watch. | STEP 1: Turn around and walk to the table with the lamp in front of you. | STEP 2: Turn on the lamp.", "output": ["STEP 3: Pick up the watch on the table."]} +{"id": "trial_T20190909_151728_326769-1%3", "input": "Use a lamp to look at a watch. | STEP 1: Turn around and walk to the table with the lamp in front of you. | STEP 2: Turn on the lamp. | STEP 3: Pick up the watch on the table.", "output": ["END"]} +{"id": "trial_T20190908_143639_799222-0%0", "input": "Move a CD from the dresser to the shelf.", "output": ["STEP 1: Walk around the bed to the dresser."]} +{"id": "trial_T20190908_143639_799222-0%1", "input": "Move a CD from the dresser to the shelf. | STEP 1: Walk around the bed to the dresser.", "output": ["STEP 2: Grab the CD from the dresser."]} +{"id": "trial_T20190908_143639_799222-0%2", "input": "Move a CD from the dresser to the shelf. | STEP 1: Walk around the bed to the dresser. | STEP 2: Grab the CD from the dresser.", "output": ["STEP 3: Walk back around the bed to the shelf."]} +{"id": "trial_T20190908_143639_799222-0%3", "input": "Move a CD from the dresser to the shelf. | STEP 1: Walk around the bed to the dresser. | STEP 2: Grab the CD from the dresser. | STEP 3: Walk back around the bed to the shelf.", "output": ["STEP 4: Place the CD on the top shelf."]} +{"id": "trial_T20190908_143639_799222-0%4", "input": "Move a CD from the dresser to the shelf. | STEP 1: Walk around the bed to the dresser. | STEP 2: Grab the CD from the dresser. | STEP 3: Walk back around the bed to the shelf. | STEP 4: Place the CD on the top shelf.", "output": ["END"]} +{"id": "trial_T20190907_071807_498508-1%0", "input": "Put a purple spray bottle on the back of the toilet.", "output": ["STEP 1: Move to the shelf to the left of the tub on the right hand side."]} +{"id": "trial_T20190907_071807_498508-1%1", "input": "Put a purple spray bottle on the back of the toilet. | STEP 1: Move to the shelf to the left of the tub on the right hand side.", "output": ["STEP 2: Pick up the spray bottle from the shelf."]} +{"id": "trial_T20190907_071807_498508-1%2", "input": "Put a purple spray bottle on the back of the toilet. | STEP 1: Move to the shelf to the left of the tub on the right hand side. | STEP 2: Pick up the spray bottle from the shelf.", "output": ["STEP 3: Move to the toilet behind you on the right side."]} +{"id": "trial_T20190907_071807_498508-1%3", "input": "Put a purple spray bottle on the back of the toilet. | STEP 1: Move to the shelf to the left of the tub on the right hand side. | STEP 2: Pick up the spray bottle from the shelf. | STEP 3: Move to the toilet behind you on the right side.", "output": ["STEP 4: Place the bottle on the back of the toilet."]} +{"id": "trial_T20190907_071807_498508-1%4", "input": "Put a purple spray bottle on the back of the toilet. | STEP 1: Move to the shelf to the left of the tub on the right hand side. | STEP 2: Pick up the spray bottle from the shelf. | STEP 3: Move to the toilet behind you on the right side. | STEP 4: Place the bottle on the back of the toilet.", "output": ["END"]} +{"id": "trial_T20190907_071807_498508-2%0", "input": "Put a bottle on the back of a toilet.", "output": ["STEP 1: Go forward and turn left to face the white shelf."]} +{"id": "trial_T20190907_071807_498508-2%1", "input": "Put a bottle on the back of a toilet. | STEP 1: Go forward and turn left to face the white shelf.", "output": ["STEP 2: Pick up the purple bottle from the shelf."]} +{"id": "trial_T20190907_071807_498508-2%2", "input": "Put a bottle on the back of a toilet. | STEP 1: Go forward and turn left to face the white shelf. | STEP 2: Pick up the purple bottle from the shelf.", "output": ["STEP 3: Turn around and face the toilet."]} +{"id": "trial_T20190907_071807_498508-2%3", "input": "Put a bottle on the back of a toilet. | STEP 1: Go forward and turn left to face the white shelf. | STEP 2: Pick up the purple bottle from the shelf. | STEP 3: Turn around and face the toilet.", "output": ["STEP 4: Put the bottle on the back of the toilet."]} +{"id": "trial_T20190907_071807_498508-2%4", "input": "Put a bottle on the back of a toilet. | STEP 1: Go forward and turn left to face the white shelf. | STEP 2: Pick up the purple bottle from the shelf. | STEP 3: Turn around and face the toilet. | STEP 4: Put the bottle on the back of the toilet.", "output": ["END"]} +{"id": "trial_T20190907_071807_498508-3%0", "input": "move spray bottle from shelf to back of toilet", "output": ["STEP 1: walk towards tub, turn left, walk forward"]} +{"id": "trial_T20190907_071807_498508-3%1", "input": "move spray bottle from shelf to back of toilet | STEP 1: walk towards tub, turn left, walk forward", "output": ["STEP 2: pick up spray bottle from bottom shelf"]} +{"id": "trial_T20190907_071807_498508-3%2", "input": "move spray bottle from shelf to back of toilet | STEP 1: walk towards tub, turn left, walk forward | STEP 2: pick up spray bottle from bottom shelf", "output": ["STEP 3: turn left, walk towards the door, turn left, walk across the room"]} +{"id": "trial_T20190907_071807_498508-3%3", "input": "move spray bottle from shelf to back of toilet | STEP 1: walk towards tub, turn left, walk forward | STEP 2: pick up spray bottle from bottom shelf | STEP 3: turn left, walk towards the door, turn left, walk across the room", "output": ["STEP 4: put the spray bottle on the back of the toilet"]} +{"id": "trial_T20190907_071807_498508-3%4", "input": "move spray bottle from shelf to back of toilet | STEP 1: walk towards tub, turn left, walk forward | STEP 2: pick up spray bottle from bottom shelf | STEP 3: turn left, walk towards the door, turn left, walk across the room | STEP 4: put the spray bottle on the back of the toilet", "output": ["END"]} +{"id": "trial_T20190907_071807_498508-4%0", "input": "Put the spray bottle on the back of the toilet.", "output": ["STEP 1: Walk forward and turn right to face the shelves."]} +{"id": "trial_T20190907_071807_498508-4%1", "input": "Put the spray bottle on the back of the toilet. | STEP 1: Walk forward and turn right to face the shelves.", "output": ["STEP 2: Pick up the spray bottle from the bottom shelf."]} +{"id": "trial_T20190907_071807_498508-4%2", "input": "Put the spray bottle on the back of the toilet. | STEP 1: Walk forward and turn right to face the shelves. | STEP 2: Pick up the spray bottle from the bottom shelf.", "output": ["STEP 3: Turn left and stand in front of the toilet."]} +{"id": "trial_T20190907_071807_498508-4%3", "input": "Put the spray bottle on the back of the toilet. | STEP 1: Walk forward and turn right to face the shelves. | STEP 2: Pick up the spray bottle from the bottom shelf. | STEP 3: Turn left and stand in front of the toilet.", "output": ["STEP 4: Put the bottle on the back of the toilet."]} +{"id": "trial_T20190907_071807_498508-4%4", "input": "Put the spray bottle on the back of the toilet. | STEP 1: Walk forward and turn right to face the shelves. | STEP 2: Pick up the spray bottle from the bottom shelf. | STEP 3: Turn left and stand in front of the toilet. | STEP 4: Put the bottle on the back of the toilet.", "output": ["END"]} +{"id": "trial_T20190919_004658_004245-1%0", "input": "Place a slice of cooked potato onto the counter.", "output": ["STEP 1: Turn right, move to the table."]} +{"id": "trial_T20190919_004658_004245-1%1", "input": "Place a slice of cooked potato onto the counter. | STEP 1: Turn right, move to the table.", "output": ["STEP 2: Pick up the knife from the table."]} +{"id": "trial_T20190919_004658_004245-1%2", "input": "Place a slice of cooked potato onto the counter. | STEP 1: Turn right, move to the table. | STEP 2: Pick up the knife from the table.", "output": ["STEP 3: Slice the potato on the table."]} +{"id": "trial_T20190919_004658_004245-1%3", "input": "Place a slice of cooked potato onto the counter. | STEP 1: Turn right, move to the table. | STEP 2: Pick up the knife from the table. | STEP 3: Slice the potato on the table.", "output": ["STEP 4: Turn left, move to the counter left of the bread."]} +{"id": "trial_T20190919_004658_004245-1%4", "input": "Place a slice of cooked potato onto the counter. | STEP 1: Turn right, move to the table. | STEP 2: Pick up the knife from the table. | STEP 3: Slice the potato on the table. | STEP 4: Turn left, move to the counter left of the bread.", "output": ["STEP 5: Put the knife on the counter near the soap container."]} +{"id": "trial_T20190919_004658_004245-1%5", "input": "Place a slice of cooked potato onto the counter. | STEP 1: Turn right, move to the table. | STEP 2: Pick up the knife from the table. | STEP 3: Slice the potato on the table. | STEP 4: Turn left, move to the counter left of the bread. | STEP 5: Put the knife on the counter near the soap container.", "output": ["STEP 6: Turn left, move to the table."]} +{"id": "trial_T20190919_004658_004245-1%6", "input": "Place a slice of cooked potato onto the counter. | STEP 1: Turn right, move to the table. | STEP 2: Pick up the knife from the table. | STEP 3: Slice the potato on the table. | STEP 4: Turn left, move to the counter left of the bread. | STEP 5: Put the knife on the counter near the soap container. | STEP 6: Turn left, move to the table.", "output": ["STEP 7: Pick up a slice of potato from the table."]} +{"id": "trial_T20190919_004658_004245-1%7", "input": "Place a slice of cooked potato onto the counter. | STEP 1: Turn right, move to the table. | STEP 2: Pick up the knife from the table. | STEP 3: Slice the potato on the table. | STEP 4: Turn left, move to the counter left of the bread. | STEP 5: Put the knife on the counter near the soap container. | STEP 6: Turn left, move to the table. | STEP 7: Pick up a slice of potato from the table.", "output": ["STEP 8: Turn left, move to the counter in front of the stove."]} +{"id": "trial_T20190919_004658_004245-1%8", "input": "Place a slice of cooked potato onto the counter. | STEP 1: Turn right, move to the table. | STEP 2: Pick up the knife from the table. | STEP 3: Slice the potato on the table. | STEP 4: Turn left, move to the counter left of the bread. | STEP 5: Put the knife on the counter near the soap container. | STEP 6: Turn left, move to the table. | STEP 7: Pick up a slice of potato from the table. | STEP 8: Turn left, move to the counter in front of the stove.", "output": ["STEP 9: Put the potato slice into the microwave, cook it, pick it back up."]} +{"id": "trial_T20190919_004658_004245-1%9", "input": "Place a slice of cooked potato onto the counter. | STEP 1: Turn right, move to the table. | STEP 2: Pick up the knife from the table. | STEP 3: Slice the potato on the table. | STEP 4: Turn left, move to the counter left of the bread. | STEP 5: Put the knife on the counter near the soap container. | STEP 6: Turn left, move to the table. | STEP 7: Pick up a slice of potato from the table. | STEP 8: Turn left, move to the counter in front of the stove. | STEP 9: Put the potato slice into the microwave, cook it, pick it back up.", "output": ["STEP 10: Turn right, move to the counter left of the bread."]} +{"id": "trial_T20190919_004658_004245-1%10", "input": "Place a slice of cooked potato onto the counter. | STEP 1: Turn right, move to the table. | STEP 2: Pick up the knife from the table. | STEP 3: Slice the potato on the table. | STEP 4: Turn left, move to the counter left of the bread. | STEP 5: Put the knife on the counter near the soap container. | STEP 6: Turn left, move to the table. | STEP 7: Pick up a slice of potato from the table. | STEP 8: Turn left, move to the counter in front of the stove. | STEP 9: Put the potato slice into the microwave, cook it, pick it back up. | STEP 10: Turn right, move to the counter left of the bread.", "output": ["STEP 11: Put the cooked potato slice on the counter."]} +{"id": "trial_T20190919_004658_004245-1%11", "input": "Place a slice of cooked potato onto the counter. | STEP 1: Turn right, move to the table. | STEP 2: Pick up the knife from the table. | STEP 3: Slice the potato on the table. | STEP 4: Turn left, move to the counter left of the bread. | STEP 5: Put the knife on the counter near the soap container. | STEP 6: Turn left, move to the table. | STEP 7: Pick up a slice of potato from the table. | STEP 8: Turn left, move to the counter in front of the stove. | STEP 9: Put the potato slice into the microwave, cook it, pick it back up. | STEP 10: Turn right, move to the counter left of the bread. | STEP 11: Put the cooked potato slice on the counter.", "output": ["END"]} +{"id": "trial_T20190908_232919_944006-0%0", "input": "Pick up a box and turn the lamp on.", "output": ["STEP 1: Go to the right and face the box on the floor."]} +{"id": "trial_T20190908_232919_944006-0%1", "input": "Pick up a box and turn the lamp on. | STEP 1: Go to the right and face the box on the floor.", "output": ["STEP 2: Pick the box up from the floor."]} +{"id": "trial_T20190908_232919_944006-0%2", "input": "Pick up a box and turn the lamp on. | STEP 1: Go to the right and face the box on the floor. | STEP 2: Pick the box up from the floor.", "output": ["STEP 3: Turn around and cross the room to face the small, round table with the lamp on it."]} +{"id": "trial_T20190908_232919_944006-0%3", "input": "Pick up a box and turn the lamp on. | STEP 1: Go to the right and face the box on the floor. | STEP 2: Pick the box up from the floor. | STEP 3: Turn around and cross the room to face the small, round table with the lamp on it.", "output": ["STEP 4: Turn the lamp on the table on."]} +{"id": "trial_T20190908_232919_944006-0%4", "input": "Pick up a box and turn the lamp on. | STEP 1: Go to the right and face the box on the floor. | STEP 2: Pick the box up from the floor. | STEP 3: Turn around and cross the room to face the small, round table with the lamp on it. | STEP 4: Turn the lamp on the table on.", "output": ["END"]} +{"id": "trial_T20190908_232919_944006-1%0", "input": "Examine a cardboard box using the light of a lamp.", "output": ["STEP 1: Turn around completely, walk a few steps, then turn to the left and walk up to the wall. "]} +{"id": "trial_T20190908_232919_944006-1%1", "input": "Examine a cardboard box using the light of a lamp. | STEP 1: Turn around completely, walk a few steps, then turn to the left and walk up to the wall. ", "output": ["STEP 2: Pick up the cardboard box that is sitting on the floor. "]} +{"id": "trial_T20190908_232919_944006-1%2", "input": "Examine a cardboard box using the light of a lamp. | STEP 1: Turn around completely, walk a few steps, then turn to the left and walk up to the wall. | STEP 2: Pick up the cardboard box that is sitting on the floor. ", "output": ["STEP 3: Turn around completely and walk straight across the room to the table. "]} +{"id": "trial_T20190908_232919_944006-1%3", "input": "Examine a cardboard box using the light of a lamp. | STEP 1: Turn around completely, walk a few steps, then turn to the left and walk up to the wall. | STEP 2: Pick up the cardboard box that is sitting on the floor. | STEP 3: Turn around completely and walk straight across the room to the table. ", "output": ["STEP 4: Turn on the lamp that is sitting on the table. "]} +{"id": "trial_T20190908_232919_944006-1%4", "input": "Examine a cardboard box using the light of a lamp. | STEP 1: Turn around completely, walk a few steps, then turn to the left and walk up to the wall. | STEP 2: Pick up the cardboard box that is sitting on the floor. | STEP 3: Turn around completely and walk straight across the room to the table. | STEP 4: Turn on the lamp that is sitting on the table. ", "output": ["END"]} +{"id": "trial_T20190909_113743_603978-0%0", "input": "Put a chilled bowl away in the cabinet under the toaster. ", "output": ["STEP 1: Move to the counter right of the fridge in front of you."]} +{"id": "trial_T20190909_113743_603978-0%1", "input": "Put a chilled bowl away in the cabinet under the toaster. | STEP 1: Move to the counter right of the fridge in front of you.", "output": ["STEP 2: Pick up the blue bowl on the counter, left of the fridge."]} +{"id": "trial_T20190909_113743_603978-0%2", "input": "Put a chilled bowl away in the cabinet under the toaster. | STEP 1: Move to the counter right of the fridge in front of you. | STEP 2: Pick up the blue bowl on the counter, left of the fridge.", "output": ["STEP 3: Bring the bowl to the fridge on the left."]} +{"id": "trial_T20190909_113743_603978-0%3", "input": "Put a chilled bowl away in the cabinet under the toaster. | STEP 1: Move to the counter right of the fridge in front of you. | STEP 2: Pick up the blue bowl on the counter, left of the fridge. | STEP 3: Bring the bowl to the fridge on the left.", "output": ["STEP 4: Chill the bowl in the fridge. "]} +{"id": "trial_T20190909_113743_603978-0%4", "input": "Put a chilled bowl away in the cabinet under the toaster. | STEP 1: Move to the counter right of the fridge in front of you. | STEP 2: Pick up the blue bowl on the counter, left of the fridge. | STEP 3: Bring the bowl to the fridge on the left. | STEP 4: Chill the bowl in the fridge. ", "output": ["STEP 5: Bring the chilled bowl to the right, to the cabinet under the toaster."]} +{"id": "trial_T20190909_113743_603978-0%5", "input": "Put a chilled bowl away in the cabinet under the toaster. | STEP 1: Move to the counter right of the fridge in front of you. | STEP 2: Pick up the blue bowl on the counter, left of the fridge. | STEP 3: Bring the bowl to the fridge on the left. | STEP 4: Chill the bowl in the fridge. | STEP 5: Bring the chilled bowl to the right, to the cabinet under the toaster.", "output": ["STEP 6: Put the chilled bowl away in the cabinet under the toaster. "]} +{"id": "trial_T20190909_113743_603978-0%6", "input": "Put a chilled bowl away in the cabinet under the toaster. | STEP 1: Move to the counter right of the fridge in front of you. | STEP 2: Pick up the blue bowl on the counter, left of the fridge. | STEP 3: Bring the bowl to the fridge on the left. | STEP 4: Chill the bowl in the fridge. | STEP 5: Bring the chilled bowl to the right, to the cabinet under the toaster. | STEP 6: Put the chilled bowl away in the cabinet under the toaster. ", "output": ["END"]} +{"id": "trial_T20190909_113743_603978-1%0", "input": "take the bowl to the fridge then the cabinet", "output": ["STEP 1: go to the counter to the right of the fridge"]} +{"id": "trial_T20190909_113743_603978-1%1", "input": "take the bowl to the fridge then the cabinet | STEP 1: go to the counter to the right of the fridge", "output": ["STEP 2: pick up the blue bowl from the counter"]} +{"id": "trial_T20190909_113743_603978-1%2", "input": "take the bowl to the fridge then the cabinet | STEP 1: go to the counter to the right of the fridge | STEP 2: pick up the blue bowl from the counter", "output": ["STEP 3: take the bowl to the fridge"]} +{"id": "trial_T20190909_113743_603978-1%3", "input": "take the bowl to the fridge then the cabinet | STEP 1: go to the counter to the right of the fridge | STEP 2: pick up the blue bowl from the counter | STEP 3: take the bowl to the fridge", "output": ["STEP 4: put the bowl in the fridge then remove"]} +{"id": "trial_T20190909_113743_603978-1%4", "input": "take the bowl to the fridge then the cabinet | STEP 1: go to the counter to the right of the fridge | STEP 2: pick up the blue bowl from the counter | STEP 3: take the bowl to the fridge | STEP 4: put the bowl in the fridge then remove", "output": ["STEP 5: take the bowl to the cabinet on the bottom to the right of the fridge"]} +{"id": "trial_T20190909_113743_603978-1%5", "input": "take the bowl to the fridge then the cabinet | STEP 1: go to the counter to the right of the fridge | STEP 2: pick up the blue bowl from the counter | STEP 3: take the bowl to the fridge | STEP 4: put the bowl in the fridge then remove | STEP 5: take the bowl to the cabinet on the bottom to the right of the fridge", "output": ["STEP 6: put the bowl in the cabinet"]} +{"id": "trial_T20190909_113743_603978-1%6", "input": "take the bowl to the fridge then the cabinet | STEP 1: go to the counter to the right of the fridge | STEP 2: pick up the blue bowl from the counter | STEP 3: take the bowl to the fridge | STEP 4: put the bowl in the fridge then remove | STEP 5: take the bowl to the cabinet on the bottom to the right of the fridge | STEP 6: put the bowl in the cabinet", "output": ["END"]} +{"id": "trial_T20190908_034753_087158-2%0", "input": "Move two alarm clocks, cover keys.", "output": ["STEP 1: Turn right, go to far end of dresser, turn right to face dresser."]} +{"id": "trial_T20190908_034753_087158-2%1", "input": "Move two alarm clocks, cover keys. | STEP 1: Turn right, go to far end of dresser, turn right to face dresser.", "output": ["STEP 2: Pick up the right alarm clock, closest to the credit card."]} +{"id": "trial_T20190908_034753_087158-2%2", "input": "Move two alarm clocks, cover keys. | STEP 1: Turn right, go to far end of dresser, turn right to face dresser. | STEP 2: Pick up the right alarm clock, closest to the credit card.", "output": ["STEP 3: Turn right, proceed to desk. Turn right, proceed to shelf."]} +{"id": "trial_T20190908_034753_087158-2%3", "input": "Move two alarm clocks, cover keys. | STEP 1: Turn right, go to far end of dresser, turn right to face dresser. | STEP 2: Pick up the right alarm clock, closest to the credit card. | STEP 3: Turn right, proceed to desk. Turn right, proceed to shelf.", "output": ["STEP 4: Place alarm clock on second shelf down, to the left of the keys."]} +{"id": "trial_T20190908_034753_087158-2%4", "input": "Move two alarm clocks, cover keys. | STEP 1: Turn right, go to far end of dresser, turn right to face dresser. | STEP 2: Pick up the right alarm clock, closest to the credit card. | STEP 3: Turn right, proceed to desk. Turn right, proceed to shelf. | STEP 4: Place alarm clock on second shelf down, to the left of the keys.", "output": ["STEP 5: Turn around, proceed to dresser. Turn left, proceed to end of dresser, turn right to face dresser."]} +{"id": "trial_T20190908_034753_087158-2%5", "input": "Move two alarm clocks, cover keys. | STEP 1: Turn right, go to far end of dresser, turn right to face dresser. | STEP 2: Pick up the right alarm clock, closest to the credit card. | STEP 3: Turn right, proceed to desk. Turn right, proceed to shelf. | STEP 4: Place alarm clock on second shelf down, to the left of the keys. | STEP 5: Turn around, proceed to dresser. Turn left, proceed to end of dresser, turn right to face dresser.", "output": ["STEP 6: Pick up alarm clock from dresser."]} +{"id": "trial_T20190908_034753_087158-2%6", "input": "Move two alarm clocks, cover keys. | STEP 1: Turn right, go to far end of dresser, turn right to face dresser. | STEP 2: Pick up the right alarm clock, closest to the credit card. | STEP 3: Turn right, proceed to desk. Turn right, proceed to shelf. | STEP 4: Place alarm clock on second shelf down, to the left of the keys. | STEP 5: Turn around, proceed to dresser. Turn left, proceed to end of dresser, turn right to face dresser. | STEP 6: Pick up alarm clock from dresser.", "output": ["STEP 7: Turn around, proceed to desk. Turn right, proceed to shelf."]} +{"id": "trial_T20190908_034753_087158-2%7", "input": "Move two alarm clocks, cover keys. | STEP 1: Turn right, go to far end of dresser, turn right to face dresser. | STEP 2: Pick up the right alarm clock, closest to the credit card. | STEP 3: Turn right, proceed to desk. Turn right, proceed to shelf. | STEP 4: Place alarm clock on second shelf down, to the left of the keys. | STEP 5: Turn around, proceed to dresser. Turn left, proceed to end of dresser, turn right to face dresser. | STEP 6: Pick up alarm clock from dresser. | STEP 7: Turn around, proceed to desk. Turn right, proceed to shelf.", "output": ["STEP 8: Put alarm clock directly to the right of the other alarm clock, directly covering the keys."]} +{"id": "trial_T20190908_034753_087158-2%8", "input": "Move two alarm clocks, cover keys. | STEP 1: Turn right, go to far end of dresser, turn right to face dresser. | STEP 2: Pick up the right alarm clock, closest to the credit card. | STEP 3: Turn right, proceed to desk. Turn right, proceed to shelf. | STEP 4: Place alarm clock on second shelf down, to the left of the keys. | STEP 5: Turn around, proceed to dresser. Turn left, proceed to end of dresser, turn right to face dresser. | STEP 6: Pick up alarm clock from dresser. | STEP 7: Turn around, proceed to desk. Turn right, proceed to shelf. | STEP 8: Put alarm clock directly to the right of the other alarm clock, directly covering the keys.", "output": ["END"]} +{"id": "trial_T20190907_185854_345340-0%0", "input": "Put a chilled mug on the coffee maker.", "output": ["STEP 1: Move to the coffee maker ahead of you"]} +{"id": "trial_T20190907_185854_345340-0%1", "input": "Put a chilled mug on the coffee maker. | STEP 1: Move to the coffee maker ahead of you", "output": ["STEP 2: Pick up the mug from the coffee maker"]} +{"id": "trial_T20190907_185854_345340-0%2", "input": "Put a chilled mug on the coffee maker. | STEP 1: Move to the coffee maker ahead of you | STEP 2: Pick up the mug from the coffee maker", "output": ["STEP 3: Move to the fridge to the left of you"]} +{"id": "trial_T20190907_185854_345340-0%3", "input": "Put a chilled mug on the coffee maker. | STEP 1: Move to the coffee maker ahead of you | STEP 2: Pick up the mug from the coffee maker | STEP 3: Move to the fridge to the left of you", "output": ["STEP 4: Chill the mug in the fridge for a moment"]} +{"id": "trial_T20190907_185854_345340-0%4", "input": "Put a chilled mug on the coffee maker. | STEP 1: Move to the coffee maker ahead of you | STEP 2: Pick up the mug from the coffee maker | STEP 3: Move to the fridge to the left of you | STEP 4: Chill the mug in the fridge for a moment", "output": ["STEP 5: Move to the coffee maker to the right of the fridge"]} +{"id": "trial_T20190907_185854_345340-0%5", "input": "Put a chilled mug on the coffee maker. | STEP 1: Move to the coffee maker ahead of you | STEP 2: Pick up the mug from the coffee maker | STEP 3: Move to the fridge to the left of you | STEP 4: Chill the mug in the fridge for a moment | STEP 5: Move to the coffee maker to the right of the fridge", "output": ["STEP 6: Put the mug on the coffee maker"]} +{"id": "trial_T20190907_185854_345340-0%6", "input": "Put a chilled mug on the coffee maker. | STEP 1: Move to the coffee maker ahead of you | STEP 2: Pick up the mug from the coffee maker | STEP 3: Move to the fridge to the left of you | STEP 4: Chill the mug in the fridge for a moment | STEP 5: Move to the coffee maker to the right of the fridge | STEP 6: Put the mug on the coffee maker", "output": ["END"]} +{"id": "trial_T20190908_044755_484518-2%0", "input": "drop two remotes on the couch ", "output": ["STEP 1: move forward towards the table"]} +{"id": "trial_T20190908_044755_484518-2%1", "input": "drop two remotes on the couch | STEP 1: move forward towards the table", "output": ["STEP 2: pick up the remote "]} +{"id": "trial_T20190908_044755_484518-2%2", "input": "drop two remotes on the couch | STEP 1: move forward towards the table | STEP 2: pick up the remote ", "output": ["STEP 3: move left towards the couch "]} +{"id": "trial_T20190908_044755_484518-2%3", "input": "drop two remotes on the couch | STEP 1: move forward towards the table | STEP 2: pick up the remote | STEP 3: move left towards the couch ", "output": ["STEP 4: drop the remote on the couch"]} +{"id": "trial_T20190908_044755_484518-2%4", "input": "drop two remotes on the couch | STEP 1: move forward towards the table | STEP 2: pick up the remote | STEP 3: move left towards the couch | STEP 4: drop the remote on the couch", "output": ["STEP 5: turn around to the center table "]} +{"id": "trial_T20190908_044755_484518-2%5", "input": "drop two remotes on the couch | STEP 1: move forward towards the table | STEP 2: pick up the remote | STEP 3: move left towards the couch | STEP 4: drop the remote on the couch | STEP 5: turn around to the center table ", "output": ["STEP 6: pick up the remote on the center table"]} +{"id": "trial_T20190908_044755_484518-2%6", "input": "drop two remotes on the couch | STEP 1: move forward towards the table | STEP 2: pick up the remote | STEP 3: move left towards the couch | STEP 4: drop the remote on the couch | STEP 5: turn around to the center table | STEP 6: pick up the remote on the center table", "output": ["STEP 7: turn around to the couch"]} +{"id": "trial_T20190908_044755_484518-2%7", "input": "drop two remotes on the couch | STEP 1: move forward towards the table | STEP 2: pick up the remote | STEP 3: move left towards the couch | STEP 4: drop the remote on the couch | STEP 5: turn around to the center table | STEP 6: pick up the remote on the center table | STEP 7: turn around to the couch", "output": ["STEP 8: drop the remote on the couch"]} +{"id": "trial_T20190908_044755_484518-2%8", "input": "drop two remotes on the couch | STEP 1: move forward towards the table | STEP 2: pick up the remote | STEP 3: move left towards the couch | STEP 4: drop the remote on the couch | STEP 5: turn around to the center table | STEP 6: pick up the remote on the center table | STEP 7: turn around to the couch | STEP 8: drop the remote on the couch", "output": ["END"]} +{"id": "trial_T20190908_173225_092250-0%0", "input": "Place a pot filled with water on a stove. ", "output": ["STEP 1: Turn to your right, then walk towards the stove and turn to face it. "]} +{"id": "trial_T20190908_173225_092250-0%1", "input": "Place a pot filled with water on a stove. | STEP 1: Turn to your right, then walk towards the stove and turn to face it. ", "output": ["STEP 2: Pick up the pot from the back left burner of the stove."]} +{"id": "trial_T20190908_173225_092250-0%2", "input": "Place a pot filled with water on a stove. | STEP 1: Turn to your right, then walk towards the stove and turn to face it. | STEP 2: Pick up the pot from the back left burner of the stove.", "output": ["STEP 3: Turn around and walk to the sink. "]} +{"id": "trial_T20190908_173225_092250-0%3", "input": "Place a pot filled with water on a stove. | STEP 1: Turn to your right, then walk towards the stove and turn to face it. | STEP 2: Pick up the pot from the back left burner of the stove. | STEP 3: Turn around and walk to the sink. ", "output": ["STEP 4: Fill the pot with water. "]} +{"id": "trial_T20190908_173225_092250-0%4", "input": "Place a pot filled with water on a stove. | STEP 1: Turn to your right, then walk towards the stove and turn to face it. | STEP 2: Pick up the pot from the back left burner of the stove. | STEP 3: Turn around and walk to the sink. | STEP 4: Fill the pot with water. ", "output": ["STEP 5: Turn around and walk back to the stove. "]} +{"id": "trial_T20190908_173225_092250-0%5", "input": "Place a pot filled with water on a stove. | STEP 1: Turn to your right, then walk towards the stove and turn to face it. | STEP 2: Pick up the pot from the back left burner of the stove. | STEP 3: Turn around and walk to the sink. | STEP 4: Fill the pot with water. | STEP 5: Turn around and walk back to the stove. ", "output": ["STEP 6: Place the pot on the back left burner. "]} +{"id": "trial_T20190908_173225_092250-0%6", "input": "Place a pot filled with water on a stove. | STEP 1: Turn to your right, then walk towards the stove and turn to face it. | STEP 2: Pick up the pot from the back left burner of the stove. | STEP 3: Turn around and walk to the sink. | STEP 4: Fill the pot with water. | STEP 5: Turn around and walk back to the stove. | STEP 6: Place the pot on the back left burner. ", "output": ["END"]} +{"id": "trial_T20190908_173225_092250-2%0", "input": "To fill a pot with water and place it back on it's original burner.", "output": ["STEP 1: Turn around and step to the left to face the stove."]} +{"id": "trial_T20190908_173225_092250-2%1", "input": "To fill a pot with water and place it back on it's original burner. | STEP 1: Turn around and step to the left to face the stove.", "output": ["STEP 2: Pick up the pot on the back left burner."]} +{"id": "trial_T20190908_173225_092250-2%2", "input": "To fill a pot with water and place it back on it's original burner. | STEP 1: Turn around and step to the left to face the stove. | STEP 2: Pick up the pot on the back left burner.", "output": ["STEP 3: Turn around and step forward to face the sink."]} +{"id": "trial_T20190908_173225_092250-2%3", "input": "To fill a pot with water and place it back on it's original burner. | STEP 1: Turn around and step to the left to face the stove. | STEP 2: Pick up the pot on the back left burner. | STEP 3: Turn around and step forward to face the sink.", "output": ["STEP 4: Fill the pot with water and then pick it up."]} +{"id": "trial_T20190908_173225_092250-2%4", "input": "To fill a pot with water and place it back on it's original burner. | STEP 1: Turn around and step to the left to face the stove. | STEP 2: Pick up the pot on the back left burner. | STEP 3: Turn around and step forward to face the sink. | STEP 4: Fill the pot with water and then pick it up.", "output": ["STEP 5: Turn around and step forward to face the stove."]} +{"id": "trial_T20190908_173225_092250-2%5", "input": "To fill a pot with water and place it back on it's original burner. | STEP 1: Turn around and step to the left to face the stove. | STEP 2: Pick up the pot on the back left burner. | STEP 3: Turn around and step forward to face the sink. | STEP 4: Fill the pot with water and then pick it up. | STEP 5: Turn around and step forward to face the stove.", "output": ["STEP 6: Place the water filled pot on the back left burner."]} +{"id": "trial_T20190908_173225_092250-2%6", "input": "To fill a pot with water and place it back on it's original burner. | STEP 1: Turn around and step to the left to face the stove. | STEP 2: Pick up the pot on the back left burner. | STEP 3: Turn around and step forward to face the sink. | STEP 4: Fill the pot with water and then pick it up. | STEP 5: Turn around and step forward to face the stove. | STEP 6: Place the water filled pot on the back left burner.", "output": ["END"]} +{"id": "trial_T20190908_202304_829072-0%0", "input": "put two pencils in the top left drawer of the dresser.", "output": ["STEP 1: walk over to the bookshelf"]} +{"id": "trial_T20190908_202304_829072-0%1", "input": "put two pencils in the top left drawer of the dresser. | STEP 1: walk over to the bookshelf", "output": ["STEP 2: take the pencil from the shelf"]} +{"id": "trial_T20190908_202304_829072-0%2", "input": "put two pencils in the top left drawer of the dresser. | STEP 1: walk over to the bookshelf | STEP 2: take the pencil from the shelf", "output": ["STEP 3: take the pencil to the dresser"]} +{"id": "trial_T20190908_202304_829072-0%3", "input": "put two pencils in the top left drawer of the dresser. | STEP 1: walk over to the bookshelf | STEP 2: take the pencil from the shelf | STEP 3: take the pencil to the dresser", "output": ["STEP 4: put the pencil in the top drawer on the left"]} +{"id": "trial_T20190908_202304_829072-0%4", "input": "put two pencils in the top left drawer of the dresser. | STEP 1: walk over to the bookshelf | STEP 2: take the pencil from the shelf | STEP 3: take the pencil to the dresser | STEP 4: put the pencil in the top drawer on the left", "output": ["STEP 5: approach the top of the dresser"]} +{"id": "trial_T20190908_202304_829072-0%5", "input": "put two pencils in the top left drawer of the dresser. | STEP 1: walk over to the bookshelf | STEP 2: take the pencil from the shelf | STEP 3: take the pencil to the dresser | STEP 4: put the pencil in the top drawer on the left | STEP 5: approach the top of the dresser", "output": ["STEP 6: pick up the pencil from the top of the dresser"]} +{"id": "trial_T20190908_202304_829072-0%6", "input": "put two pencils in the top left drawer of the dresser. | STEP 1: walk over to the bookshelf | STEP 2: take the pencil from the shelf | STEP 3: take the pencil to the dresser | STEP 4: put the pencil in the top drawer on the left | STEP 5: approach the top of the dresser | STEP 6: pick up the pencil from the top of the dresser", "output": ["STEP 7: approach the left side of dresser again"]} +{"id": "trial_T20190908_202304_829072-0%7", "input": "put two pencils in the top left drawer of the dresser. | STEP 1: walk over to the bookshelf | STEP 2: take the pencil from the shelf | STEP 3: take the pencil to the dresser | STEP 4: put the pencil in the top drawer on the left | STEP 5: approach the top of the dresser | STEP 6: pick up the pencil from the top of the dresser | STEP 7: approach the left side of dresser again", "output": ["STEP 8: put the pencil in the top drawer on the left next to the first pencil"]} +{"id": "trial_T20190908_202304_829072-0%8", "input": "put two pencils in the top left drawer of the dresser. | STEP 1: walk over to the bookshelf | STEP 2: take the pencil from the shelf | STEP 3: take the pencil to the dresser | STEP 4: put the pencil in the top drawer on the left | STEP 5: approach the top of the dresser | STEP 6: pick up the pencil from the top of the dresser | STEP 7: approach the left side of dresser again | STEP 8: put the pencil in the top drawer on the left next to the first pencil", "output": ["END"]} +{"id": "trial_T20190908_060116_020381-0%0", "input": "Place chilled coffee mug on coffee maker", "output": ["STEP 1: turn around, go to counter with coffee maker"]} +{"id": "trial_T20190908_060116_020381-0%1", "input": "Place chilled coffee mug on coffee maker | STEP 1: turn around, go to counter with coffee maker", "output": ["STEP 2: pick up white coffee cup from heater area of coffee maker"]} +{"id": "trial_T20190908_060116_020381-0%2", "input": "Place chilled coffee mug on coffee maker | STEP 1: turn around, go to counter with coffee maker | STEP 2: pick up white coffee cup from heater area of coffee maker", "output": ["STEP 3: go to black refrigerator to the left"]} +{"id": "trial_T20190908_060116_020381-0%3", "input": "Place chilled coffee mug on coffee maker | STEP 1: turn around, go to counter with coffee maker | STEP 2: pick up white coffee cup from heater area of coffee maker | STEP 3: go to black refrigerator to the left", "output": ["STEP 4: place coffee cup on left side of top shelf of refrigerator, above tomato, close refrigerator, open refrigerator, pick up coffee mug, close refrigerator"]} +{"id": "trial_T20190908_060116_020381-0%4", "input": "Place chilled coffee mug on coffee maker | STEP 1: turn around, go to counter with coffee maker | STEP 2: pick up white coffee cup from heater area of coffee maker | STEP 3: go to black refrigerator to the left | STEP 4: place coffee cup on left side of top shelf of refrigerator, above tomato, close refrigerator, open refrigerator, pick up coffee mug, close refrigerator", "output": ["STEP 5: go to counter with coffee maker to the right"]} +{"id": "trial_T20190908_060116_020381-0%5", "input": "Place chilled coffee mug on coffee maker | STEP 1: turn around, go to counter with coffee maker | STEP 2: pick up white coffee cup from heater area of coffee maker | STEP 3: go to black refrigerator to the left | STEP 4: place coffee cup on left side of top shelf of refrigerator, above tomato, close refrigerator, open refrigerator, pick up coffee mug, close refrigerator | STEP 5: go to counter with coffee maker to the right", "output": ["STEP 6: place mug on heater area of coffee maker "]} +{"id": "trial_T20190908_060116_020381-0%6", "input": "Place chilled coffee mug on coffee maker | STEP 1: turn around, go to counter with coffee maker | STEP 2: pick up white coffee cup from heater area of coffee maker | STEP 3: go to black refrigerator to the left | STEP 4: place coffee cup on left side of top shelf of refrigerator, above tomato, close refrigerator, open refrigerator, pick up coffee mug, close refrigerator | STEP 5: go to counter with coffee maker to the right | STEP 6: place mug on heater area of coffee maker ", "output": ["END"]} +{"id": "trial_T20190908_202334_442437-2%0", "input": "Put two pencils in a drawer.", "output": ["STEP 1: Turn around, go past the dresser and hang a left, go past the bed and hang a left, go to the bedside table."]} +{"id": "trial_T20190908_202334_442437-2%1", "input": "Put two pencils in a drawer. | STEP 1: Turn around, go past the dresser and hang a left, go past the bed and hang a left, go to the bedside table.", "output": ["STEP 2: Pick up the pencil that is on the bedside table. "]} +{"id": "trial_T20190908_202334_442437-2%2", "input": "Put two pencils in a drawer. | STEP 1: Turn around, go past the dresser and hang a left, go past the bed and hang a left, go to the bedside table. | STEP 2: Pick up the pencil that is on the bedside table. ", "output": ["STEP 3: Turn around, go to the end of the bed and hang a right, go across the room to the black dresser. "]} +{"id": "trial_T20190908_202334_442437-2%3", "input": "Put two pencils in a drawer. | STEP 1: Turn around, go past the dresser and hang a left, go past the bed and hang a left, go to the bedside table. | STEP 2: Pick up the pencil that is on the bedside table. | STEP 3: Turn around, go to the end of the bed and hang a right, go across the room to the black dresser. ", "output": ["STEP 4: Put the pencil in the middle drawer, third from the left. "]} +{"id": "trial_T20190908_202334_442437-2%4", "input": "Put two pencils in a drawer. | STEP 1: Turn around, go past the dresser and hang a left, go past the bed and hang a left, go to the bedside table. | STEP 2: Pick up the pencil that is on the bedside table. | STEP 3: Turn around, go to the end of the bed and hang a right, go across the room to the black dresser. | STEP 4: Put the pencil in the middle drawer, third from the left. ", "output": ["STEP 5: Move forward toward to the dresser. "]} +{"id": "trial_T20190908_202334_442437-2%5", "input": "Put two pencils in a drawer. | STEP 1: Turn around, go past the dresser and hang a left, go past the bed and hang a left, go to the bedside table. | STEP 2: Pick up the pencil that is on the bedside table. | STEP 3: Turn around, go to the end of the bed and hang a right, go across the room to the black dresser. | STEP 4: Put the pencil in the middle drawer, third from the left. | STEP 5: Move forward toward to the dresser. ", "output": ["STEP 6: Pick up the pencil that is on top of the dresser. "]} +{"id": "trial_T20190908_202334_442437-2%6", "input": "Put two pencils in a drawer. | STEP 1: Turn around, go past the dresser and hang a left, go past the bed and hang a left, go to the bedside table. | STEP 2: Pick up the pencil that is on the bedside table. | STEP 3: Turn around, go to the end of the bed and hang a right, go across the room to the black dresser. | STEP 4: Put the pencil in the middle drawer, third from the left. | STEP 5: Move forward toward to the dresser. | STEP 6: Pick up the pencil that is on top of the dresser. ", "output": ["STEP 7: Turn around, go forward, turn around to face the dresser."]} +{"id": "trial_T20190908_202334_442437-2%7", "input": "Put two pencils in a drawer. | STEP 1: Turn around, go past the dresser and hang a left, go past the bed and hang a left, go to the bedside table. | STEP 2: Pick up the pencil that is on the bedside table. | STEP 3: Turn around, go to the end of the bed and hang a right, go across the room to the black dresser. | STEP 4: Put the pencil in the middle drawer, third from the left. | STEP 5: Move forward toward to the dresser. | STEP 6: Pick up the pencil that is on top of the dresser. | STEP 7: Turn around, go forward, turn around to face the dresser.", "output": ["STEP 8: Put the pencil in the middle drawer, third from the left. "]} +{"id": "trial_T20190908_202334_442437-2%8", "input": "Put two pencils in a drawer. | STEP 1: Turn around, go past the dresser and hang a left, go past the bed and hang a left, go to the bedside table. | STEP 2: Pick up the pencil that is on the bedside table. | STEP 3: Turn around, go to the end of the bed and hang a right, go across the room to the black dresser. | STEP 4: Put the pencil in the middle drawer, third from the left. | STEP 5: Move forward toward to the dresser. | STEP 6: Pick up the pencil that is on top of the dresser. | STEP 7: Turn around, go forward, turn around to face the dresser. | STEP 8: Put the pencil in the middle drawer, third from the left. ", "output": ["END"]} +{"id": "trial_T20190907_223324_518562-2%0", "input": "Move a cardboard box to the couch.", "output": ["STEP 1: Turn around, walk to the end of the couch, hang a left at the coffee table, and walk up to the cardboard box that is on the floor. "]} +{"id": "trial_T20190907_223324_518562-2%1", "input": "Move a cardboard box to the couch. | STEP 1: Turn around, walk to the end of the couch, hang a left at the coffee table, and walk up to the cardboard box that is on the floor. ", "output": ["STEP 2: Pick up the cardboard box that is on the floor. "]} +{"id": "trial_T20190907_223324_518562-2%2", "input": "Move a cardboard box to the couch. | STEP 1: Turn around, walk to the end of the couch, hang a left at the coffee table, and walk up to the cardboard box that is on the floor. | STEP 2: Pick up the cardboard box that is on the floor. ", "output": ["STEP 3: Turn around completely and head back towards the couch. "]} +{"id": "trial_T20190907_223324_518562-2%3", "input": "Move a cardboard box to the couch. | STEP 1: Turn around, walk to the end of the couch, hang a left at the coffee table, and walk up to the cardboard box that is on the floor. | STEP 2: Pick up the cardboard box that is on the floor. | STEP 3: Turn around completely and head back towards the couch. ", "output": ["STEP 4: Place the cardboard box down on the couch."]} +{"id": "trial_T20190907_223324_518562-2%4", "input": "Move a cardboard box to the couch. | STEP 1: Turn around, walk to the end of the couch, hang a left at the coffee table, and walk up to the cardboard box that is on the floor. | STEP 2: Pick up the cardboard box that is on the floor. | STEP 3: Turn around completely and head back towards the couch. | STEP 4: Place the cardboard box down on the couch.", "output": ["END"]} +{"id": "trial_T20190906_230538_685342-1%0", "input": "Put the knife plus a cold slice of potato in the recycling bin. ", "output": ["STEP 1: Walk straight to the counter top on top of the dishwasher. "]} +{"id": "trial_T20190906_230538_685342-1%1", "input": "Put the knife plus a cold slice of potato in the recycling bin. | STEP 1: Walk straight to the counter top on top of the dishwasher. ", "output": ["STEP 2: Grab the yellow knife on the counter top. "]} +{"id": "trial_T20190906_230538_685342-1%2", "input": "Put the knife plus a cold slice of potato in the recycling bin. | STEP 1: Walk straight to the counter top on top of the dishwasher. | STEP 2: Grab the yellow knife on the counter top. ", "output": ["STEP 3: Walk further to the front to the sink on the right side of the dishwasher. "]} +{"id": "trial_T20190906_230538_685342-1%3", "input": "Put the knife plus a cold slice of potato in the recycling bin. | STEP 1: Walk straight to the counter top on top of the dishwasher. | STEP 2: Grab the yellow knife on the counter top. | STEP 3: Walk further to the front to the sink on the right side of the dishwasher. ", "output": ["STEP 4: Cut the potato in the sink. "]} +{"id": "trial_T20190906_230538_685342-1%4", "input": "Put the knife plus a cold slice of potato in the recycling bin. | STEP 1: Walk straight to the counter top on top of the dishwasher. | STEP 2: Grab the yellow knife on the counter top. | STEP 3: Walk further to the front to the sink on the right side of the dishwasher. | STEP 4: Cut the potato in the sink. ", "output": ["STEP 5: Grab the knife and go to the recycling bin at the right corner of the room "]} +{"id": "trial_T20190906_230538_685342-1%5", "input": "Put the knife plus a cold slice of potato in the recycling bin. | STEP 1: Walk straight to the counter top on top of the dishwasher. | STEP 2: Grab the yellow knife on the counter top. | STEP 3: Walk further to the front to the sink on the right side of the dishwasher. | STEP 4: Cut the potato in the sink. | STEP 5: Grab the knife and go to the recycling bin at the right corner of the room ", "output": ["STEP 6: Put the knife in the recycling bin. "]} +{"id": "trial_T20190906_230538_685342-1%6", "input": "Put the knife plus a cold slice of potato in the recycling bin. | STEP 1: Walk straight to the counter top on top of the dishwasher. | STEP 2: Grab the yellow knife on the counter top. | STEP 3: Walk further to the front to the sink on the right side of the dishwasher. | STEP 4: Cut the potato in the sink. | STEP 5: Grab the knife and go to the recycling bin at the right corner of the room | STEP 6: Put the knife in the recycling bin. ", "output": ["STEP 7: Go to the left, turn right and go back to the sink again. "]} +{"id": "trial_T20190906_230538_685342-1%7", "input": "Put the knife plus a cold slice of potato in the recycling bin. | STEP 1: Walk straight to the counter top on top of the dishwasher. | STEP 2: Grab the yellow knife on the counter top. | STEP 3: Walk further to the front to the sink on the right side of the dishwasher. | STEP 4: Cut the potato in the sink. | STEP 5: Grab the knife and go to the recycling bin at the right corner of the room | STEP 6: Put the knife in the recycling bin. | STEP 7: Go to the left, turn right and go back to the sink again. ", "output": ["STEP 8: Grab a slice of potato from the sink. "]} +{"id": "trial_T20190906_230538_685342-1%8", "input": "Put the knife plus a cold slice of potato in the recycling bin. | STEP 1: Walk straight to the counter top on top of the dishwasher. | STEP 2: Grab the yellow knife on the counter top. | STEP 3: Walk further to the front to the sink on the right side of the dishwasher. | STEP 4: Cut the potato in the sink. | STEP 5: Grab the knife and go to the recycling bin at the right corner of the room | STEP 6: Put the knife in the recycling bin. | STEP 7: Go to the left, turn right and go back to the sink again. | STEP 8: Grab a slice of potato from the sink. ", "output": ["STEP 9: Go to the left and walk towards the refrigerator. "]} +{"id": "trial_T20190906_230538_685342-1%9", "input": "Put the knife plus a cold slice of potato in the recycling bin. | STEP 1: Walk straight to the counter top on top of the dishwasher. | STEP 2: Grab the yellow knife on the counter top. | STEP 3: Walk further to the front to the sink on the right side of the dishwasher. | STEP 4: Cut the potato in the sink. | STEP 5: Grab the knife and go to the recycling bin at the right corner of the room | STEP 6: Put the knife in the recycling bin. | STEP 7: Go to the left, turn right and go back to the sink again. | STEP 8: Grab a slice of potato from the sink. | STEP 9: Go to the left and walk towards the refrigerator. ", "output": ["STEP 10: Open the refrigerator, put the potato slice next to the clear glass, close the refrigerator, leave it for a few seconds and then grab the slice of potato again. "]} +{"id": "trial_T20190906_230538_685342-1%10", "input": "Put the knife plus a cold slice of potato in the recycling bin. | STEP 1: Walk straight to the counter top on top of the dishwasher. | STEP 2: Grab the yellow knife on the counter top. | STEP 3: Walk further to the front to the sink on the right side of the dishwasher. | STEP 4: Cut the potato in the sink. | STEP 5: Grab the knife and go to the recycling bin at the right corner of the room | STEP 6: Put the knife in the recycling bin. | STEP 7: Go to the left, turn right and go back to the sink again. | STEP 8: Grab a slice of potato from the sink. | STEP 9: Go to the left and walk towards the refrigerator. | STEP 10: Open the refrigerator, put the potato slice next to the clear glass, close the refrigerator, leave it for a few seconds and then grab the slice of potato again. ", "output": ["STEP 11: Walk to your right and go straight to the recycling bin. "]} +{"id": "trial_T20190906_230538_685342-1%11", "input": "Put the knife plus a cold slice of potato in the recycling bin. | STEP 1: Walk straight to the counter top on top of the dishwasher. | STEP 2: Grab the yellow knife on the counter top. | STEP 3: Walk further to the front to the sink on the right side of the dishwasher. | STEP 4: Cut the potato in the sink. | STEP 5: Grab the knife and go to the recycling bin at the right corner of the room | STEP 6: Put the knife in the recycling bin. | STEP 7: Go to the left, turn right and go back to the sink again. | STEP 8: Grab a slice of potato from the sink. | STEP 9: Go to the left and walk towards the refrigerator. | STEP 10: Open the refrigerator, put the potato slice next to the clear glass, close the refrigerator, leave it for a few seconds and then grab the slice of potato again. | STEP 11: Walk to your right and go straight to the recycling bin. ", "output": ["STEP 12: Put the slice of potato in the recycling bin. "]} +{"id": "trial_T20190906_230538_685342-1%12", "input": "Put the knife plus a cold slice of potato in the recycling bin. | STEP 1: Walk straight to the counter top on top of the dishwasher. | STEP 2: Grab the yellow knife on the counter top. | STEP 3: Walk further to the front to the sink on the right side of the dishwasher. | STEP 4: Cut the potato in the sink. | STEP 5: Grab the knife and go to the recycling bin at the right corner of the room | STEP 6: Put the knife in the recycling bin. | STEP 7: Go to the left, turn right and go back to the sink again. | STEP 8: Grab a slice of potato from the sink. | STEP 9: Go to the left and walk towards the refrigerator. | STEP 10: Open the refrigerator, put the potato slice next to the clear glass, close the refrigerator, leave it for a few seconds and then grab the slice of potato again. | STEP 11: Walk to your right and go straight to the recycling bin. | STEP 12: Put the slice of potato in the recycling bin. ", "output": ["END"]} +{"id": "trial_T20190909_081113_505085-1%0", "input": "Place a pen on a dresser.", "output": ["STEP 1: Walk left to the front of the desk."]} +{"id": "trial_T20190909_081113_505085-1%1", "input": "Place a pen on a dresser. | STEP 1: Walk left to the front of the desk.", "output": ["STEP 2: Pick up the black and white pen."]} +{"id": "trial_T20190909_081113_505085-1%2", "input": "Place a pen on a dresser. | STEP 1: Walk left to the front of the desk. | STEP 2: Pick up the black and white pen.", "output": ["STEP 3: Turn right and walk to the dresser."]} +{"id": "trial_T20190909_081113_505085-1%3", "input": "Place a pen on a dresser. | STEP 1: Walk left to the front of the desk. | STEP 2: Pick up the black and white pen. | STEP 3: Turn right and walk to the dresser.", "output": ["STEP 4: Place the pen on the dresser, on the left side."]} +{"id": "trial_T20190909_081113_505085-1%4", "input": "Place a pen on a dresser. | STEP 1: Walk left to the front of the desk. | STEP 2: Pick up the black and white pen. | STEP 3: Turn right and walk to the dresser. | STEP 4: Place the pen on the dresser, on the left side.", "output": ["END"]} +{"id": "trial_T20190909_081113_505085-2%0", "input": "Place a pen on a dresser.", "output": ["STEP 1: Turn around, hang a right at the bed and walk to the white table on the right."]} +{"id": "trial_T20190909_081113_505085-2%1", "input": "Place a pen on a dresser. | STEP 1: Turn around, hang a right at the bed and walk to the white table on the right.", "output": ["STEP 2: Pick up the black pen from the middle of the table."]} +{"id": "trial_T20190909_081113_505085-2%2", "input": "Place a pen on a dresser. | STEP 1: Turn around, hang a right at the bed and walk to the white table on the right. | STEP 2: Pick up the black pen from the middle of the table.", "output": ["STEP 3: Turn right, hang a left to the wall at the end of the table and walk to the wooden dresser on the right."]} +{"id": "trial_T20190909_081113_505085-2%3", "input": "Place a pen on a dresser. | STEP 1: Turn around, hang a right at the bed and walk to the white table on the right. | STEP 2: Pick up the black pen from the middle of the table. | STEP 3: Turn right, hang a left to the wall at the end of the table and walk to the wooden dresser on the right.", "output": ["STEP 4: Put the pen on the left side of the dresser."]} +{"id": "trial_T20190909_081113_505085-2%4", "input": "Place a pen on a dresser. | STEP 1: Turn around, hang a right at the bed and walk to the white table on the right. | STEP 2: Pick up the black pen from the middle of the table. | STEP 3: Turn right, hang a left to the wall at the end of the table and walk to the wooden dresser on the right. | STEP 4: Put the pen on the left side of the dresser.", "output": ["END"]} +{"id": "trial_T20190909_170648_968391-1%0", "input": "Put soap bottles on the middle shelf next to Kleenex.", "output": ["STEP 1: Move around to the shelves and face the bathtub."]} +{"id": "trial_T20190909_170648_968391-1%1", "input": "Put soap bottles on the middle shelf next to Kleenex. | STEP 1: Move around to the shelves and face the bathtub.", "output": ["STEP 2: Pick up the bottle of soap of the left side of the bathtub."]} +{"id": "trial_T20190909_170648_968391-1%2", "input": "Put soap bottles on the middle shelf next to Kleenex. | STEP 1: Move around to the shelves and face the bathtub. | STEP 2: Pick up the bottle of soap of the left side of the bathtub.", "output": ["STEP 3: Turn around to the shelves."]} +{"id": "trial_T20190909_170648_968391-1%3", "input": "Put soap bottles on the middle shelf next to Kleenex. | STEP 1: Move around to the shelves and face the bathtub. | STEP 2: Pick up the bottle of soap of the left side of the bathtub. | STEP 3: Turn around to the shelves.", "output": ["STEP 4: Place the bottle of soap on the middle shelf on the left side of the Kleenex."]} +{"id": "trial_T20190909_170648_968391-1%4", "input": "Put soap bottles on the middle shelf next to Kleenex. | STEP 1: Move around to the shelves and face the bathtub. | STEP 2: Pick up the bottle of soap of the left side of the bathtub. | STEP 3: Turn around to the shelves. | STEP 4: Place the bottle of soap on the middle shelf on the left side of the Kleenex.", "output": ["STEP 5: Turn around and head to the trashcan on the left of the toilet."]} +{"id": "trial_T20190909_170648_968391-1%5", "input": "Put soap bottles on the middle shelf next to Kleenex. | STEP 1: Move around to the shelves and face the bathtub. | STEP 2: Pick up the bottle of soap of the left side of the bathtub. | STEP 3: Turn around to the shelves. | STEP 4: Place the bottle of soap on the middle shelf on the left side of the Kleenex. | STEP 5: Turn around and head to the trashcan on the left of the toilet.", "output": ["STEP 6: Pick up the bottle out of the trashcan."]} +{"id": "trial_T20190909_170648_968391-1%6", "input": "Put soap bottles on the middle shelf next to Kleenex. | STEP 1: Move around to the shelves and face the bathtub. | STEP 2: Pick up the bottle of soap of the left side of the bathtub. | STEP 3: Turn around to the shelves. | STEP 4: Place the bottle of soap on the middle shelf on the left side of the Kleenex. | STEP 5: Turn around and head to the trashcan on the left of the toilet. | STEP 6: Pick up the bottle out of the trashcan.", "output": ["STEP 7: Turn around and go back to the shelves."]} +{"id": "trial_T20190909_170648_968391-1%7", "input": "Put soap bottles on the middle shelf next to Kleenex. | STEP 1: Move around to the shelves and face the bathtub. | STEP 2: Pick up the bottle of soap of the left side of the bathtub. | STEP 3: Turn around to the shelves. | STEP 4: Place the bottle of soap on the middle shelf on the left side of the Kleenex. | STEP 5: Turn around and head to the trashcan on the left of the toilet. | STEP 6: Pick up the bottle out of the trashcan. | STEP 7: Turn around and go back to the shelves.", "output": ["STEP 8: Place the bottle the bottle next to the other bottle on the middle shelf."]} +{"id": "trial_T20190909_170648_968391-1%8", "input": "Put soap bottles on the middle shelf next to Kleenex. | STEP 1: Move around to the shelves and face the bathtub. | STEP 2: Pick up the bottle of soap of the left side of the bathtub. | STEP 3: Turn around to the shelves. | STEP 4: Place the bottle of soap on the middle shelf on the left side of the Kleenex. | STEP 5: Turn around and head to the trashcan on the left of the toilet. | STEP 6: Pick up the bottle out of the trashcan. | STEP 7: Turn around and go back to the shelves. | STEP 8: Place the bottle the bottle next to the other bottle on the middle shelf.", "output": ["END"]} +{"id": "trial_T20190909_105410_744007-1%0", "input": "Put a set of keys on a brown couch.", "output": ["STEP 1: Turn around and face the coffee table with the plant on top."]} +{"id": "trial_T20190909_105410_744007-1%1", "input": "Put a set of keys on a brown couch. | STEP 1: Turn around and face the coffee table with the plant on top.", "output": ["STEP 2: Pick up the set of keys next to the figurine on the coffee table."]} +{"id": "trial_T20190909_105410_744007-1%2", "input": "Put a set of keys on a brown couch. | STEP 1: Turn around and face the coffee table with the plant on top. | STEP 2: Pick up the set of keys next to the figurine on the coffee table.", "output": ["STEP 3: Turn around and face the brown couch."]} +{"id": "trial_T20190909_105410_744007-1%3", "input": "Put a set of keys on a brown couch. | STEP 1: Turn around and face the coffee table with the plant on top. | STEP 2: Pick up the set of keys next to the figurine on the coffee table. | STEP 3: Turn around and face the brown couch.", "output": ["STEP 4: Put the set of keys on the right side of the brown couch."]} +{"id": "trial_T20190909_105410_744007-1%4", "input": "Put a set of keys on a brown couch. | STEP 1: Turn around and face the coffee table with the plant on top. | STEP 2: Pick up the set of keys next to the figurine on the coffee table. | STEP 3: Turn around and face the brown couch. | STEP 4: Put the set of keys on the right side of the brown couch.", "output": ["END"]} +{"id": "trial_T20190907_213934_523763-2%0", "input": "Put a mug with a knife in it on a table.", "output": ["STEP 1: Turn around, go straight to the sink."]} +{"id": "trial_T20190907_213934_523763-2%1", "input": "Put a mug with a knife in it on a table. | STEP 1: Turn around, go straight to the sink.", "output": ["STEP 2: Take the knife from the sink."]} +{"id": "trial_T20190907_213934_523763-2%2", "input": "Put a mug with a knife in it on a table. | STEP 1: Turn around, go straight to the sink. | STEP 2: Take the knife from the sink.", "output": ["STEP 3: Stay at the sink but move right a little."]} +{"id": "trial_T20190907_213934_523763-2%3", "input": "Put a mug with a knife in it on a table. | STEP 1: Turn around, go straight to the sink. | STEP 2: Take the knife from the sink. | STEP 3: Stay at the sink but move right a little.", "output": ["STEP 4: Put the knife in the white mug in the sink."]} +{"id": "trial_T20190907_213934_523763-2%4", "input": "Put a mug with a knife in it on a table. | STEP 1: Turn around, go straight to the sink. | STEP 2: Take the knife from the sink. | STEP 3: Stay at the sink but move right a little. | STEP 4: Put the knife in the white mug in the sink.", "output": ["STEP 5: Take the mug from the sink."]} +{"id": "trial_T20190907_213934_523763-2%5", "input": "Put a mug with a knife in it on a table. | STEP 1: Turn around, go straight to the sink. | STEP 2: Take the knife from the sink. | STEP 3: Stay at the sink but move right a little. | STEP 4: Put the knife in the white mug in the sink. | STEP 5: Take the mug from the sink.", "output": ["STEP 6: Turn right, go towards the window, turn left to face the round table."]} +{"id": "trial_T20190907_213934_523763-2%6", "input": "Put a mug with a knife in it on a table. | STEP 1: Turn around, go straight to the sink. | STEP 2: Take the knife from the sink. | STEP 3: Stay at the sink but move right a little. | STEP 4: Put the knife in the white mug in the sink. | STEP 5: Take the mug from the sink. | STEP 6: Turn right, go towards the window, turn left to face the round table.", "output": ["STEP 7: Put the mug on the round table."]} +{"id": "trial_T20190907_213934_523763-2%7", "input": "Put a mug with a knife in it on a table. | STEP 1: Turn around, go straight to the sink. | STEP 2: Take the knife from the sink. | STEP 3: Stay at the sink but move right a little. | STEP 4: Put the knife in the white mug in the sink. | STEP 5: Take the mug from the sink. | STEP 6: Turn right, go towards the window, turn left to face the round table. | STEP 7: Put the mug on the round table.", "output": ["END"]} +{"id": "trial_T20190908_125025_238563-1%0", "input": "Pick soap up from tub, wash soap in sink, put soap on box in front of sink.", "output": ["STEP 1: Turn right and go to tub."]} +{"id": "trial_T20190908_125025_238563-1%1", "input": "Pick soap up from tub, wash soap in sink, put soap on box in front of sink. | STEP 1: Turn right and go to tub.", "output": ["STEP 2: Pick up soap from tub."]} +{"id": "trial_T20190908_125025_238563-1%2", "input": "Pick soap up from tub, wash soap in sink, put soap on box in front of sink. | STEP 1: Turn right and go to tub. | STEP 2: Pick up soap from tub.", "output": ["STEP 3: Turn around, go straight until reach sink on left. Turn left to face sink. Proceed to sink."]} +{"id": "trial_T20190908_125025_238563-1%3", "input": "Pick soap up from tub, wash soap in sink, put soap on box in front of sink. | STEP 1: Turn right and go to tub. | STEP 2: Pick up soap from tub. | STEP 3: Turn around, go straight until reach sink on left. Turn left to face sink. Proceed to sink.", "output": ["STEP 4: Put soap in sink, fill sink with water, empty water. Pick up soap."]} +{"id": "trial_T20190908_125025_238563-1%4", "input": "Pick soap up from tub, wash soap in sink, put soap on box in front of sink. | STEP 1: Turn right and go to tub. | STEP 2: Pick up soap from tub. | STEP 3: Turn around, go straight until reach sink on left. Turn left to face sink. Proceed to sink. | STEP 4: Put soap in sink, fill sink with water, empty water. Pick up soap.", "output": ["STEP 5: Turn around, go half way the length of the tub on right."]} +{"id": "trial_T20190908_125025_238563-1%5", "input": "Pick soap up from tub, wash soap in sink, put soap on box in front of sink. | STEP 1: Turn right and go to tub. | STEP 2: Pick up soap from tub. | STEP 3: Turn around, go straight until reach sink on left. Turn left to face sink. Proceed to sink. | STEP 4: Put soap in sink, fill sink with water, empty water. Pick up soap. | STEP 5: Turn around, go half way the length of the tub on right.", "output": ["STEP 6: Put soap on box on floor in front of sink."]} +{"id": "trial_T20190908_125025_238563-1%6", "input": "Pick soap up from tub, wash soap in sink, put soap on box in front of sink. | STEP 1: Turn right and go to tub. | STEP 2: Pick up soap from tub. | STEP 3: Turn around, go straight until reach sink on left. Turn left to face sink. Proceed to sink. | STEP 4: Put soap in sink, fill sink with water, empty water. Pick up soap. | STEP 5: Turn around, go half way the length of the tub on right. | STEP 6: Put soap on box on floor in front of sink.", "output": ["END"]} +{"id": "trial_T20190908_125025_238563-2%0", "input": "Put a clean bar of soap on a shelf.", "output": ["STEP 1: Turn right and walk over to the tub."]} +{"id": "trial_T20190908_125025_238563-2%1", "input": "Put a clean bar of soap on a shelf. | STEP 1: Turn right and walk over to the tub.", "output": ["STEP 2: Pick up the bar of soap out of the tub."]} +{"id": "trial_T20190908_125025_238563-2%2", "input": "Put a clean bar of soap on a shelf. | STEP 1: Turn right and walk over to the tub. | STEP 2: Pick up the bar of soap out of the tub.", "output": ["STEP 3: Turn around and walk towards the wall, then hang a left and walk over to the sink."]} +{"id": "trial_T20190908_125025_238563-2%3", "input": "Put a clean bar of soap on a shelf. | STEP 1: Turn right and walk over to the tub. | STEP 2: Pick up the bar of soap out of the tub. | STEP 3: Turn around and walk towards the wall, then hang a left and walk over to the sink.", "output": ["STEP 4: Put the bar of soap in the sink and turn on the water, after a couple seconds turn off the water and remove the now clean bar of soap."]} +{"id": "trial_T20190908_125025_238563-2%4", "input": "Put a clean bar of soap on a shelf. | STEP 1: Turn right and walk over to the tub. | STEP 2: Pick up the bar of soap out of the tub. | STEP 3: Turn around and walk towards the wall, then hang a left and walk over to the sink. | STEP 4: Put the bar of soap in the sink and turn on the water, after a couple seconds turn off the water and remove the now clean bar of soap.", "output": ["STEP 5: Turn left and walk towards the tub, then turn left and walk over to wall."]} +{"id": "trial_T20190908_125025_238563-2%5", "input": "Put a clean bar of soap on a shelf. | STEP 1: Turn right and walk over to the tub. | STEP 2: Pick up the bar of soap out of the tub. | STEP 3: Turn around and walk towards the wall, then hang a left and walk over to the sink. | STEP 4: Put the bar of soap in the sink and turn on the water, after a couple seconds turn off the water and remove the now clean bar of soap. | STEP 5: Turn left and walk towards the tub, then turn left and walk over to wall.", "output": ["STEP 6: Put the clean bar of soap on the shelf in lower shelf in front of you."]} +{"id": "trial_T20190908_125025_238563-2%6", "input": "Put a clean bar of soap on a shelf. | STEP 1: Turn right and walk over to the tub. | STEP 2: Pick up the bar of soap out of the tub. | STEP 3: Turn around and walk towards the wall, then hang a left and walk over to the sink. | STEP 4: Put the bar of soap in the sink and turn on the water, after a couple seconds turn off the water and remove the now clean bar of soap. | STEP 5: Turn left and walk towards the tub, then turn left and walk over to wall. | STEP 6: Put the clean bar of soap on the shelf in lower shelf in front of you.", "output": ["END"]} +{"id": "trial_T20190908_033320_405582-0%0", "input": "To wash a bar of soap and place it on the left back side of the sink.", "output": ["STEP 1: Step to the right to face the cabinet below the right side of the sink."]} +{"id": "trial_T20190908_033320_405582-0%1", "input": "To wash a bar of soap and place it on the left back side of the sink. | STEP 1: Step to the right to face the cabinet below the right side of the sink.", "output": ["STEP 2: Pick up the bar of soap under the right side of the sink."]} +{"id": "trial_T20190908_033320_405582-0%2", "input": "To wash a bar of soap and place it on the left back side of the sink. | STEP 1: Step to the right to face the cabinet below the right side of the sink. | STEP 2: Pick up the bar of soap under the right side of the sink.", "output": ["STEP 3: Step to the left to face the left side of the sink."]} +{"id": "trial_T20190908_033320_405582-0%3", "input": "To wash a bar of soap and place it on the left back side of the sink. | STEP 1: Step to the right to face the cabinet below the right side of the sink. | STEP 2: Pick up the bar of soap under the right side of the sink. | STEP 3: Step to the left to face the left side of the sink.", "output": ["STEP 4: Wash the bar of soap in the sink and remove it."]} +{"id": "trial_T20190908_033320_405582-0%4", "input": "To wash a bar of soap and place it on the left back side of the sink. | STEP 1: Step to the right to face the cabinet below the right side of the sink. | STEP 2: Pick up the bar of soap under the right side of the sink. | STEP 3: Step to the left to face the left side of the sink. | STEP 4: Wash the bar of soap in the sink and remove it.", "output": ["STEP 5: Walk around the left side of the sink to face the side of the left sink."]} +{"id": "trial_T20190908_033320_405582-0%5", "input": "To wash a bar of soap and place it on the left back side of the sink. | STEP 1: Step to the right to face the cabinet below the right side of the sink. | STEP 2: Pick up the bar of soap under the right side of the sink. | STEP 3: Step to the left to face the left side of the sink. | STEP 4: Wash the bar of soap in the sink and remove it. | STEP 5: Walk around the left side of the sink to face the side of the left sink.", "output": ["STEP 6: Place the bar of soap on the back of the sink on the left edge."]} +{"id": "trial_T20190908_033320_405582-0%6", "input": "To wash a bar of soap and place it on the left back side of the sink. | STEP 1: Step to the right to face the cabinet below the right side of the sink. | STEP 2: Pick up the bar of soap under the right side of the sink. | STEP 3: Step to the left to face the left side of the sink. | STEP 4: Wash the bar of soap in the sink and remove it. | STEP 5: Walk around the left side of the sink to face the side of the left sink. | STEP 6: Place the bar of soap on the back of the sink on the left edge.", "output": ["END"]} +{"id": "trial_T20190908_033320_405582-2%0", "input": "Place the wet soap on the counter by the spray bottle. ", "output": ["STEP 1: Turn to the right and go to the sink next to the wall"]} +{"id": "trial_T20190908_033320_405582-2%1", "input": "Place the wet soap on the counter by the spray bottle. | STEP 1: Turn to the right and go to the sink next to the wall", "output": ["STEP 2: Open the cabinet door on the right next to the wall and get the pink soap"]} +{"id": "trial_T20190908_033320_405582-2%2", "input": "Place the wet soap on the counter by the spray bottle. | STEP 1: Turn to the right and go to the sink next to the wall | STEP 2: Open the cabinet door on the right next to the wall and get the pink soap", "output": ["STEP 3: Turn to the left and go to the sink closest to shower. "]} +{"id": "trial_T20190908_033320_405582-2%3", "input": "Place the wet soap on the counter by the spray bottle. | STEP 1: Turn to the right and go to the sink next to the wall | STEP 2: Open the cabinet door on the right next to the wall and get the pink soap | STEP 3: Turn to the left and go to the sink closest to shower. ", "output": ["STEP 4: Place the soap in the sink in front of you and turn the water on."]} +{"id": "trial_T20190908_033320_405582-2%4", "input": "Place the wet soap on the counter by the spray bottle. | STEP 1: Turn to the right and go to the sink next to the wall | STEP 2: Open the cabinet door on the right next to the wall and get the pink soap | STEP 3: Turn to the left and go to the sink closest to shower. | STEP 4: Place the soap in the sink in front of you and turn the water on.", "output": ["STEP 5: Pick up the soap in the sink."]} +{"id": "trial_T20190908_033320_405582-2%5", "input": "Place the wet soap on the counter by the spray bottle. | STEP 1: Turn to the right and go to the sink next to the wall | STEP 2: Open the cabinet door on the right next to the wall and get the pink soap | STEP 3: Turn to the left and go to the sink closest to shower. | STEP 4: Place the soap in the sink in front of you and turn the water on. | STEP 5: Pick up the soap in the sink.", "output": ["STEP 6: Turn to the left and go to the wall between counter and shower and place the soap behind the spray bottle."]} +{"id": "trial_T20190908_033320_405582-2%6", "input": "Place the wet soap on the counter by the spray bottle. | STEP 1: Turn to the right and go to the sink next to the wall | STEP 2: Open the cabinet door on the right next to the wall and get the pink soap | STEP 3: Turn to the left and go to the sink closest to shower. | STEP 4: Place the soap in the sink in front of you and turn the water on. | STEP 5: Pick up the soap in the sink. | STEP 6: Turn to the left and go to the wall between counter and shower and place the soap behind the spray bottle.", "output": ["END"]} +{"id": "trial_T20190918_204713_327023-2%0", "input": "Place the laptop from the dresser on the bed.", "output": ["STEP 1: Turn right and head towards the dresser to your right."]} +{"id": "trial_T20190918_204713_327023-2%1", "input": "Place the laptop from the dresser on the bed. | STEP 1: Turn right and head towards the dresser to your right.", "output": ["STEP 2: Close the lid of the laptop on the dresser and pick it up."]} +{"id": "trial_T20190918_204713_327023-2%2", "input": "Place the laptop from the dresser on the bed. | STEP 1: Turn right and head towards the dresser to your right. | STEP 2: Close the lid of the laptop on the dresser and pick it up.", "output": ["STEP 3: Turn right, head towards the edge of the bed, turn right and head towards the middle of the bed to your right."]} +{"id": "trial_T20190918_204713_327023-2%3", "input": "Place the laptop from the dresser on the bed. | STEP 1: Turn right and head towards the dresser to your right. | STEP 2: Close the lid of the laptop on the dresser and pick it up. | STEP 3: Turn right, head towards the edge of the bed, turn right and head towards the middle of the bed to your right.", "output": ["STEP 4: Place the computer on the bed."]} +{"id": "trial_T20190918_204713_327023-2%4", "input": "Place the laptop from the dresser on the bed. | STEP 1: Turn right and head towards the dresser to your right. | STEP 2: Close the lid of the laptop on the dresser and pick it up. | STEP 3: Turn right, head towards the edge of the bed, turn right and head towards the middle of the bed to your right. | STEP 4: Place the computer on the bed.", "output": ["END"]} +{"id": "trial_T20190908_151034_192119-1%0", "input": "move soap from counter to inside cabinet ", "output": ["STEP 1: walk forward, turn left, walk to the sink"]} +{"id": "trial_T20190908_151034_192119-1%1", "input": "move soap from counter to inside cabinet | STEP 1: walk forward, turn left, walk to the sink", "output": ["STEP 2: pick up the pink bar of soap that is next to the sink"]} +{"id": "trial_T20190908_151034_192119-1%2", "input": "move soap from counter to inside cabinet | STEP 1: walk forward, turn left, walk to the sink | STEP 2: pick up the pink bar of soap that is next to the sink", "output": ["STEP 3: put the soap in the sink, turn the water on and then off, take the bar of soap out"]} +{"id": "trial_T20190908_151034_192119-1%3", "input": "move soap from counter to inside cabinet | STEP 1: walk forward, turn left, walk to the sink | STEP 2: pick up the pink bar of soap that is next to the sink | STEP 3: put the soap in the sink, turn the water on and then off, take the bar of soap out", "output": ["STEP 4: turn around, take a few steps, turn around"]} +{"id": "trial_T20190908_151034_192119-1%4", "input": "move soap from counter to inside cabinet | STEP 1: walk forward, turn left, walk to the sink | STEP 2: pick up the pink bar of soap that is next to the sink | STEP 3: put the soap in the sink, turn the water on and then off, take the bar of soap out | STEP 4: turn around, take a few steps, turn around", "output": ["STEP 5: open cabinet on the right, put soap in, close cabinet"]} +{"id": "trial_T20190908_151034_192119-1%5", "input": "move soap from counter to inside cabinet | STEP 1: walk forward, turn left, walk to the sink | STEP 2: pick up the pink bar of soap that is next to the sink | STEP 3: put the soap in the sink, turn the water on and then off, take the bar of soap out | STEP 4: turn around, take a few steps, turn around | STEP 5: open cabinet on the right, put soap in, close cabinet", "output": ["END"]} +{"id": "trial_T20190909_085839_778499-1%0", "input": "Heat up a potato slice in the microwave to put in the sink.", "output": ["STEP 1: Make a left, hanging a left around the sink to reach the small round table."]} +{"id": "trial_T20190909_085839_778499-1%1", "input": "Heat up a potato slice in the microwave to put in the sink. | STEP 1: Make a left, hanging a left around the sink to reach the small round table.", "output": ["STEP 2: Pick up the knife on the small round table."]} +{"id": "trial_T20190909_085839_778499-1%2", "input": "Heat up a potato slice in the microwave to put in the sink. | STEP 1: Make a left, hanging a left around the sink to reach the small round table. | STEP 2: Pick up the knife on the small round table.", "output": ["STEP 3: Turn to face the potato on the small round table."]} +{"id": "trial_T20190909_085839_778499-1%3", "input": "Heat up a potato slice in the microwave to put in the sink. | STEP 1: Make a left, hanging a left around the sink to reach the small round table. | STEP 2: Pick up the knife on the small round table. | STEP 3: Turn to face the potato on the small round table.", "output": ["STEP 4: Slice the potato with the knife."]} +{"id": "trial_T20190909_085839_778499-1%4", "input": "Heat up a potato slice in the microwave to put in the sink. | STEP 1: Make a left, hanging a left around the sink to reach the small round table. | STEP 2: Pick up the knife on the small round table. | STEP 3: Turn to face the potato on the small round table. | STEP 4: Slice the potato with the knife.", "output": ["STEP 5: Turn right to walk to the sink."]} +{"id": "trial_T20190909_085839_778499-1%5", "input": "Heat up a potato slice in the microwave to put in the sink. | STEP 1: Make a left, hanging a left around the sink to reach the small round table. | STEP 2: Pick up the knife on the small round table. | STEP 3: Turn to face the potato on the small round table. | STEP 4: Slice the potato with the knife. | STEP 5: Turn right to walk to the sink.", "output": ["STEP 6: Put the knife in the sink."]} +{"id": "trial_T20190909_085839_778499-1%6", "input": "Heat up a potato slice in the microwave to put in the sink. | STEP 1: Make a left, hanging a left around the sink to reach the small round table. | STEP 2: Pick up the knife on the small round table. | STEP 3: Turn to face the potato on the small round table. | STEP 4: Slice the potato with the knife. | STEP 5: Turn right to walk to the sink. | STEP 6: Put the knife in the sink.", "output": ["STEP 7: Turn left to walk to the small round table."]} +{"id": "trial_T20190909_085839_778499-1%7", "input": "Heat up a potato slice in the microwave to put in the sink. | STEP 1: Make a left, hanging a left around the sink to reach the small round table. | STEP 2: Pick up the knife on the small round table. | STEP 3: Turn to face the potato on the small round table. | STEP 4: Slice the potato with the knife. | STEP 5: Turn right to walk to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn left to walk to the small round table.", "output": ["STEP 8: Pick up a potato slice from the table."]} +{"id": "trial_T20190909_085839_778499-1%8", "input": "Heat up a potato slice in the microwave to put in the sink. | STEP 1: Make a left, hanging a left around the sink to reach the small round table. | STEP 2: Pick up the knife on the small round table. | STEP 3: Turn to face the potato on the small round table. | STEP 4: Slice the potato with the knife. | STEP 5: Turn right to walk to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn left to walk to the small round table. | STEP 8: Pick up a potato slice from the table.", "output": ["STEP 9: Turn around to walk to the microwave over the stove."]} +{"id": "trial_T20190909_085839_778499-1%9", "input": "Heat up a potato slice in the microwave to put in the sink. | STEP 1: Make a left, hanging a left around the sink to reach the small round table. | STEP 2: Pick up the knife on the small round table. | STEP 3: Turn to face the potato on the small round table. | STEP 4: Slice the potato with the knife. | STEP 5: Turn right to walk to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn left to walk to the small round table. | STEP 8: Pick up a potato slice from the table. | STEP 9: Turn around to walk to the microwave over the stove.", "output": ["STEP 10: Heat up the potato slice in the microwave, removing it afterwards."]} +{"id": "trial_T20190909_085839_778499-1%10", "input": "Heat up a potato slice in the microwave to put in the sink. | STEP 1: Make a left, hanging a left around the sink to reach the small round table. | STEP 2: Pick up the knife on the small round table. | STEP 3: Turn to face the potato on the small round table. | STEP 4: Slice the potato with the knife. | STEP 5: Turn right to walk to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn left to walk to the small round table. | STEP 8: Pick up a potato slice from the table. | STEP 9: Turn around to walk to the microwave over the stove. | STEP 10: Heat up the potato slice in the microwave, removing it afterwards.", "output": ["STEP 11: Turn around to face the sink."]} +{"id": "trial_T20190909_085839_778499-1%11", "input": "Heat up a potato slice in the microwave to put in the sink. | STEP 1: Make a left, hanging a left around the sink to reach the small round table. | STEP 2: Pick up the knife on the small round table. | STEP 3: Turn to face the potato on the small round table. | STEP 4: Slice the potato with the knife. | STEP 5: Turn right to walk to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn left to walk to the small round table. | STEP 8: Pick up a potato slice from the table. | STEP 9: Turn around to walk to the microwave over the stove. | STEP 10: Heat up the potato slice in the microwave, removing it afterwards. | STEP 11: Turn around to face the sink.", "output": ["STEP 12: Put the potato slice in the sink."]} +{"id": "trial_T20190909_085839_778499-1%12", "input": "Heat up a potato slice in the microwave to put in the sink. | STEP 1: Make a left, hanging a left around the sink to reach the small round table. | STEP 2: Pick up the knife on the small round table. | STEP 3: Turn to face the potato on the small round table. | STEP 4: Slice the potato with the knife. | STEP 5: Turn right to walk to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn left to walk to the small round table. | STEP 8: Pick up a potato slice from the table. | STEP 9: Turn around to walk to the microwave over the stove. | STEP 10: Heat up the potato slice in the microwave, removing it afterwards. | STEP 11: Turn around to face the sink. | STEP 12: Put the potato slice in the sink.", "output": ["END"]} +{"id": "trial_T20190909_081028_226903-1%0", "input": "Move a black pen from the desk to the dresser.", "output": ["STEP 1: Turn around and walk to the white desk across the room."]} +{"id": "trial_T20190909_081028_226903-1%1", "input": "Move a black pen from the desk to the dresser. | STEP 1: Turn around and walk to the white desk across the room.", "output": ["STEP 2: Pick up the black pen that is behind and to the right of the clock on the desk."]} +{"id": "trial_T20190909_081028_226903-1%2", "input": "Move a black pen from the desk to the dresser. | STEP 1: Turn around and walk to the white desk across the room. | STEP 2: Pick up the black pen that is behind and to the right of the clock on the desk.", "output": ["STEP 3: Make a right to walk towards the black dresser."]} +{"id": "trial_T20190909_081028_226903-1%3", "input": "Move a black pen from the desk to the dresser. | STEP 1: Turn around and walk to the white desk across the room. | STEP 2: Pick up the black pen that is behind and to the right of the clock on the desk. | STEP 3: Make a right to walk towards the black dresser.", "output": ["STEP 4: Set the black pen down on the black dresser."]} +{"id": "trial_T20190909_081028_226903-1%4", "input": "Move a black pen from the desk to the dresser. | STEP 1: Turn around and walk to the white desk across the room. | STEP 2: Pick up the black pen that is behind and to the right of the clock on the desk. | STEP 3: Make a right to walk towards the black dresser. | STEP 4: Set the black pen down on the black dresser.", "output": ["END"]} +{"id": "trial_T20190909_081028_226903-2%0", "input": "Place the pen from the desk to the cabinet", "output": ["STEP 1: Turn right then head to the desk "]} +{"id": "trial_T20190909_081028_226903-2%1", "input": "Place the pen from the desk to the cabinet | STEP 1: Turn right then head to the desk ", "output": ["STEP 2: Pick up the pen on the desk"]} +{"id": "trial_T20190909_081028_226903-2%2", "input": "Place the pen from the desk to the cabinet | STEP 1: Turn right then head to the desk | STEP 2: Pick up the pen on the desk", "output": ["STEP 3: Turn right then head to the cabinet on your right "]} +{"id": "trial_T20190909_081028_226903-2%3", "input": "Place the pen from the desk to the cabinet | STEP 1: Turn right then head to the desk | STEP 2: Pick up the pen on the desk | STEP 3: Turn right then head to the cabinet on your right ", "output": ["STEP 4: Put the pen on the cabinet"]} +{"id": "trial_T20190909_081028_226903-2%4", "input": "Place the pen from the desk to the cabinet | STEP 1: Turn right then head to the desk | STEP 2: Pick up the pen on the desk | STEP 3: Turn right then head to the cabinet on your right | STEP 4: Put the pen on the cabinet", "output": ["END"]} +{"id": "trial_T20190906_190019_214714-1%0", "input": "Put a clean spoon away in the drawer", "output": ["STEP 1: turn to the left facing the counter"]} +{"id": "trial_T20190906_190019_214714-1%1", "input": "Put a clean spoon away in the drawer | STEP 1: turn to the left facing the counter", "output": ["STEP 2: pick up the spoon from the counter"]} +{"id": "trial_T20190906_190019_214714-1%2", "input": "Put a clean spoon away in the drawer | STEP 1: turn to the left facing the counter | STEP 2: pick up the spoon from the counter", "output": ["STEP 3: turn around and then turn left walking towards the sink"]} +{"id": "trial_T20190906_190019_214714-1%3", "input": "Put a clean spoon away in the drawer | STEP 1: turn to the left facing the counter | STEP 2: pick up the spoon from the counter | STEP 3: turn around and then turn left walking towards the sink", "output": ["STEP 4: put the spoon in the sink, wash it, then take it out"]} +{"id": "trial_T20190906_190019_214714-1%4", "input": "Put a clean spoon away in the drawer | STEP 1: turn to the left facing the counter | STEP 2: pick up the spoon from the counter | STEP 3: turn around and then turn left walking towards the sink | STEP 4: put the spoon in the sink, wash it, then take it out", "output": ["STEP 5: turn around and open the drawer"]} +{"id": "trial_T20190906_190019_214714-1%5", "input": "Put a clean spoon away in the drawer | STEP 1: turn to the left facing the counter | STEP 2: pick up the spoon from the counter | STEP 3: turn around and then turn left walking towards the sink | STEP 4: put the spoon in the sink, wash it, then take it out | STEP 5: turn around and open the drawer", "output": ["STEP 6: put the clean spoon in the drawer"]} +{"id": "trial_T20190906_190019_214714-1%6", "input": "Put a clean spoon away in the drawer | STEP 1: turn to the left facing the counter | STEP 2: pick up the spoon from the counter | STEP 3: turn around and then turn left walking towards the sink | STEP 4: put the spoon in the sink, wash it, then take it out | STEP 5: turn around and open the drawer | STEP 6: put the clean spoon in the drawer", "output": ["END"]} +{"id": "trial_T20190908_185304_871619-0%0", "input": "Slice bread, put knife in the cabinet, cook a slice and put it in the counter", "output": ["STEP 1: Walk towards the counter next to the sink"]} +{"id": "trial_T20190908_185304_871619-0%1", "input": "Slice bread, put knife in the cabinet, cook a slice and put it in the counter | STEP 1: Walk towards the counter next to the sink", "output": ["STEP 2: Grab the yellow knife from the counter"]} +{"id": "trial_T20190908_185304_871619-0%2", "input": "Slice bread, put knife in the cabinet, cook a slice and put it in the counter | STEP 1: Walk towards the counter next to the sink | STEP 2: Grab the yellow knife from the counter", "output": ["STEP 3: Look up from the table"]} +{"id": "trial_T20190908_185304_871619-0%3", "input": "Slice bread, put knife in the cabinet, cook a slice and put it in the counter | STEP 1: Walk towards the counter next to the sink | STEP 2: Grab the yellow knife from the counter | STEP 3: Look up from the table", "output": ["STEP 4: Slice the bread on the counter"]} +{"id": "trial_T20190908_185304_871619-0%4", "input": "Slice bread, put knife in the cabinet, cook a slice and put it in the counter | STEP 1: Walk towards the counter next to the sink | STEP 2: Grab the yellow knife from the counter | STEP 3: Look up from the table | STEP 4: Slice the bread on the counter", "output": ["STEP 5: Walk with the knife towards the stove cabinet"]} +{"id": "trial_T20190908_185304_871619-0%5", "input": "Slice bread, put knife in the cabinet, cook a slice and put it in the counter | STEP 1: Walk towards the counter next to the sink | STEP 2: Grab the yellow knife from the counter | STEP 3: Look up from the table | STEP 4: Slice the bread on the counter | STEP 5: Walk with the knife towards the stove cabinet", "output": ["STEP 6: Open the cabinet drawer and put knife in there"]} +{"id": "trial_T20190908_185304_871619-0%6", "input": "Slice bread, put knife in the cabinet, cook a slice and put it in the counter | STEP 1: Walk towards the counter next to the sink | STEP 2: Grab the yellow knife from the counter | STEP 3: Look up from the table | STEP 4: Slice the bread on the counter | STEP 5: Walk with the knife towards the stove cabinet | STEP 6: Open the cabinet drawer and put knife in there", "output": ["STEP 7: Walk towards the sink counter"]} +{"id": "trial_T20190908_185304_871619-0%7", "input": "Slice bread, put knife in the cabinet, cook a slice and put it in the counter | STEP 1: Walk towards the counter next to the sink | STEP 2: Grab the yellow knife from the counter | STEP 3: Look up from the table | STEP 4: Slice the bread on the counter | STEP 5: Walk with the knife towards the stove cabinet | STEP 6: Open the cabinet drawer and put knife in there | STEP 7: Walk towards the sink counter", "output": ["STEP 8: Grab a slice of bread from the counter"]} +{"id": "trial_T20190908_185304_871619-0%8", "input": "Slice bread, put knife in the cabinet, cook a slice and put it in the counter | STEP 1: Walk towards the counter next to the sink | STEP 2: Grab the yellow knife from the counter | STEP 3: Look up from the table | STEP 4: Slice the bread on the counter | STEP 5: Walk with the knife towards the stove cabinet | STEP 6: Open the cabinet drawer and put knife in there | STEP 7: Walk towards the sink counter | STEP 8: Grab a slice of bread from the counter", "output": ["STEP 9: Walk towards the microwave with the slice of bread"]} +{"id": "trial_T20190908_185304_871619-0%9", "input": "Slice bread, put knife in the cabinet, cook a slice and put it in the counter | STEP 1: Walk towards the counter next to the sink | STEP 2: Grab the yellow knife from the counter | STEP 3: Look up from the table | STEP 4: Slice the bread on the counter | STEP 5: Walk with the knife towards the stove cabinet | STEP 6: Open the cabinet drawer and put knife in there | STEP 7: Walk towards the sink counter | STEP 8: Grab a slice of bread from the counter | STEP 9: Walk towards the microwave with the slice of bread", "output": ["STEP 10: Put the bread slice in the microwave, cook it and take it out"]} +{"id": "trial_T20190908_185304_871619-0%10", "input": "Slice bread, put knife in the cabinet, cook a slice and put it in the counter | STEP 1: Walk towards the counter next to the sink | STEP 2: Grab the yellow knife from the counter | STEP 3: Look up from the table | STEP 4: Slice the bread on the counter | STEP 5: Walk with the knife towards the stove cabinet | STEP 6: Open the cabinet drawer and put knife in there | STEP 7: Walk towards the sink counter | STEP 8: Grab a slice of bread from the counter | STEP 9: Walk towards the microwave with the slice of bread | STEP 10: Put the bread slice in the microwave, cook it and take it out", "output": ["STEP 11: Walk with the bread slice towards the stove counter"]} +{"id": "trial_T20190908_185304_871619-0%11", "input": "Slice bread, put knife in the cabinet, cook a slice and put it in the counter | STEP 1: Walk towards the counter next to the sink | STEP 2: Grab the yellow knife from the counter | STEP 3: Look up from the table | STEP 4: Slice the bread on the counter | STEP 5: Walk with the knife towards the stove cabinet | STEP 6: Open the cabinet drawer and put knife in there | STEP 7: Walk towards the sink counter | STEP 8: Grab a slice of bread from the counter | STEP 9: Walk towards the microwave with the slice of bread | STEP 10: Put the bread slice in the microwave, cook it and take it out | STEP 11: Walk with the bread slice towards the stove counter", "output": ["STEP 12: Place the bread slice on the counter"]} +{"id": "trial_T20190908_185304_871619-0%12", "input": "Slice bread, put knife in the cabinet, cook a slice and put it in the counter | STEP 1: Walk towards the counter next to the sink | STEP 2: Grab the yellow knife from the counter | STEP 3: Look up from the table | STEP 4: Slice the bread on the counter | STEP 5: Walk with the knife towards the stove cabinet | STEP 6: Open the cabinet drawer and put knife in there | STEP 7: Walk towards the sink counter | STEP 8: Grab a slice of bread from the counter | STEP 9: Walk towards the microwave with the slice of bread | STEP 10: Put the bread slice in the microwave, cook it and take it out | STEP 11: Walk with the bread slice towards the stove counter | STEP 12: Place the bread slice on the counter", "output": ["END"]} +{"id": "trial_T20190908_185304_871619-1%0", "input": "Place a warm slice of bread on top of a counter.", "output": ["STEP 1: Go straight and face the counter with the bread to your right."]} +{"id": "trial_T20190908_185304_871619-1%1", "input": "Place a warm slice of bread on top of a counter. | STEP 1: Go straight and face the counter with the bread to your right.", "output": ["STEP 2: Take the knife from the counter in front of you."]} +{"id": "trial_T20190908_185304_871619-1%2", "input": "Place a warm slice of bread on top of a counter. | STEP 1: Go straight and face the counter with the bread to your right. | STEP 2: Take the knife from the counter in front of you.", "output": ["STEP 3: Face the bread on top of the counter in front of you."]} +{"id": "trial_T20190908_185304_871619-1%3", "input": "Place a warm slice of bread on top of a counter. | STEP 1: Go straight and face the counter with the bread to your right. | STEP 2: Take the knife from the counter in front of you. | STEP 3: Face the bread on top of the counter in front of you.", "output": ["STEP 4: Slice the bread on the counter in front of you."]} +{"id": "trial_T20190908_185304_871619-1%4", "input": "Place a warm slice of bread on top of a counter. | STEP 1: Go straight and face the counter with the bread to your right. | STEP 2: Take the knife from the counter in front of you. | STEP 3: Face the bread on top of the counter in front of you. | STEP 4: Slice the bread on the counter in front of you.", "output": ["STEP 5: Turn around and face the cabinet under the stove."]} +{"id": "trial_T20190908_185304_871619-1%5", "input": "Place a warm slice of bread on top of a counter. | STEP 1: Go straight and face the counter with the bread to your right. | STEP 2: Take the knife from the counter in front of you. | STEP 3: Face the bread on top of the counter in front of you. | STEP 4: Slice the bread on the counter in front of you. | STEP 5: Turn around and face the cabinet under the stove.", "output": ["STEP 6: Place the knife in the cabinet by the stove in front of you and close it."]} +{"id": "trial_T20190908_185304_871619-1%6", "input": "Place a warm slice of bread on top of a counter. | STEP 1: Go straight and face the counter with the bread to your right. | STEP 2: Take the knife from the counter in front of you. | STEP 3: Face the bread on top of the counter in front of you. | STEP 4: Slice the bread on the counter in front of you. | STEP 5: Turn around and face the cabinet under the stove. | STEP 6: Place the knife in the cabinet by the stove in front of you and close it.", "output": ["STEP 7: Turn around and face the counter in front of you."]} +{"id": "trial_T20190908_185304_871619-1%7", "input": "Place a warm slice of bread on top of a counter. | STEP 1: Go straight and face the counter with the bread to your right. | STEP 2: Take the knife from the counter in front of you. | STEP 3: Face the bread on top of the counter in front of you. | STEP 4: Slice the bread on the counter in front of you. | STEP 5: Turn around and face the cabinet under the stove. | STEP 6: Place the knife in the cabinet by the stove in front of you and close it. | STEP 7: Turn around and face the counter in front of you.", "output": ["STEP 8: Take a slice of bread from the counter in front of you."]} +{"id": "trial_T20190908_185304_871619-1%8", "input": "Place a warm slice of bread on top of a counter. | STEP 1: Go straight and face the counter with the bread to your right. | STEP 2: Take the knife from the counter in front of you. | STEP 3: Face the bread on top of the counter in front of you. | STEP 4: Slice the bread on the counter in front of you. | STEP 5: Turn around and face the cabinet under the stove. | STEP 6: Place the knife in the cabinet by the stove in front of you and close it. | STEP 7: Turn around and face the counter in front of you. | STEP 8: Take a slice of bread from the counter in front of you.", "output": ["STEP 9: Turn left and face the microwave to your left."]} +{"id": "trial_T20190908_185304_871619-1%9", "input": "Place a warm slice of bread on top of a counter. | STEP 1: Go straight and face the counter with the bread to your right. | STEP 2: Take the knife from the counter in front of you. | STEP 3: Face the bread on top of the counter in front of you. | STEP 4: Slice the bread on the counter in front of you. | STEP 5: Turn around and face the cabinet under the stove. | STEP 6: Place the knife in the cabinet by the stove in front of you and close it. | STEP 7: Turn around and face the counter in front of you. | STEP 8: Take a slice of bread from the counter in front of you. | STEP 9: Turn left and face the microwave to your left.", "output": ["STEP 10: Heat up the bread in the microwave and take it out."]} +{"id": "trial_T20190908_185304_871619-1%10", "input": "Place a warm slice of bread on top of a counter. | STEP 1: Go straight and face the counter with the bread to your right. | STEP 2: Take the knife from the counter in front of you. | STEP 3: Face the bread on top of the counter in front of you. | STEP 4: Slice the bread on the counter in front of you. | STEP 5: Turn around and face the cabinet under the stove. | STEP 6: Place the knife in the cabinet by the stove in front of you and close it. | STEP 7: Turn around and face the counter in front of you. | STEP 8: Take a slice of bread from the counter in front of you. | STEP 9: Turn left and face the microwave to your left. | STEP 10: Heat up the bread in the microwave and take it out.", "output": ["STEP 11: Turn left and face the counter to your right."]} +{"id": "trial_T20190908_185304_871619-1%11", "input": "Place a warm slice of bread on top of a counter. | STEP 1: Go straight and face the counter with the bread to your right. | STEP 2: Take the knife from the counter in front of you. | STEP 3: Face the bread on top of the counter in front of you. | STEP 4: Slice the bread on the counter in front of you. | STEP 5: Turn around and face the cabinet under the stove. | STEP 6: Place the knife in the cabinet by the stove in front of you and close it. | STEP 7: Turn around and face the counter in front of you. | STEP 8: Take a slice of bread from the counter in front of you. | STEP 9: Turn left and face the microwave to your left. | STEP 10: Heat up the bread in the microwave and take it out. | STEP 11: Turn left and face the counter to your right.", "output": ["STEP 12: Place the slice of bread on top of the counter."]} +{"id": "trial_T20190908_185304_871619-1%12", "input": "Place a warm slice of bread on top of a counter. | STEP 1: Go straight and face the counter with the bread to your right. | STEP 2: Take the knife from the counter in front of you. | STEP 3: Face the bread on top of the counter in front of you. | STEP 4: Slice the bread on the counter in front of you. | STEP 5: Turn around and face the cabinet under the stove. | STEP 6: Place the knife in the cabinet by the stove in front of you and close it. | STEP 7: Turn around and face the counter in front of you. | STEP 8: Take a slice of bread from the counter in front of you. | STEP 9: Turn left and face the microwave to your left. | STEP 10: Heat up the bread in the microwave and take it out. | STEP 11: Turn left and face the counter to your right. | STEP 12: Place the slice of bread on top of the counter.", "output": ["END"]} +{"id": "trial_T20190906_222422_671955-0%0", "input": "Place a laptop between the two pillows on the bed.", "output": ["STEP 1: Turn around and walk to the laptop on the counter at the foot of the bed."]} +{"id": "trial_T20190906_222422_671955-0%1", "input": "Place a laptop between the two pillows on the bed. | STEP 1: Turn around and walk to the laptop on the counter at the foot of the bed.", "output": ["STEP 2: Close the laptop and pick it up."]} +{"id": "trial_T20190906_222422_671955-0%2", "input": "Place a laptop between the two pillows on the bed. | STEP 1: Turn around and walk to the laptop on the counter at the foot of the bed. | STEP 2: Close the laptop and pick it up.", "output": ["STEP 3: Turn around and walk to the left side of the bed."]} +{"id": "trial_T20190906_222422_671955-0%3", "input": "Place a laptop between the two pillows on the bed. | STEP 1: Turn around and walk to the laptop on the counter at the foot of the bed. | STEP 2: Close the laptop and pick it up. | STEP 3: Turn around and walk to the left side of the bed.", "output": ["STEP 4: Place the laptop between the two pillows on the bed."]} +{"id": "trial_T20190906_222422_671955-0%4", "input": "Place a laptop between the two pillows on the bed. | STEP 1: Turn around and walk to the laptop on the counter at the foot of the bed. | STEP 2: Close the laptop and pick it up. | STEP 3: Turn around and walk to the left side of the bed. | STEP 4: Place the laptop between the two pillows on the bed.", "output": ["END"]} +{"id": "trial_T20190908_221009_646096-0%0", "input": "Move two newspapers from the desk to the arm chair seat. ", "output": ["STEP 1: Turn around and go to the wooden desk in the right corner of the room. "]} +{"id": "trial_T20190908_221009_646096-0%1", "input": "Move two newspapers from the desk to the arm chair seat. | STEP 1: Turn around and go to the wooden desk in the right corner of the room. ", "output": ["STEP 2: Pick up the news paper on the right side of the desk."]} +{"id": "trial_T20190908_221009_646096-0%2", "input": "Move two newspapers from the desk to the arm chair seat. | STEP 1: Turn around and go to the wooden desk in the right corner of the room. | STEP 2: Pick up the news paper on the right side of the desk.", "output": ["STEP 3: Turn around to go to the front of the first arm chair on the left. "]} +{"id": "trial_T20190908_221009_646096-0%3", "input": "Move two newspapers from the desk to the arm chair seat. | STEP 1: Turn around and go to the wooden desk in the right corner of the room. | STEP 2: Pick up the news paper on the right side of the desk. | STEP 3: Turn around to go to the front of the first arm chair on the left. ", "output": ["STEP 4: Place the newspaper on the left of the keys on the chair seat. "]} +{"id": "trial_T20190908_221009_646096-0%4", "input": "Move two newspapers from the desk to the arm chair seat. | STEP 1: Turn around and go to the wooden desk in the right corner of the room. | STEP 2: Pick up the news paper on the right side of the desk. | STEP 3: Turn around to go to the front of the first arm chair on the left. | STEP 4: Place the newspaper on the left of the keys on the chair seat. ", "output": ["STEP 5: Turn left to go back to the desk with the newspaper. "]} +{"id": "trial_T20190908_221009_646096-0%5", "input": "Move two newspapers from the desk to the arm chair seat. | STEP 1: Turn around and go to the wooden desk in the right corner of the room. | STEP 2: Pick up the news paper on the right side of the desk. | STEP 3: Turn around to go to the front of the first arm chair on the left. | STEP 4: Place the newspaper on the left of the keys on the chair seat. | STEP 5: Turn left to go back to the desk with the newspaper. ", "output": ["STEP 6: Pick up the newspaper on the left side of the desk. "]} +{"id": "trial_T20190908_221009_646096-0%6", "input": "Move two newspapers from the desk to the arm chair seat. | STEP 1: Turn around and go to the wooden desk in the right corner of the room. | STEP 2: Pick up the news paper on the right side of the desk. | STEP 3: Turn around to go to the front of the first arm chair on the left. | STEP 4: Place the newspaper on the left of the keys on the chair seat. | STEP 5: Turn left to go back to the desk with the newspaper. | STEP 6: Pick up the newspaper on the left side of the desk. ", "output": ["STEP 7: Turn around and go back to the front of the first arm chair on the left."]} +{"id": "trial_T20190908_221009_646096-0%7", "input": "Move two newspapers from the desk to the arm chair seat. | STEP 1: Turn around and go to the wooden desk in the right corner of the room. | STEP 2: Pick up the news paper on the right side of the desk. | STEP 3: Turn around to go to the front of the first arm chair on the left. | STEP 4: Place the newspaper on the left of the keys on the chair seat. | STEP 5: Turn left to go back to the desk with the newspaper. | STEP 6: Pick up the newspaper on the left side of the desk. | STEP 7: Turn around and go back to the front of the first arm chair on the left.", "output": ["STEP 8: Place the newspaper on the right of the first newspaper on the chair seat. "]} +{"id": "trial_T20190908_221009_646096-0%8", "input": "Move two newspapers from the desk to the arm chair seat. | STEP 1: Turn around and go to the wooden desk in the right corner of the room. | STEP 2: Pick up the news paper on the right side of the desk. | STEP 3: Turn around to go to the front of the first arm chair on the left. | STEP 4: Place the newspaper on the left of the keys on the chair seat. | STEP 5: Turn left to go back to the desk with the newspaper. | STEP 6: Pick up the newspaper on the left side of the desk. | STEP 7: Turn around and go back to the front of the first arm chair on the left. | STEP 8: Place the newspaper on the right of the first newspaper on the chair seat. ", "output": ["END"]} +{"id": "trial_T20190906_202634_423486-1%0", "input": "Move the plunger from the corner to the cabinet", "output": ["STEP 1: Turn left, walk to the toilet"]} +{"id": "trial_T20190906_202634_423486-1%1", "input": "Move the plunger from the corner to the cabinet | STEP 1: Turn left, walk to the toilet", "output": ["STEP 2: Grab the plunger on the floor"]} +{"id": "trial_T20190906_202634_423486-1%2", "input": "Move the plunger from the corner to the cabinet | STEP 1: Turn left, walk to the toilet | STEP 2: Grab the plunger on the floor", "output": ["STEP 3: Turn left, walk to the cabinet under the sink"]} +{"id": "trial_T20190906_202634_423486-1%3", "input": "Move the plunger from the corner to the cabinet | STEP 1: Turn left, walk to the toilet | STEP 2: Grab the plunger on the floor | STEP 3: Turn left, walk to the cabinet under the sink", "output": ["STEP 4: Open the cabinet on the left, put the plunger in, close the cabinet"]} +{"id": "trial_T20190906_202634_423486-1%4", "input": "Move the plunger from the corner to the cabinet | STEP 1: Turn left, walk to the toilet | STEP 2: Grab the plunger on the floor | STEP 3: Turn left, walk to the cabinet under the sink | STEP 4: Open the cabinet on the left, put the plunger in, close the cabinet", "output": ["END"]} +{"id": "trial_T20190906_202634_423486-2%0", "input": "Put a plunger in the cabinet under the sink. ", "output": ["STEP 1: Move to the toilet."]} +{"id": "trial_T20190906_202634_423486-2%1", "input": "Put a plunger in the cabinet under the sink. | STEP 1: Move to the toilet.", "output": ["STEP 2: Pick up the plunger on the floor."]} +{"id": "trial_T20190906_202634_423486-2%2", "input": "Put a plunger in the cabinet under the sink. | STEP 1: Move to the toilet. | STEP 2: Pick up the plunger on the floor.", "output": ["STEP 3: Move to the cabinet under the sink."]} +{"id": "trial_T20190906_202634_423486-2%3", "input": "Put a plunger in the cabinet under the sink. | STEP 1: Move to the toilet. | STEP 2: Pick up the plunger on the floor. | STEP 3: Move to the cabinet under the sink.", "output": ["STEP 4: Put the plunger in the cabinet under the sink. "]} +{"id": "trial_T20190906_202634_423486-2%4", "input": "Put a plunger in the cabinet under the sink. | STEP 1: Move to the toilet. | STEP 2: Pick up the plunger on the floor. | STEP 3: Move to the cabinet under the sink. | STEP 4: Put the plunger in the cabinet under the sink. ", "output": ["END"]} +{"id": "trial_T20190909_005828_654142-2%0", "input": "To place a remote in a box on the center of the couch.", "output": ["STEP 1: Turn around and walk across the room and turn left to face the empty box on the floor."]} +{"id": "trial_T20190909_005828_654142-2%1", "input": "To place a remote in a box on the center of the couch. | STEP 1: Turn around and walk across the room and turn left to face the empty box on the floor.", "output": ["STEP 2: Pick up the empty box on the floor."]} +{"id": "trial_T20190909_005828_654142-2%2", "input": "To place a remote in a box on the center of the couch. | STEP 1: Turn around and walk across the room and turn left to face the empty box on the floor. | STEP 2: Pick up the empty box on the floor.", "output": ["STEP 3: Turn around and walk across the room to face the center of the couch."]} +{"id": "trial_T20190909_005828_654142-2%3", "input": "To place a remote in a box on the center of the couch. | STEP 1: Turn around and walk across the room and turn left to face the empty box on the floor. | STEP 2: Pick up the empty box on the floor. | STEP 3: Turn around and walk across the room to face the center of the couch.", "output": ["STEP 4: Place the empty box on the middle of the couch."]} +{"id": "trial_T20190909_005828_654142-2%4", "input": "To place a remote in a box on the center of the couch. | STEP 1: Turn around and walk across the room and turn left to face the empty box on the floor. | STEP 2: Pick up the empty box on the floor. | STEP 3: Turn around and walk across the room to face the center of the couch. | STEP 4: Place the empty box on the middle of the couch.", "output": ["STEP 5: Turn around and walk around the table to face the shelves on the wall."]} +{"id": "trial_T20190909_005828_654142-2%5", "input": "To place a remote in a box on the center of the couch. | STEP 1: Turn around and walk across the room and turn left to face the empty box on the floor. | STEP 2: Pick up the empty box on the floor. | STEP 3: Turn around and walk across the room to face the center of the couch. | STEP 4: Place the empty box on the middle of the couch. | STEP 5: Turn around and walk around the table to face the shelves on the wall.", "output": ["STEP 6: Pick up the remote on the top of the shelves."]} +{"id": "trial_T20190909_005828_654142-2%6", "input": "To place a remote in a box on the center of the couch. | STEP 1: Turn around and walk across the room and turn left to face the empty box on the floor. | STEP 2: Pick up the empty box on the floor. | STEP 3: Turn around and walk across the room to face the center of the couch. | STEP 4: Place the empty box on the middle of the couch. | STEP 5: Turn around and walk around the table to face the shelves on the wall. | STEP 6: Pick up the remote on the top of the shelves.", "output": ["STEP 7: Turn around and walk across the room to face the empty box on the couch."]} +{"id": "trial_T20190909_005828_654142-2%7", "input": "To place a remote in a box on the center of the couch. | STEP 1: Turn around and walk across the room and turn left to face the empty box on the floor. | STEP 2: Pick up the empty box on the floor. | STEP 3: Turn around and walk across the room to face the center of the couch. | STEP 4: Place the empty box on the middle of the couch. | STEP 5: Turn around and walk around the table to face the shelves on the wall. | STEP 6: Pick up the remote on the top of the shelves. | STEP 7: Turn around and walk across the room to face the empty box on the couch.", "output": ["STEP 8: Place the remote in the empty box on the couch."]} +{"id": "trial_T20190909_005828_654142-2%8", "input": "To place a remote in a box on the center of the couch. | STEP 1: Turn around and walk across the room and turn left to face the empty box on the floor. | STEP 2: Pick up the empty box on the floor. | STEP 3: Turn around and walk across the room to face the center of the couch. | STEP 4: Place the empty box on the middle of the couch. | STEP 5: Turn around and walk around the table to face the shelves on the wall. | STEP 6: Pick up the remote on the top of the shelves. | STEP 7: Turn around and walk across the room to face the empty box on the couch. | STEP 8: Place the remote in the empty box on the couch.", "output": ["END"]} +{"id": "trial_T20190908_140413_191906-1%0", "input": "Move two paper rolls to a cabinet.", "output": ["STEP 1: Turn to the right and find the green trash can."]} +{"id": "trial_T20190908_140413_191906-1%1", "input": "Move two paper rolls to a cabinet. | STEP 1: Turn to the right and find the green trash can.", "output": ["STEP 2: Pick up the paper roll from inside the trash can."]} +{"id": "trial_T20190908_140413_191906-1%2", "input": "Move two paper rolls to a cabinet. | STEP 1: Turn to the right and find the green trash can. | STEP 2: Pick up the paper roll from inside the trash can.", "output": ["STEP 3: Carry the paper roll and turn around, then face the sinks on the right."]} +{"id": "trial_T20190908_140413_191906-1%3", "input": "Move two paper rolls to a cabinet. | STEP 1: Turn to the right and find the green trash can. | STEP 2: Pick up the paper roll from inside the trash can. | STEP 3: Carry the paper roll and turn around, then face the sinks on the right.", "output": ["STEP 4: Open the bottom left cabinet and place the roll inside. Shut the door."]} +{"id": "trial_T20190908_140413_191906-1%4", "input": "Move two paper rolls to a cabinet. | STEP 1: Turn to the right and find the green trash can. | STEP 2: Pick up the paper roll from inside the trash can. | STEP 3: Carry the paper roll and turn around, then face the sinks on the right. | STEP 4: Open the bottom left cabinet and place the roll inside. Shut the door.", "output": ["STEP 5: Look up to the counter with the sinks."]} +{"id": "trial_T20190908_140413_191906-1%5", "input": "Move two paper rolls to a cabinet. | STEP 1: Turn to the right and find the green trash can. | STEP 2: Pick up the paper roll from inside the trash can. | STEP 3: Carry the paper roll and turn around, then face the sinks on the right. | STEP 4: Open the bottom left cabinet and place the roll inside. Shut the door. | STEP 5: Look up to the counter with the sinks.", "output": ["STEP 6: Pick up the paper roll on the counter in between the two sink.s"]} +{"id": "trial_T20190908_140413_191906-1%6", "input": "Move two paper rolls to a cabinet. | STEP 1: Turn to the right and find the green trash can. | STEP 2: Pick up the paper roll from inside the trash can. | STEP 3: Carry the paper roll and turn around, then face the sinks on the right. | STEP 4: Open the bottom left cabinet and place the roll inside. Shut the door. | STEP 5: Look up to the counter with the sinks. | STEP 6: Pick up the paper roll on the counter in between the two sink.s", "output": ["STEP 7: Hold the paper roll and take a step to the left."]} +{"id": "trial_T20190908_140413_191906-1%7", "input": "Move two paper rolls to a cabinet. | STEP 1: Turn to the right and find the green trash can. | STEP 2: Pick up the paper roll from inside the trash can. | STEP 3: Carry the paper roll and turn around, then face the sinks on the right. | STEP 4: Open the bottom left cabinet and place the roll inside. Shut the door. | STEP 5: Look up to the counter with the sinks. | STEP 6: Pick up the paper roll on the counter in between the two sink.s | STEP 7: Hold the paper roll and take a step to the left.", "output": ["STEP 8: Open the bottom left cabinet and place the roll inside. Shut the door."]} +{"id": "trial_T20190908_140413_191906-1%8", "input": "Move two paper rolls to a cabinet. | STEP 1: Turn to the right and find the green trash can. | STEP 2: Pick up the paper roll from inside the trash can. | STEP 3: Carry the paper roll and turn around, then face the sinks on the right. | STEP 4: Open the bottom left cabinet and place the roll inside. Shut the door. | STEP 5: Look up to the counter with the sinks. | STEP 6: Pick up the paper roll on the counter in between the two sink.s | STEP 7: Hold the paper roll and take a step to the left. | STEP 8: Open the bottom left cabinet and place the roll inside. Shut the door.", "output": ["END"]} +{"id": "trial_T20190919_064539_418472-2%0", "input": "Place two potatoes in the microwave to cook.", "output": ["STEP 1: Turn around to face the stove."]} +{"id": "trial_T20190919_064539_418472-2%1", "input": "Place two potatoes in the microwave to cook. | STEP 1: Turn around to face the stove.", "output": ["STEP 2: Pick up a potato from the counter next to the stove."]} +{"id": "trial_T20190919_064539_418472-2%2", "input": "Place two potatoes in the microwave to cook. | STEP 1: Turn around to face the stove. | STEP 2: Pick up a potato from the counter next to the stove.", "output": ["STEP 3: Turn around and walk to the microwave."]} +{"id": "trial_T20190919_064539_418472-2%3", "input": "Place two potatoes in the microwave to cook. | STEP 1: Turn around to face the stove. | STEP 2: Pick up a potato from the counter next to the stove. | STEP 3: Turn around and walk to the microwave.", "output": ["STEP 4: Place the potato in the microwave."]} +{"id": "trial_T20190919_064539_418472-2%4", "input": "Place two potatoes in the microwave to cook. | STEP 1: Turn around to face the stove. | STEP 2: Pick up a potato from the counter next to the stove. | STEP 3: Turn around and walk to the microwave. | STEP 4: Place the potato in the microwave.", "output": ["STEP 5: Turn around and walk to the sink."]} +{"id": "trial_T20190919_064539_418472-2%5", "input": "Place two potatoes in the microwave to cook. | STEP 1: Turn around to face the stove. | STEP 2: Pick up a potato from the counter next to the stove. | STEP 3: Turn around and walk to the microwave. | STEP 4: Place the potato in the microwave. | STEP 5: Turn around and walk to the sink.", "output": ["STEP 6: Pick up the potato in the sink."]} +{"id": "trial_T20190919_064539_418472-2%6", "input": "Place two potatoes in the microwave to cook. | STEP 1: Turn around to face the stove. | STEP 2: Pick up a potato from the counter next to the stove. | STEP 3: Turn around and walk to the microwave. | STEP 4: Place the potato in the microwave. | STEP 5: Turn around and walk to the sink. | STEP 6: Pick up the potato in the sink.", "output": ["STEP 7: Turn around and walk back to the microwave."]} +{"id": "trial_T20190919_064539_418472-2%7", "input": "Place two potatoes in the microwave to cook. | STEP 1: Turn around to face the stove. | STEP 2: Pick up a potato from the counter next to the stove. | STEP 3: Turn around and walk to the microwave. | STEP 4: Place the potato in the microwave. | STEP 5: Turn around and walk to the sink. | STEP 6: Pick up the potato in the sink. | STEP 7: Turn around and walk back to the microwave.", "output": ["STEP 8: Place the second potato in the microwave."]} +{"id": "trial_T20190919_064539_418472-2%8", "input": "Place two potatoes in the microwave to cook. | STEP 1: Turn around to face the stove. | STEP 2: Pick up a potato from the counter next to the stove. | STEP 3: Turn around and walk to the microwave. | STEP 4: Place the potato in the microwave. | STEP 5: Turn around and walk to the sink. | STEP 6: Pick up the potato in the sink. | STEP 7: Turn around and walk back to the microwave. | STEP 8: Place the second potato in the microwave.", "output": ["END"]}