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benchmark_samples/Generalization/OOD/101-chinese-paint/prompt.txt

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+Put the screw driver into the drawer

benchmark_samples/Generalization/OOD/101-drawer-closed/prompt.txt

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+Put the screw driver into the drawer

benchmark_samples/Generalization/OOD/101-more-tools/prompt.txt

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+Clean the table and put them into the drawer

benchmark_samples/Generalization/OOD/1044-oil-paint/prompt.txt

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+Use the spoon to put a bit of the blue bowl's contents into the orange bowl

benchmark_samples/Generalization/OOD/278809-add-fruits/prompt.txt

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+Clean the table surface

benchmark_samples/Generalization/OOD/278809-replace-people/prompt.txt

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+Clean the table surface

benchmark_samples/Generalization/OOD/464988-oil-paint/prompt.txt

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+put the fruit in the basket

benchmark_samples/Generalization/OOD/464988-pencil/prompt.txt

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+put the fruit in the basket

benchmark_samples/Generalization/OOD/538094-add-pot-no-lid/prompt.txt

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+move the lid to the pot with no lid which can fit the size of the lid

benchmark_samples/Generalization/OOD/538094-add-pot/prompt.txt

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+put all the lids on to the table

benchmark_samples/Generalization/OOD/apple_natura/prompt.txt

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+Put the apples on the table into the basket

benchmark_samples/Generalization/OOD/clap_hands/prompt.txt

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+Move both arms together and clap hands.

benchmark_samples/Generalization/OOD/crack_egg/prompt.txt

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+Pick up an egg and crack it into the bowl.

benchmark_samples/Generalization/OOD/domino-art/prompt.txt

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+use robot arm to play dominoes

benchmark_samples/Generalization/OOD/domino-real/prompt.txt

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+use robot arm to play dominoes

benchmark_samples/Generalization/OOD/girl_with_pearl/prompt.txt

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+use right arm to grab the pearl and give it to the left arm

benchmark_samples/Generalization/OOD/girl_with_umbrella/prompt.txt

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+move the umbrella from the women to the kid

benchmark_samples/Generalization/OOD/luxury_natura/prompt.txt

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+throw the lobster onto the ground

benchmark_samples/Generalization/OOD/natura_morta/prompt.txt

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+place the purple bowl upside down

benchmark_samples/Generalization/OOD/night_patrol/prompt.txt

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+grab the sword from the men with black hat and put it on the ground

benchmark_samples/Generalization/OOD/take_selfie/prompt.txt

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+Receive the smartphone from the human and hold it upright for a selfie.

benchmark_samples/Generalization/OOD/watching_tv/prompt.txt

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+Grasp the TV remote control and point it toward the television.

benchmark_samples/Perception/affordance-centric/object-affordance/00006423/00006423.mp4

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+version https://git-lfs.github.com/spec/v1
+oid sha256:dfa5cc22871529f6b24d58fc9e21dc8f0e51ebce79cae5cd66128e1ce0ac5f34
+size 10024642

benchmark_samples/Perception/affordance-centric/object-affordance/00006423/prompt.txt

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+Remove the brown mug from the rack then take the yellow pencil out of the mug.

benchmark_samples/Perception/affordance-centric/object-affordance/00006811/00006811.mp4

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+version https://git-lfs.github.com/spec/v1
+oid sha256:8c14c1bcb08faa823a7748ec71f018d0c1cdc8c8c2a7d7a02f2f021c399b07d3
+size 19943945

benchmark_samples/Perception/affordance-centric/object-affordance/00006811/prompt.txt

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+Move the gray objects off the orange towel using the spatula