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imaginative-perception-token-pt-eval-ai2thor

question_id stringlengths 47 55	question stringlengths 206 318	answer stringclasses 4 values	choices listlengths 4 4	sideview_desc stringclasses 16 values
ithor_val_FloorPlan25_0001_td_reverse_left_t2_ego_dir	You are navigating from waypoint 2 to waypoint 1, passing through midpoint M1 as shown in the top-down view <image_1>. Looking ahead from point 2, you see: <image_2>. Looking ahead from point 1, you see: <image_3>. Which object can you see on your left side at waypoint M1?	C	[ "a dish sponge", "an apple", "a stove burner", "a cabinet" ]	Here's what's on my left at midpoint M1: <image_4>.
ithor_val_FloorPlan25_0001_td_reverse_right_t6_ego_dir	You are traveling along the path 2→1 and viewing from a top-down perspective as shown in <image_1>. Standing at point 2 and looking forward: <image_2>. Standing at point 1 and looking forward: <image_3>. Which object can you see on your right side at waypoint M1?	A	[ "the sink basin", "the garbage can", "the salt shaker", "the pepper shaker" ]	Looking right from midpoint M1: <image_4>.
ithor_val_FloorPlan225_0001_td_forward_left_t6_ego_dir	You are moving along the path 1→2, viewing a top-down map at waypoint M1, as shown in <image_1>. Your forward view at point 1: <image_2>. Your forward view at point 2: <image_3>. Which object can you see on your left side at waypoint M1?	C	[ "a desk lamp", "a house plant", "a television", "a floor lamp" ]	Here's what's on my left at midpoint M1: <image_4>.
ithor_val_FloorPlan225_0001_td_forward_right_t1_ego_dir	You are navigating from waypoint 1 to 2, passing through midpoint M1 as shown in the top-down view <image_1>. Looking ahead from point 1, you see: <image_2>. Looking ahead from point 2, you see: <image_3>. Which object can you see on your right side at waypoint M1?	A	[ "the curtains", "the TV stand", "a shelf", "a garbage can" ]	Standing at M1, looking right: <image_4>.
ithor_val_FloorPlan225_0001_td_reverse_left_t3_ego_dir	You are moving along the path 2→1 and looking at the top-down view <image_1>; you are currently at waypoint M1. Your forward view at point 2: <image_2>. Your forward view at point 1: <image_3>. Which object can you see on your left side at waypoint M1?	D	[ "a pillow", "a laptop", "a shelf", "a side table" ]	From the midpoint M1, my left side shows: <image_4>.
ithor_val_FloorPlan423_0001_td_forward_left_t5_ego_dir	You are following the path 1→2 and have arrived at midpoint M1, as shown from a top-down view in <image_1>. At point 1, I'm facing forward and see: <image_2>. At point 2, facing forward: <image_3>. Which object can you see on your left side at waypoint M1?	C	[ "a bathtub", "a scrub brush", "a towel holder", "a plunger" ]	Here's what's on my left at midpoint M1: <image_4>.
ithor_val_FloorPlan423_0001_td_reverse_right_t5_ego_dir	You are moving along the path 2→1, and you are currently at waypoint M1 as shown in the top-down view <image_1>. Your forward view at point 2: <image_2>. Your forward view at point 1: <image_3>. Which object can you see on your right side at waypoint M1?	B	[ "the shower curtain", "the towel holder", "the soap bottle", "the bathtub" ]	At midpoint M1, looking to the right, I see: <image_4>.
procthor_val_41_0001_td_forward_left_t3_ego_dir	You are moving from waypoint 1 to 2, passing through M1, and viewing the top-down layout as shown in <image_1>. This is what you see looking forward from point 1: <image_2>. This is what you see looking forward from point 2: <image_3>. Which object can you see on your left side at waypoint M1?	A	[ "a toilet", "a teddy bear", "a bed", "a watch" ]	Looking left from midpoint M1: <image_4>.
procthor_val_41_0001_td_forward_right_t2_ego_dir	You are navigating from waypoint 1 to waypoint 2, passing through midpoint M1 as shown in the top-down view <image_1>. Looking ahead from point 1, you see: <image_2>. Looking ahead from point 2, you see: <image_3>. Which object can you see on your right side at waypoint M1?	D	[ "the sink", "the garbage can", "the toilet", "the teddy bear" ]	At midpoint M1, looking to the right, I see: <image_4>.
procthor_val_41_0001_td_reverse_right_t2_ego_dir	You are navigating from waypoint 2 to waypoint 1 along the path 2→M1→1, as shown in the top-down view <image_1>. Point 2 forward view: <image_2>. Point 1 forward view: <image_3>. Which object can you see on your right side at waypoint M1?	C	[ "a bed", "a dresser", "a sink", "a teddy bear" ]	At midpoint M1, looking to the right, I see: <image_4>.
procthor_val_41_0001_td_reverse_right_t3_ego_dir	You are navigating along the path 2→1 and have reached waypoint M1; refer to the top-down view <image_1> for orientation. Standing at point 2 and looking forward: <image_2>. Standing at point 1 and looking forward: <image_3>. Which object can you see on your right side at waypoint M1?	A	[ "the toilet", "the house plant", "the bed", "the teddy bear" ]	From the midpoint M1, my right side shows: <image_4>.
procthor_val_41_0001_td_reverse_right_t1_ego_dir	You are navigating from waypoint 2 to waypoint 1, passing through midpoint M1 as shown in the top-down view <image_1>. Standing at point 2 and looking forward: <image_2>. Standing at point 1 and looking forward: <image_3>. Which object can you see on your right side at waypoint M1?	A	[ "a garbage can", "a bed", "a teddy bear", "a baseball bat" ]	Standing at M1, looking right: <image_4>.
ithor_val_FloorPlan421_0001_td_reverse_right_t3_ego_dir	You are moving along the path 2→1, and at midpoint M1, you can see a top-down view of the area as shown in <image_1>. Point 2 forward view: <image_2>. Point 1 forward view: <image_3>. Which object can you see on your right side at waypoint M1?	A	[ "a faucet", "a dish sponge", "a garbage can", "a light switch" ]	At midpoint M1, looking to the right, I see: <image_4>.
ithor_val_FloorPlan321_0001_td_forward_left_t2_ego_dir	You are navigating the path 1→2 and viewing the environment from a top-down perspective as shown in <image_1>. Looking ahead from point 1, you see: <image_2>. Looking ahead from point 2, you see: <image_3>. Which object can you see on your left side at waypoint M1?	A	[ "a desk lamp", "an alarm clock", "a bed", "a pillow" ]	From the midpoint M1, my left side shows: <image_4>.
ithor_val_FloorPlan321_0001_td_forward_left_t1_ego_dir	You are navigating the path 1→2 and viewing the top-down perspective at waypoint M1 as shown in <image_1>. Here's your view looking forward from point 1: <image_2>. And from point 2: <image_3>. Which object can you see on your left side at waypoint M1?	A	[ "the desk", "the light switch", "the bed", "the tissue box" ]	At M1, the view to my left: <image_4>.
ithor_val_FloorPlan321_0001_td_forward_right_t2_ego_dir	You are moving along the path 1→2 as shown in the top-down view <image_1>. At point 1, I'm facing forward and see: <image_2>. At point 2, facing forward: <image_3>. Which object can you see on your right side at waypoint M1?	D	[ "a laptop", "a desk", "a cell phone", "a pillow" ]	At midpoint M1, looking to the right, I see: <image_4>.
ithor_val_FloorPlan321_0001_td_reverse_right_t2_ego_dir	You are following the path 2→1 and are currently at waypoint M1, looking at a top-down view <image_1>. Here's your view looking forward from point 2: <image_2>. And from point 1: <image_3>. Which object can you see on your right side at waypoint M1?	A	[ "the desk lamp", "the pillow", "the bed", "the alarm clock" ]	This is what I see on my right at M1: <image_4>.
ithor_val_FloorPlan321_0001_td_reverse_right_t3_ego_dir	You are moving along the path 2→1, and at waypoint M1 in the top-down view <image_1>, pay attention to your surroundings. Your forward view at point 2: <image_2>. Your forward view at point 1: <image_3>. Which object can you see on your right side at waypoint M1?	C	[ "a bed", "a side table", "a garbage can", "a tissue box" ]	At midpoint M1, looking to the right, I see: <image_4>.
ithor_val_FloorPlan321_0001_td_reverse_right_t1_ego_dir	You are traveling the path 2→1 and viewing your location from a top-down perspective as shown in <image_1>. This is what you see looking forward from point 2: <image_2>. This is what you see looking forward from point 1: <image_3>. Which object can you see on your right side at waypoint M1?	D	[ "an alarm clock", "the bed", "the side table", "the desk" ]	From the midpoint M1, my right side shows: <image_4>.
procthor_val_206_0001_td_forward_left_t2_ego_dir	You are following the path 1→2 and are currently at waypoint M1, viewing a top-down map as shown in <image_1>. At point 1, I'm facing forward and see: <image_2>. At point 2, facing forward: <image_3>. Which object can you see on your left side at waypoint M1?	B	[ "the mug", "the shelving unit", "the fridge", "the countertop" ]	This is what I see on my left at M1: <image_4>.
procthor_val_206_0001_td_forward_right_t1_ego_dir	You are moving along the path from waypoint 1 to waypoint 2, passing through midpoint M1, as shown in the top-down view <image_1>. Your forward view at point 1: <image_2>. Your forward view at point 2: <image_3>. Which object can you see on your right side at waypoint M1?	C	[ "the sofa", "the dining table", "the fridge", "the television" ]	My right view at the midpoint M1: <image_4>.
ithor_val_FloorPlan24_0001_td_forward_left_t5_ego_dir	You are moving along the path 1→2, and at midpoint M1, you are looking at the top-down view <image_1>. Point 1 forward view: <image_2>. Point 2 forward view: <image_3>. Which object can you see on your left side at waypoint M1?	C	[ "the fridge", "the sink", "the stove burner", "the microwave" ]	Here's what's on my left at midpoint M1: <image_4>.
ithor_val_FloorPlan24_0001_td_forward_right_t1_ego_dir	You are following the path 1→2 and observing from a top-down view at waypoint M1, as shown in <image_1>. Looking ahead from point 1, you see: <image_2>. Looking ahead from point 2, you see: <image_3>. Which object can you see on your right side at waypoint M1?	D	[ "an apple", "a stove burner", "a mug", "a cabinet" ]	At M1, the view to my right: <image_4>.
ithor_val_FloorPlan24_0001_td_reverse_left_t1_ego_dir	You are following the path 2→1 and currently at midpoint M1, as shown in the top-down view <image_1>. Standing at point 2 and looking forward: <image_2>. Standing at point 1 and looking forward: <image_3>. Which object can you see on your left side at waypoint M1?	A	[ "a cabinet", "a stove burner", "a lettuce", "a tomato" ]	At M1, the view to my left: <image_4>.
ithor_val_FloorPlan221_0001_td_forward_left_t4_ego_dir	You are navigating from waypoint 1 to waypoint 2, passing through midpoint M1, as seen from a top-down view <image_1>. Looking ahead from point 1, you see: <image_2>. Looking ahead from point 2, you see: <image_3>. Which object can you see on your left side at waypoint M1?	B	[ "a box", "a television", "a credit card", "a vase" ]	At M1, the view to my left: <image_4>.
ithor_val_FloorPlan221_0001_td_forward_left_t2_ego_dir	You are moving along the path 1→2 as shown in the top-down view <image_1>, with a stop at midpoint M1. This is what you see looking forward from point 1: <image_2>. This is what you see looking forward from point 2: <image_3>. Which object can you see on your left side at waypoint M1?	A	[ "the garbage can", "the dining table", "the box", "the credit card" ]	Looking left from midpoint M1: <image_4>.
ithor_val_FloorPlan221_0001_td_forward_right_t1_ego_dir	You are navigating from waypoint 1 to waypoint 2, passing through midpoint M1 as shown in the top-down view <image_1>. At point 1, I'm facing forward and see: <image_2>. At point 2, facing forward: <image_3>. Which object can you see on your right side at waypoint M1?	A	[ "a box", "an armchair", "a stool", "a side table" ]	My right view at the midpoint M1: <image_4>.
ithor_val_FloorPlan221_0001_td_forward_right_t2_ego_dir	You are moving from waypoint 1 to 2, crossing midpoint M1 as shown in the top-down view <image_1>. This is what you see looking forward from point 1: <image_2>. This is what you see looking forward from point 2: <image_3>. Which object can you see on your right side at waypoint M1?	D	[ "a stool", "a coffee table", "a house plant", "a dining table" ]	At M1, the view to my right: <image_4>.
ithor_val_FloorPlan221_0001_td_reverse_left_t1_ego_dir	You are moving from waypoint 2 to waypoint 1, passing through midpoint M1, as shown in the top-down view <image_1>. From point 2, looking straight ahead: <image_2>. From point 1, looking straight ahead: <image_3>. Which object can you see on your left side at waypoint M1?	C	[ "a laptop", "a stool", "a box", "a television" ]	Looking left from midpoint M1: <image_4>.
ithor_val_FloorPlan221_0001_td_reverse_left_t2_ego_dir	You are following the path 2→1 and currently at waypoint M1, viewing a top-down scene as shown in <image_1>. Here's your view looking forward from point 2: <image_2>. And from point 1: <image_3>. Which object can you see on your left side at waypoint M1?	A	[ "a dining table", "a house plant", "a stool", "a coffee table" ]	This is what I see on my left at M1: <image_4>.
ithor_val_FloorPlan221_0001_td_reverse_right_t2_ego_dir	You are following the path from waypoint 2 to waypoint 1, passing through midpoint M1, as seen in the top-down view <image_1>. Looking ahead from point 2, you see: <image_2>. Looking ahead from point 1, you see: <image_3>. Which object can you see on your right side at waypoint M1?	B	[ "a vase", "a garbage can", "a credit card", "a dining table" ]	Here's what's on my right at midpoint M1: <image_4>.
ithor_val_FloorPlan424_0001_td_reverse_left_t1_ego_dir	You are navigating from waypoint 2 to waypoint 1, passing through midpoint M1, as shown in the top-down view <image_1>. This is what you see looking forward from point 2: <image_2>. This is what you see looking forward from point 1: <image_3>. Which object can you see on your left side at waypoint M1?	D	[ "a candle", "a light switch", "a garbage can", "a cabinet" ]	Here's what's on my left at midpoint M1: <image_4>.
procthor_val_666_0001_td_forward_left_t4_ego_dir	You are moving along the path 1→2 and viewing the environment from a top-down perspective at midpoint M1, as shown in <image_1>. Standing at point 1 and looking forward: <image_2>. Standing at point 2 and looking forward: <image_3>. Which object can you see on your left side at waypoint M1?	C	[ "an egg", "a tomato", "a garbage bag", "a countertop" ]	My left view at the midpoint M1: <image_4>.
procthor_val_666_0001_td_reverse_left_t1_ego_dir	You are navigating from waypoint 2 to waypoint 1 and passing through M1, as shown in the top-down view <image_1>. Here's your view looking forward from point 2: <image_2>. And from point 1: <image_3>. Which object can you see on your left side at waypoint M1?	B	[ "the garbage bag", "the countertop", "the dining table", "the chair" ]	From the midpoint M1, my left side shows: <image_4>.
procthor_val_666_0001_td_reverse_right_t4_ego_dir	You are moving along the path 2→1 and currently at waypoint M1; refer to the top-down view <image_1>. Standing at point 2 and looking forward: <image_2>. Standing at point 1 and looking forward: <image_3>. Which object can you see on your right side at waypoint M1?	A	[ "the garbage bag", "the cup", "the countertop", "the vase" ]	Looking right from midpoint M1: <image_4>.
procthor_val_666_0001_td_reverse_right_t1_ego_dir	You are moving along the path 2→1 and have reached waypoint M1; refer to the top-down view <image_1>. Standing at point 2 and looking forward: <image_2>. Standing at point 1 and looking forward: <image_3>. Which object can you see on your right side at waypoint M1?	A	[ "the chair", "the countertop", "the newspaper", "the pepper shaker" ]	This is what I see on my right at M1: <image_4>.
procthor_val_666_0001_td_reverse_right_t5_ego_dir	You are navigating from waypoint 2 to waypoint 1, passing through midpoint M1 as shown in the top-down view <image_1>. Your forward view at point 2: <image_2>. Your forward view at point 1: <image_3>. Which object can you see on your right side at waypoint M1?	A	[ "the shelving unit", "the newspaper", "the side table", "the countertop" ]	Standing at M1, looking right: <image_4>.
procthor_val_825_0001_td_forward_right_t3_ego_dir	You are traveling along the path 1→2 and have reached waypoint M1, as seen in the top-down view <image_1>. This is what you see looking forward from point 1: <image_2>. This is what you see looking forward from point 2: <image_3>. Which object can you see on your right side at waypoint M1?	C	[ "an armchair", "a floor lamp", "a television", "a box" ]	From the midpoint M1, my right side shows: <image_4>.
procthor_val_825_0001_td_reverse_right_t1_ego_dir	You are navigating along the path 2→1 and viewing from a top-down perspective at waypoint M1, as shown in <image_1>. Here's your view looking forward from point 2: <image_2>. And from point 1: <image_3>. Which object can you see on your right side at waypoint M1?	D	[ "a sofa", "the TV stand", "the television", "an armchair" ]	From the midpoint M1, my right side shows: <image_4>.
ithor_val_FloorPlan422_0001_td_reverse_left_t1_ego_dir	You are moving along the path 2→1, and you are currently at waypoint M1, viewing the top-down layout as shown in <image_1>. Your forward view at point 2: <image_2>. Your forward view at point 1: <image_3>. Which object can you see on your left side at waypoint M1?	B	[ "a countertop", "a cabinet", "a sink basin", "a sink" ]	At M1, the view to my left: <image_4>.
procthor_val_315_0001_td_forward_left_t2_ego_dir	You are moving along the path from waypoint 1 to 2, and you should refer to the top-down view shown in <image_1>. Looking ahead from point 1, you see: <image_2>. Looking ahead from point 2, you see: <image_3>. Which object can you see on your left side at waypoint M1?	B	[ "the sink", "the television", "the pillow", "the garbage can" ]	My left view at the midpoint M1: <image_4>.
procthor_val_315_0001_td_reverse_right_t1_ego_dir	You are moving along the path from waypoint 2 to 1, passing through midpoint M1, as shown in the top-down view <image_1>. Your forward view at point 2: <image_2>. Your forward view at point 1: <image_3>. Which object can you see on your right side at waypoint M1?	A	[ "a dresser", "a plunger", "a garbage can", "a toilet" ]	Looking right from midpoint M1: <image_4>.
procthor_val_321_0001_td_forward_right_t2_ego_dir	You are traveling from waypoint 1 to waypoint 2, passing through M1, as shown in the top-down view <image_1>. Standing at point 1 and looking forward: <image_2>. Standing at point 2 and looking forward: <image_3>. Which object can you see on your right side at waypoint M1?	A	[ "the TV stand", "the chair", "the dresser", "the pillow" ]	Looking right from midpoint M1: <image_4>.
procthor_val_321_0001_td_reverse_left_t3_ego_dir	You are moving along the path 2→1, and you are currently at waypoint M1 while looking at the top-down view <image_1>. Here's your view looking forward from point 2: <image_2>. And from point 1: <image_3>. Which object can you see on your left side at waypoint M1?	A	[ "a television", "a dresser", "a pillow", "a chair" ]	Looking left from midpoint M1: <image_4>.
procthor_val_321_0001_td_reverse_left_t2_ego_dir	You are traveling along the path 2→1, and at midpoint M1 you should examine your surroundings from a top-down view as shown in <image_1>. Looking ahead from point 2, you see: <image_2>. Looking ahead from point 1, you see: <image_3>. Which object can you see on your left side at waypoint M1?	D	[ "a chair", "a dresser", "a pillow", "a TV stand" ]	Looking left from midpoint M1: <image_4>.
procthor_val_303_0001_td_reverse_right_t1_ego_dir	You are moving along the path from waypoint 2 to waypoint 1, passing through midpoint M1, as shown in the top-down view <image_1>. Here's your view looking forward from point 2: <image_2>. And from point 1: <image_3>. Which object can you see on your right side at waypoint M1?	D	[ "the sofa", "the fridge", "a key chain", "the dining table" ]	Here's what's on my right at midpoint M1: <image_4>.
procthor_val_303_0001_td_reverse_right_t4_ego_dir	You are moving along the path 2→1 in the top-down view shown in <image_1>, passing through midpoint M1. Looking ahead from point 2, you see: <image_2>. Looking ahead from point 1, you see: <image_3>. Which object can you see on your right side at waypoint M1?	D	[ "the fridge", "the sofa", "a pencil", "the television" ]	At midpoint M1, looking to the right, I see: <image_4>.
ithor_val_FloorPlan425_0001_td_reverse_right_t1_ego_dir	You are navigating along path 2→1 and viewing the scene from a top-down perspective at waypoint M1, as shown in <image_1>. Looking ahead from point 2, you see: <image_2>. Looking ahead from point 1, you see: <image_3>. Which object can you see on your right side at waypoint M1?	C	[ "the garbage can", "the shower head", "the cabinet", "the light switch" ]	Here's what's on my right at midpoint M1: <image_4>.
procthor_val_648_0001_td_forward_right_t1_ego_dir	You are following the path 1→2 in a top-down view as shown in <image_1>, passing through the midpoint labeled M1. From point 1, looking straight ahead: <image_2>. From point 2, looking straight ahead: <image_3>. Which object can you see on your right side at waypoint M1?	A	[ "the desk lamp", "the bed", "the remote control", "the pillow" ]	From the midpoint M1, my right side shows: <image_4>.
procthor_val_648_0001_td_forward_right_t2_ego_dir	You are moving along the path 1→2 and have reached waypoint M1; refer to the top-down view at <image_1>. Point 1 forward view: <image_2>. Point 2 forward view: <image_3>. Which object can you see on your right side at waypoint M1?	C	[ "the vase", "the pillow", "the dresser", "the bed" ]	Looking right from midpoint M1: <image_4>.
procthor_val_648_0001_td_reverse_left_t2_ego_dir	You are navigating from waypoint 2 to waypoint 1, passing through midpoint M1, as shown in the top-down view <image_1>. Your forward view at point 2: <image_2>. Your forward view at point 1: <image_3>. Which object can you see on your left side at waypoint M1?	B	[ "an alarm clock", "a dresser", "a pillow", "a bed" ]	This is what I see on my left at M1: <image_4>.
ithor_val_FloorPlan222_0001_td_forward_right_t4_ego_dir	You are navigating from waypoint 1 to waypoint 2, passing through midpoint M1 as shown in the top-down view <image_1>. This is what you see looking forward from point 1: <image_2>. This is what you see looking forward from point 2: <image_3>. Which object can you see on your right side at waypoint M1?	A	[ "a television", "an armchair", "a newspaper", "a box" ]	At midpoint M1, looking to the right, I see: <image_4>.
ithor_val_FloorPlan222_0001_td_forward_right_t1_ego_dir	You are following the path 1→2 and are currently at waypoint M1, viewing the layout from a top-down perspective as shown in <image_1>. This is what you see looking forward from point 1: <image_2>. This is what you see looking forward from point 2: <image_3>. Which object can you see on your right side at waypoint M1?	A	[ "a side table", "a pillow", "a box", "an armchair" ]	Standing at M1, looking right: <image_4>.
ithor_val_FloorPlan222_0001_td_reverse_left_t1_ego_dir	You are following the path 2→1 and have reached waypoint M1; refer to the top-down view <image_1>. Your forward view at point 2: <image_2>. Your forward view at point 1: <image_3>. Which object can you see on your left side at waypoint M1?	C	[ "a box", "a newspaper", "a side table", "an armchair" ]	At M1, the view to my left: <image_4>.
ithor_val_FloorPlan222_0001_td_reverse_right_t3_ego_dir	You are navigating from waypoint 2 to waypoint 1 via midpoint M1, as shown in the top-down view <image_1>. From point 2, looking straight ahead: <image_2>. From point 1, looking straight ahead: <image_3>. Which object can you see on your right side at waypoint M1?	B	[ "a television", "a pillow", "a TV stand", "a statue" ]	Looking right from midpoint M1: <image_4>.
ithor_val_FloorPlan222_0001_td_reverse_right_t2_ego_dir	You are navigating from waypoint 2 to waypoint 1, passing through M1 as shown in the top-down view <image_1>. Point 2 forward view: <image_2>. Point 1 forward view: <image_3>. Which object can you see on your right side at waypoint M1?	B	[ "the television", "the box", "the statue", "the TV stand" ]	At M1, the view to my right: <image_4>.
procthor_val_504_0001_td_forward_left_t1_ego_dir	You are moving along the path from waypoint 1 to waypoint 2, passing through midpoint M1, as shown in the top-down view <image_1>. This is what you see looking forward from point 1: <image_2>. This is what you see looking forward from point 2: <image_3>. Which object can you see on your left side at waypoint M1?	B	[ "the salt shaker", "the chair", "the sofa", "the box" ]	From the midpoint M1, my left side shows: <image_4>.
procthor_val_504_0001_td_forward_right_t2_ego_dir	You are moving along the path 1→2 and currently at waypoint M1, as shown in the top-down view <image_1>. From point 1, looking straight ahead: <image_2>. From point 2, looking straight ahead: <image_3>. Which object can you see on your right side at waypoint M1?	A	[ "the sofa", "the chair", "the dining table", "the house plant" ]	Standing at M1, looking right: <image_4>.
procthor_val_504_0001_td_reverse_left_t2_ego_dir	You are navigating the path 2→1, and at midpoint M1 you are viewing the scene from a top-down perspective as shown in <image_1>. Point 2 forward view: <image_2>. Point 1 forward view: <image_3>. Which object can you see on your left side at waypoint M1?	D	[ "the chair", "the dining table", "the desk lamp", "the sofa" ]	At midpoint M1, looking to the left, I see: <image_4>.
procthor_val_504_0001_td_reverse_right_t1_ego_dir	You are navigating from waypoint 2 to waypoint 1, passing through midpoint M1 and viewing from a top-down perspective <image_1>. Standing at point 2 and looking forward: <image_2>. Standing at point 1 and looking forward: <image_3>. Which object can you see on your right side at waypoint M1?	C	[ "the box", "the sofa", "the chair", "the toaster" ]	Standing at M1, looking right: <image_4>.
procthor_val_504_0001_td_reverse_right_t2_ego_dir	You are navigating from waypoint 2 to 1, passing through midpoint M1 as shown in the top-down view <image_1>. Looking ahead from point 2, you see: <image_2>. Looking ahead from point 1, you see: <image_3>. Which object can you see on your right side at waypoint M1?	B	[ "the sofa", "the dining table", "the box", "the countertop" ]	At midpoint M1, looking to the right, I see: <image_4>.
ithor_val_FloorPlan22_0001_td_forward_right_t6_ego_dir	You are moving from waypoint 1 to waypoint 2 and are currently at midpoint M1, looking at the top-down view <image_1>. Here's your view looking forward from point 1: <image_2>. And from point 2: <image_3>. Which object can you see on your right side at waypoint M1?	D	[ "a coffee machine", "a tomato", "a fridge", "a sink" ]	Standing at M1, looking right: <image_4>.
ithor_val_FloorPlan22_0001_td_forward_right_t7_ego_dir	You are following the path 1→2 and have reached waypoint M1; refer to the top-down view <image_1>. From point 1, looking straight ahead: <image_2>. From point 2, looking straight ahead: <image_3>. Which object can you see on your right side at waypoint M1?	A	[ "the sink basin", "the coffee machine", "the dish sponge", "a tomato" ]	Standing at M1, looking right: <image_4>.
procthor_val_336_0001_td_forward_right_t2_ego_dir	You are moving along the path 1→2 and currently at waypoint M1, as shown in the top-down view <image_1>. From point 1, looking straight ahead: <image_2>. From point 2, looking straight ahead: <image_3>. Which object can you see on your right side at waypoint M1?	A	[ "a floor lamp", "a chair", "a bowl", "a plate" ]	My right view at the midpoint M1: <image_4>.
procthor_val_336_0001_td_forward_right_t3_ego_dir	You are navigating from waypoint 1 to waypoint 2, passing through midpoint M1, as shown in the top-down view <image_1>. Here's your view looking forward from point 1: <image_2>. And from point 2: <image_3>. Which object can you see on your right side at waypoint M1?	A	[ "a stool", "a pencil", "a plate", "a bowl" ]	Looking right from midpoint M1: <image_4>.
procthor_val_336_0001_td_reverse_left_t3_ego_dir	You are moving along the path 2→1, and you are currently at waypoint M1, looking at a top-down view <image_1>. Point 2 forward view: <image_2>. Point 1 forward view: <image_3>. Which object can you see on your left side at waypoint M1?	D	[ "a plate", "a desk lamp", "a bowl", "a stool" ]	Here's what's on my left at midpoint M1: <image_4>.
ithor_val_FloorPlan223_0001_td_forward_left_t2_ego_dir	You are moving along the path 1→2, and you are currently at waypoint M1 as shown in the top-down view <image_1>. Standing at point 1 and looking forward: <image_2>. Standing at point 2 and looking forward: <image_3>. Which object can you see on your left side at waypoint M1?	C	[ "the floor lamp", "the dining table", "the coffee table", "the television" ]	At M1, the view to my left: <image_4>.
ithor_val_FloorPlan223_0001_td_forward_left_t4_ego_dir	You are navigating from waypoint 1 to waypoint 2, passing through midpoint M1, and viewing the space from a top-down perspective as shown in <image_1>. At point 1, I'm facing forward and see: <image_2>. At point 2, facing forward: <image_3>. Which object can you see on your left side at waypoint M1?	D	[ "a dining table", "a floor lamp", "a TV stand", "a pillow" ]	At M1, the view to my left: <image_4>.
ithor_val_FloorPlan223_0001_td_forward_left_t3_ego_dir	You are following the path from waypoint 1 to waypoint 2, passing through midpoint M1 as shown in the top-down view <image_1>. Standing at point 1 and looking forward: <image_2>. Standing at point 2 and looking forward: <image_3>. Which object can you see on your left side at waypoint M1?	C	[ "a dining table", "a statue", "a house plant", "a TV stand" ]	This is what I see on my left at M1: <image_4>.
ithor_val_FloorPlan223_0001_td_reverse_right_t4_ego_dir	You are moving along the path 2→1 as shown from a top-down view in <image_1>. This is what you see looking forward from point 2: <image_2>. This is what you see looking forward from point 1: <image_3>. Which object can you see on your right side at waypoint M1?	A	[ "the pillow", "the floor lamp", "the statue", "the television" ]	Here's what's on my right at midpoint M1: <image_4>.
ithor_val_FloorPlan223_0001_td_reverse_right_t1_ego_dir	You are moving along the path 2→1 and viewing the space from a top-down perspective, as shown in <image_1>. From point 2, looking straight ahead: <image_2>. From point 1, looking straight ahead: <image_3>. Which object can you see on your right side at waypoint M1?	D	[ "the statue", "the dining table", "the television", "the armchair" ]	From the midpoint M1, my right side shows: <image_4>.
procthor_val_394_0001_td_forward_left_t2_ego_dir	You are moving along the path from waypoint 1 to waypoint 2 and viewing the top-down map shown at <image_1>. Standing at point 1 and looking forward: <image_2>. Standing at point 2 and looking forward: <image_3>. Which object can you see on your left side at waypoint M1?	A	[ "the floor lamp", "the dining table", "the statue", "the bowl" ]	At M1, the view to my left: <image_4>.
procthor_val_394_0001_td_forward_left_t3_ego_dir	You are following the path 1→2 and have reached waypoint M1, viewing from a top-down perspective as shown in <image_1>. Point 1 forward view: <image_2>. Point 2 forward view: <image_3>. Which object can you see on your left side at waypoint M1?	D	[ "the bottle", "the dining table", "the statue", "the sofa" ]	Here's what's on my left at midpoint M1: <image_4>.
procthor_val_394_0001_td_forward_left_t1_ego_dir	You are navigating from waypoint 1 to waypoint 2, passing through midpoint M1 as shown in the top-down view <image_1>. From point 1, looking straight ahead: <image_2>. From point 2, looking straight ahead: <image_3>. Which object can you see on your left side at waypoint M1?	C	[ "the TV stand", "the statue", "the armchair", "the dining table" ]	From the midpoint M1, my left side shows: <image_4>.
procthor_val_394_0001_td_forward_right_t1_ego_dir	You are navigating from waypoint 1 to waypoint 2, passing through M1 as shown in the top-down view <image_1>. This is what you see looking forward from point 1: <image_2>. This is what you see looking forward from point 2: <image_3>. Which object can you see on your right side at waypoint M1?	B	[ "the sofa", "the dining table", "the armchair", "the floor lamp" ]	Standing at M1, looking right: <image_4>.
procthor_val_394_0001_td_reverse_left_t1_ego_dir	You are navigating from waypoint 2 to waypoint 1, passing through midpoint M1 as shown in the top-down view <image_1>. Here's your view looking forward from point 2: <image_2>. And from point 1: <image_3>. Which object can you see on your left side at waypoint M1?	D	[ "the floor lamp", "the armchair", "the sofa", "the dining table" ]	At M1, the view to my left: <image_4>.
procthor_val_394_0001_td_reverse_right_t1_ego_dir	You are moving from waypoint 2 to waypoint 1, passing through M1 as shown in the top-down view <image_1>. Looking ahead from point 2, you see: <image_2>. Looking ahead from point 1, you see: <image_3>. Which object can you see on your right side at waypoint M1?	B	[ "the statue", "an armchair", "a dining table", "the newspaper" ]	At M1, the view to my right: <image_4>.
ithor_val_FloorPlan423_0001_td_forward_right_t4_ego_dir	You are moving along the path 1→2 in a top-down view <image_1>, passing through the midpoint labeled M1. From point 1, looking straight ahead: <image_2>. From point 2, looking straight ahead: <image_3>. Which object can you see on your right side at waypoint M1?	D	[ "the sink", "the towel", "the countertop", "the toilet" ]	From the midpoint M1, my right side shows: <image_4>.
ithor_val_FloorPlan423_0001_td_reverse_left_t4_ego_dir	You are navigating from waypoint 2 to 1, passing through midpoint M1, as shown in the top-down view <image_1>. Looking ahead from point 2, you see: <image_2>. Looking ahead from point 1, you see: <image_3>. Which object can you see on your left side at waypoint M1?	A	[ "the toilet", "the towel", "the soap bottle", "the countertop" ]	Here's what's on my left at midpoint M1: <image_4>.
procthor_val_154_0001_td_reverse_right_t1_ego_dir	You are moving along the path 2→1 and currently at waypoint M1, viewing the scene from a top-down perspective as shown in <image_1>. Standing at point 2 and looking forward: <image_2>. Standing at point 1 and looking forward: <image_3>. Which object can you see on your right side at waypoint M1?	A	[ "a laundry hamper", "a desk lamp", "a dining table", "a box" ]	Looking right from midpoint M1: <image_4>.
ithor_val_FloorPlan221_0001_td_reverse_left_t3_ego_dir	You are navigating from waypoint 2 to 1, passing through midpoint M1, as shown in the top-down view <image_1>. From point 2, looking straight ahead: <image_2>. From point 1, looking straight ahead: <image_3>. Which object can you see on your left side at waypoint M1?	D	[ "the stool", "the pillow", "the garbage can", "the floor lamp" ]	Standing at M1, looking left: <image_4>.
procthor_val_745_0001_td_forward_right_t1_ego_dir	You are moving from waypoint 1 to waypoint 2, passing through M1, as shown in the top-down view <image_1>. Here's your view looking forward from point 1: <image_2>. And from point 2: <image_3>. Which object can you see on your right side at waypoint M1?	C	[ "a bed", "a candle", "a bowl", "a pillow" ]	From the midpoint M1, my right side shows: <image_4>.
procthor_val_745_0001_td_reverse_left_t1_ego_dir	You are traveling along the path 2→1, and this top-down view <image_1> shows your position at waypoint M1. Here's your view looking forward from point 2: <image_2>. And from point 1: <image_3>. Which object can you see on your left side at waypoint M1?	D	[ "the garbage can", "the faucet", "the bed", "the bowl" ]	Here's what's on my left at midpoint M1: <image_4>.
ithor_val_FloorPlan425_0001_td_forward_right_t3_ego_dir	You are following the path 1→2 and viewing the space from a top-down perspective as shown in <image_1>. At point 1, I'm facing forward and see: <image_2>. At point 2, facing forward: <image_3>. Which object can you see on your right side at waypoint M1?	A	[ "a toilet", "a countertop", "a sink basin", "a faucet" ]	At M1, the view to my right: <image_4>.
ithor_val_FloorPlan425_0001_td_forward_right_t2_ego_dir	You are navigating from waypoint 1 to waypoint 2, passing through midpoint M1, as shown in the top-down view <image_1>. At point 1, I'm facing forward and see: <image_2>. At point 2, facing forward: <image_3>. Which object can you see on your right side at waypoint M1?	B	[ "the tissue box", "the garbage can", "the sink basin", "the sink" ]	Standing at M1, looking right: <image_4>.
procthor_val_866_0001_td_forward_left_t2_ego_dir	You are following the path 1→2 and have reached waypoint M1; refer to the top-down view <image_1>. Your forward view at point 1: <image_2>. Your forward view at point 2: <image_3>. Which object can you see on your left side at waypoint M1?	C	[ "the sofa", "the box", "the statue", "the countertop" ]	This is what I see on my left at M1: <image_4>.
ithor_val_FloorPlan422_0001_td_reverse_right_t1_ego_dir	You are moving along the path 2→1 and viewing the scene from above in <image_1>. Point 2 forward view: <image_2>. Point 1 forward view: <image_3>. Which object can you see on your right side at waypoint M1?	A	[ "a cabinet", "a tissue box", "a shelf", "a shower head" ]	At midpoint M1, looking to the right, I see: <image_4>.
procthor_val_634_0001_td_forward_right_t1_ego_dir	You are navigating from waypoint 1 to 2, passing through M1 while viewing the scene from a top-down perspective in <image_1>. This is what you see looking forward from point 1: <image_2>. This is what you see looking forward from point 2: <image_3>. Which object can you see on your right side at waypoint M1?	A	[ "the house plant", "the cell phone", "the sofa", "the TV stand" ]	Standing at M1, looking right: <image_4>.
procthor_val_634_0001_td_reverse_left_t1_ego_dir	You are moving along the path 2→1 and are currently at waypoint M1, as shown in the top-down view <image_1>. At point 2, I'm facing forward and see: <image_2>. At point 1, facing forward: <image_3>. Which object can you see on your left side at waypoint M1?	D	[ "a bottle", "a chair", "a dining table", "a houseplant" ]	Standing at M1, looking left: <image_4>.
procthor_val_634_0001_td_reverse_right_t8_ego_dir	You are navigating from waypoint 2 to waypoint 1, passing through midpoint M1 as shown in the top-down view <image_1>. From point 2, looking straight ahead: <image_2>. From point 1, looking straight ahead: <image_3>. Which object can you see on your right side at waypoint M1?	D	[ "the plate", "the spray bottle", "the countertop", "the television" ]	Looking right from midpoint M1: <image_4>.
ithor_val_FloorPlan25_0001_td_forward_right_t4_ego_dir	You are traveling along the path 1→2 and have reached waypoint M1; refer to the top-down view shown in <image_1>. Standing at point 1 and looking forward: <image_2>. Standing at point 2 and looking forward: <image_3>. Which object can you see on your right side at waypoint M1?	D	[ "an egg", "the fridge", "a fork", "the stove burner" ]	Looking right from midpoint M1: <image_4>.
ithor_val_FloorPlan425_0001_td_forward_left_t3_ego_dir	You are traveling along the path 1→2 as shown in the top-down view <image_1>, and you are currently at waypoint M1. From point 1, looking straight ahead: <image_2>. From point 2, looking straight ahead: <image_3>. Which object can you see on your left side at waypoint M1?	D	[ "the countertop", "the sink basin", "the soap bottle", "the toilet" ]	This is what I see on my left at M1: <image_4>.
procthor_val_260_0001_td_reverse_left_t2_ego_dir	You are navigating from waypoint 2 to waypoint 1, passing through midpoint M1, as shown in the top-down view <image_1>. Point 2 forward view: <image_2>. Point 1 forward view: <image_3>. Which object can you see on your left side at waypoint M1?	D	[ "the bed", "the basketball", "the house plant", "the television" ]	At M1, the view to my left: <image_4>.
procthor_val_620_0001_td_forward_left_t2_ego_dir	You are moving along the path 1→2 as shown in the top-down view <image_1>, and you are currently at waypoint M1. Point 1 forward view: <image_2>. Point 2 forward view: <image_3>. Which object can you see on your left side at waypoint M1?	A	[ "a garbage bag", "a dresser", "a TV stand", "a television" ]	At midpoint M1, looking to the left, I see: <image_4>.
procthor_val_620_0001_td_forward_left_t1_ego_dir	You are navigating from waypoint 1 to 2, passing through midpoint M1 as shown in the top-down view <image_1>. At point 1, I'm facing forward and see: <image_2>. At point 2, facing forward: <image_3>. Which object can you see on your left side at waypoint M1?	A	[ "the fridge", "the sofa", "the dresser", "the countertop" ]	Here's what's on my left at midpoint M1: <image_4>.
procthor_val_620_0001_td_reverse_left_t3_ego_dir	You're moving from waypoint 2 to waypoint 1, passing through midpoint M1 as shown in the top-down view <image_1>. Point 2 forward view: <image_2>. Point 1 forward view: <image_3>. Which object can you see on your left side at waypoint M1?	B	[ "the garbage bag", "the microwave", "the fridge", "the ladle" ]	From the midpoint M1, my left side shows: <image_4>.
procthor_val_620_0001_td_reverse_right_t2_ego_dir	You are moving along the path 2→1 and viewing the top-down layout as shown in <image_1>. Point 2 forward view: <image_2>. Point 1 forward view: <image_3>. Which object can you see on your right side at waypoint M1?	D	[ "the countertop", "the sofa", "the television", "the garbage bag" ]	At M1, the view to my right: <image_4>.
procthor_val_620_0001_td_reverse_right_t1_ego_dir	You are moving along the path 2→1 and are currently at waypoint M1, as depicted in the top-down view <image_1>. Standing at point 2 and looking forward: <image_2>. Standing at point 1 and looking forward: <image_3>. Which object can you see on your right side at waypoint M1?	A	[ "the fridge", "the microwave", "the TV stand", "the dresser" ]	Standing at M1, looking right: <image_4>.
procthor_val_570_0001_td_forward_left_t1_ego_dir	You are moving along the path 1→2, and you are currently at waypoint M1 as seen from a top-down view <image_1>. Point 1 forward view: <image_2>. Point 2 forward view: <image_3>. Which object can you see on your left side at waypoint M1?	A	[ "a dresser", "a pillow", "a tissue box", "a bed" ]	Looking left from midpoint M1: <image_4>.
procthor_val_570_0001_td_forward_right_t3_ego_dir	You are navigating from waypoint 1 to waypoint 2, passing through midpoint M1, as shown in the top-down view <image_1>. Looking ahead from point 1, you see: <image_2>. Looking ahead from point 2, you see: <image_3>. Which object can you see on your right side at waypoint M1?	D	[ "an alarm clock", "a book", "a dresser", "a pillow" ]	Standing at M1, looking right: <image_4>.

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Citation

Released with the paper Imaginative Perception Tokens Enhance Spatial Reasoning in Multimodal Language Models (arXiv:2606.03988):

@misc{bigverdi2026imaginativeperceptiontokensenhance,
      title={Imaginative Perception Tokens Enhance Spatial Reasoning in Multimodal Language Models},
      author={Mahtab Bigverdi and Linjie Li and Weikai Huang and Yiming Liu and Jaemin Cho and Jieyu Zhang and Tuhin Kundu and Chris Dangjoo Kim and Zelun Luo and Linda Shapiro and Ranjay Krishna},
      year={2026},
      eprint={2606.03988},
      archivePrefix={arXiv},
      primaryClass={cs.AI},
      url={https://arxiv.org/abs/2606.03988},
}

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Imaginative Perception Tokens Enhance Spatial Reasoning in Multimodal Language Models

Paper • 2606.03988 • Published 28 days ago • 126