{"id": "realtest_1", "image": ["input_images/sg3.png", "input_images/sg4.png", "input_images/sg5.png", "input_images/sg6.png", "input_images/sg7.png", "input_images/sg8.png", "input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/1.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move apple from the white table to the wooden high stool.Robot's history: \"The task has started and I have navigated to the white table and picked up the apple, I am getting closer to the wooden high stool where I should place apple.\"Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"As I embark on my task, my goal is clear: I must navigate to the white table where the apple awaits, pick it up, and then journey to the wooden high stool to place it down. My previous actions remind me that I've successfully retrieved the apple and am now on the lookout for the wooden high stool. In my current view, I can spot the wooden high stool positioned prominently on the center right of the image. However, I'm not quite close enough to interact with it yet, so I need to maneuver closer. The ground in the center of the image appears to be a navigable area, guiding my next move.\", \"action\": \"nav_to_point\", \"action_information\": \"[[539, 585, 578, 624]]\", \"summarization\": \"I've initiated my task by reaching the white table and successfully picking up the apple. Now, I'm making my way closer to the wooden high stool, where I will soon place the apple.\"}", "prompt_tokens": 5883, "completion_tokens": 214, "time_total": 28.057255268096924}
{"id": "realtest_2", "image": ["input_images/sg3.png", "input_images/sg4.png", "input_images/sg5.png", "input_images/sg6.png", "input_images/sg7.png", "input_images/sg8.png", "input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/2.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the chip box from Genuine Leather Sofa to the white table.Robot's history: \"The task has started and I am getting closer to Genuine Leather Sofa where the chip box is located.\"Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"I am on a mission to reach the inviting Genuine Leather Sofa, where the coveted chip box awaits. My plan is clear: I will pick up the chip box and then make my way to the elegant white table to place it down. My previous searches have led me to focus on the Genuine Leather Sofa, so I must persist in navigating towards it. In my current view, I can spot the sofa positioned prominently on the center right of the image. However, I'm still too far away to grab the object, so I need to maneuver towards the navigable area that brings me closer to the chip box. I've identified the ground in the bottom center of the image as a suitable path to take.\", \"action\": \"nav_to_point\", \"action_information\": \"[[539, 978, 578, 999]]\", \"summarization\": \"I've embarked on my task and am steadily approaching the Genuine Leather Sofa, where the sought-after chip box is located.\"}", "prompt_tokens": 5870, "completion_tokens": 211, "time_total": 27.567180633544922}
{"id": "realtest_3", "image": ["input_images/sg3.png", "input_images/sg4.png", "input_images/sg5.png", "input_images/sg6.png", "input_images/sg7.png", "input_images/sg8.png", "input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/3.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the red plastic cup from the black desk to the wooden high stool.Robot's history: \"The task has started and I have navigated to black desk and picked up the red plastic cup, I am getting closer to the wooden high stool where I should place the red plastic cup.\"Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"As I embark on my task, my objective is clear: I must navigate to the sleek black desk where the vibrant red plastic cup awaits, pick it up, and then journey to the elegant wooden high stool to place it down. My previous actions remind me that I've successfully retrieved the red plastic cup and am now on the lookout for the wooden high stool. In my current view, I can spot the wooden high stool positioned prominently on the center left of the image. However, I'm not quite close enough to interact with it just yet. To accomplish my goal, I need to maneuver closer. I've identified a navigable area on the ground in the bottom center of the image, which will guide my next move.\", \"action\": \"nav_to_point\", \"action_information\": \"[[390, 822, 429, 861]]\", \"summarization\": \"I've initiated my task by navigating to the black desk and successfully picking up the red plastic cup. Now, I'm making my way closer to the wooden high stool, where I will soon place the red plastic cup.\"}", "prompt_tokens": 5890, "completion_tokens": 235, "time_total": 27.914368629455566}
{"id": "realtest_4", "image": ["input_images/sg3.png", "input_images/sg4.png", "input_images/sg5.png", "input_images/sg6.png", "input_images/sg7.png", "input_images/sg8.png", "input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/4.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the red plastic cup from the black desk to the wooden high stool.Robot's history: \"The task has started and I am getting closer to the black desk where the red plastic cup is located.\"Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"As I embark on my task, my goal is clear: I must navigate to the sleek black desk where the vibrant red plastic cup awaits, grasp it firmly, and then journey to the wooden high stool to place it down. My previous movements have brought me closer to the black desk, which I can see prominently positioned at the bottom center of my view. The red plastic cup is perfectly centered in the image, tantalizingly within reach of my arm. With this proximity, I am ready to seize the red plastic cup and fulfill my mission.\", \"action\": \"pick\", \"action_information\": \"[[496, 482, 646, 636]]\", \"summarization\": \"I have successfully initiated my task, reaching the black desk and triumphantly picking up the red plastic cup.\"}", "prompt_tokens": 5873, "completion_tokens": 174, "time_total": 26.95646619796753}
{"id": "realtest_5", "image": ["input_images/sg3.png", "input_images/sg4.png", "input_images/sg5.png", "input_images/sg6.png", "input_images/sg7.png", "input_images/sg8.png", "input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/5.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the red plastic cup from the black desk to the wooden high stool.Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"I am embarking on my task with determination. My first objective is to reach the black desk, where the elusive red plastic cup awaits. However, my current view does not reveal the black desk, prompting me to delve into the scene frames for guidance. Upon examining Image-7, I spot the black desk clearly, making it the ideal choice for my next move.\", \"action\": \"search_scene_frame\", \"action_information\": 7, \"summarization\": \"I have initiated my task and am actively seeking the black desk, the resting place of the red plastic cup.\"}", "prompt_tokens": 5847, "completion_tokens": 123, "time_total": 26.139453887939453}
{"id": "realtest_6", "image": ["input_images/sg3.png", "input_images/sg4.png", "input_images/sg5.png", "input_images/sg6.png", "input_images/sg7.png", "input_images/sg8.png", "input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/6.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the banana from the black desk to the White Rectangular Office Meeting Table.Robot's history: \"The task has started and I have navigated to the black desk and picked up the banana, I am getting closer to the White Rectangular Office Meeting Table where I should place the banana.\"Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"In order to complete my mission, I must first navigate to the sleek black desk where the banana awaits. Once I have successfully picked it up, my next destination will be the elegant White Rectangular Office Meeting Table, where I will place the banana. My previous actions show that I have already retrieved the banana and am now approaching the table. In my current view, the White Rectangular Office Meeting Table is prominently positioned at the bottom center of the image, and I am close enough to execute the placement of the banana. Thus, it is time for me to place the banana on the table, fulfilling my objective.\", \"action\": \"place\", \"action_information\": \"[[0, 445, 1000, 999]]\", \"summarization\": \"Having successfully placed the banana on the White Rectangular Office Meeting Table, I can proudly say that I have completed my task.\"}", "prompt_tokens": 5891, "completion_tokens": 191, "time_total": 6.60193133354187}
{"id": "realtest_7", "image": ["input_images/sg3.png", "input_images/sg4.png", "input_images/sg5.png", "input_images/sg6.png", "input_images/sg7.png", "input_images/sg8.png", "input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/7.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the NutriSoy Bean Milk Box from the Minimalist Black Workstation Desk to the White Rectangular Office Meeting Table.Robot's history: \"The task has started and I am getting closer to the Minimalist Black Workstation Desk where the NutriSoy Bean Milk Box is located.\"Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"As I embark on my task, my goal is clear: I must navigate to the Minimalist Black Workstation Desk, where the coveted NutriSoy Bean Milk Box awaits. Once I reach it, I will pick it up and then make my way to the White Rectangular Office Meeting Table to place it down. My previous movements have brought me closer to the desk, and in my current view, I can see the Minimalist Black Workstation Desk positioned prominently at the bottom center of the image. The NutriSoy Bean Milk Box is conveniently located on the center right, within arm's reach, making it an ideal target for me to grasp. With this in mind, I am ready to pick up the NutriSoy Bean Milk Box and continue my mission.\", \"action\": \"pick\", \"action_information\": \"[[576, 263, 769, 548]]\", \"summarization\": \"I have successfully initiated my task by navigating to the Minimalist Black Workstation Desk and have now picked up the NutriSoy Bean Milk Box.\"}", "prompt_tokens": 5892, "completion_tokens": 230, "time_total": 28.238470315933228}
{"id": "realtest_8", "image": ["input_images/sg3.png", "input_images/sg4.png", "input_images/sg5.png", "input_images/sg6.png", "input_images/sg7.png", "input_images/sg8.png", "input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/8.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the NutriSoy Bean Milk Box from the White Rectangular Office Meeting Table to the Washing Machine Cabinet.Robot's history: \"The task has started and I have navigated to the White Rectangular Office Meeting Table and picked up the NutriSoy Bean Milk Box, I am getting closer to the Washing Machine Cabinet where I should place the NutriSoy Bean Milk Box.\"Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"As I embark on my task, my goal is clear: I must navigate to the White Rectangular Office Meeting Table to retrieve the NutriSoy Bean Milk Box, then make my way to the Washing Machine Cabinet to place it down. My previous actions confirm that I've successfully picked up the NutriSoy Bean Milk Box and am now on the lookout for the Washing Machine Cabinet. In my current view, I can spot the Washing Machine Cabinet prominently positioned in the center of the image. However, I'm still too far away to interact with it, so I need to close the distance. The ground in the bottom center of the image appears to be a clear path for navigation, guiding me closer to my destination.\", \"action\": \"nav_to_point\", \"action_information\": \"[[380, 675, 419, 714]]\", \"summarization\": \"I've initiated my task by navigating to the White Rectangular Office Meeting Table and successfully picking up the NutriSoy Bean Milk Box. Now, I'm making my way toward the Washing Machine Cabinet, where I will place the NutriSoy Bean Milk Box.\"}", "prompt_tokens": 5911, "completion_tokens": 245, "time_total": 27.93204402923584}
{"id": "realtest_9", "image": ["input_images/sg3.png", "input_images/sg4.png", "input_images/sg5.png", "input_images/sg6.png", "input_images/sg7.png", "input_images/sg8.png", "input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/9.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the QQ Penguin Doll from the black cabinet to the wooden high stool.Robot's history: \"The task has started and I am getting closer to the black cabinet where the QQ Penguin Doll is located.\"Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"As I embark on my task, my goal is clear: I must navigate to the black cabinet where the delightful QQ Penguin Doll awaits, retrieve it, and then journey to the wooden high stool to place it down. My previous movements have brought me closer to the black cabinet, which I can see prominently positioned at the bottom center of my view. The QQ Penguin Doll is perfectly centered in the image, tantalizingly within reach of my arm. With this proximity, I am ready to seize the opportunity and pick up the QQ Penguin Doll with precision and care.\", \"action\": \"pick\", \"action_information\": \"[[351, 144, 579, 438]]\", \"summarization\": \"I have successfully initiated my task by navigating to the black cabinet and have now picked up the charming QQ Penguin Doll.\"}", "prompt_tokens": 5873, "completion_tokens": 179, "time_total": 26.777973175048828}
{"id": "realtest_10", "image": ["input_images/sg3.png", "input_images/sg4.png", "input_images/sg5.png", "input_images/sg6.png", "input_images/sg7.png", "input_images/sg8.png", "input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/10.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the QQ Penguin Doll from the black cabinet to the wooden high stool.Robot's history: \"The task has started and I have navigated to the black cabinet and picked up the QQ Penguin Doll.\"Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"I have successfully navigated to the black cabinet and retrieved the delightful QQ Penguin Doll. Now, my mission is to locate the wooden high stool. Unfortunately, it's not visible in my current view, prompting me to search through the scene frames. Upon examining the frames, I discovered that Scene Image-8 features the wooden high stool, making it the perfect target for my next move.\", \"action\": \"search_scene_frame\", \"action_information\": 8, \"summarization\": \"The journey has commenced! I've made my way to the black cabinet and collected the charming QQ Penguin Doll. Now, I'm on a quest to find the wooden high stool, the designated spot for placing my newfound treasure.\"}", "prompt_tokens": 5873, "completion_tokens": 149, "time_total": 26.560826539993286}
{"id": "realtest_11", "image": ["input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/sg_19_26gt.png", "input_images/sg_20gt.png", "input_images/sg_21gt.png", "input_images/sg_22_25gt.png", "input_images/sg_23gt.png", "input_images/sg_24gt.png", "input_images/11.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the red plastic cup from the black desk to the blue office stool.Robot's history: \"The task has started and I have navigated to black desk and picked up the red plastic cup, I am getting closer to the blue office stool where I should place the red plastic cup.\"Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"As I embark on my task, my objective is clear: I must navigate to the black desk to retrieve the red plastic cup, then make my way to the blue office stool to place it down. My previous actions confirm that I've successfully picked up the red plastic cup and am now on the lookout for the blue office stool. In my current view, I can spot the blue office stool positioned prominently on the center left of the image. However, I'm still too far away to interact with it, so I need to close the distance. The ground in the bottom center of the image appears to be a suitable path for navigation, guiding me closer to my goal.\", \"action\": \"nav_to_point\", \"action_information\": \"[[394, 654, 433, 693]]\", \"summarization\": \"I've initiated my task by reaching the black desk and successfully picking up the red plastic cup. Now, I'm on my way to the blue office stool, where I will place the red plastic cup.\"}", "prompt_tokens": 2818, "completion_tokens": 221, "time_total": 7.9492347240448}
{"id": "realtest_12", "image": ["input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/sg_19_26gt.png", "input_images/sg_20gt.png", "input_images/sg_21gt.png", "input_images/sg_22_25gt.png", "input_images/sg_23gt.png", "input_images/sg_24gt.png", "input_images/12.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the white thermos cup from the black desk to the wooden high stool.Robot's history: \"The task has started and I am getting closer to the black desk where the white thermos cup is located.\"Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"As I embark on my task, my goal is clear: I must navigate to the sleek black desk where the gleaming white thermos cup awaits, lift it with precision, and then journey to the wooden high stool to place it down. My previous movements have brought me closer to the black desk, which I can see prominently positioned at the bottom center of my view. The white thermos cup is tantalizingly located on the center right, within arm's reach, making it an ideal target for me to grasp. With determination, I am ready to pick up the white thermos cup and continue my mission.\", \"action\": \"pick\", \"action_information\": \"[[775, 507, 915, 698]]\", \"summarization\": \"I have successfully initiated my task by navigating to the black desk and have now picked up the white thermos cup, ready for the next step.\"}", "prompt_tokens": 2803, "completion_tokens": 196, "time_total": 7.576037406921387}
{"id": "realtest_13", "image": ["input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/sg_19_26gt.png", "input_images/sg_20gt.png", "input_images/sg_21gt.png", "input_images/sg_22_25gt.png", "input_images/sg_23gt.png", "input_images/sg_24gt.png", "input_images/13.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the chip box from Genuine Leather Sofa to the white table.Robot's history: \"The task has started and I am getting closer to Genuine Leather Sofa where the chip box is located.\"Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"I am on a mission to reach the inviting Genuine Leather Sofa, where the coveted chip box awaits. My objective is clear: pick up the chip box and then make my way to the elegant white table to place it down. My previous searches have led me to focus on the Genuine Leather Sofa, so I must persist in navigating towards it. In my current view, I can spot the sofa positioned prominently on the center left of the image. However, I'm still a bit too far to grab the object, so I need to maneuver towards the navigable area that brings me closer to the chip box. I've identified the ground in the bottom center of the image as a suitable path to take.\", \"action\": \"nav_to_point\", \"action_information\": \"[[412, 855, 451, 894]]\", \"summarization\": \"I've embarked on my task and am steadily advancing towards the Genuine Leather Sofa, where the sought-after chip box is located.\"}", "prompt_tokens": 2798, "completion_tokens": 211, "time_total": 8.926109075546265}
{"id": "realtest_14", "image": ["input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/sg_19_26gt.png", "input_images/sg_20gt.png", "input_images/sg_21gt.png", "input_images/sg_22_25gt.png", "input_images/sg_23gt.png", "input_images/sg_24gt.png", "input_images/14.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the banana from the black desk to the Kitchen Island.Robot's history: \"The task has started and I have navigated to the black desk and picked up the banana, I am getting closer to the Kitchen Island where I should place the banana.\"Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"In order to complete my mission, I must first navigate to the sleek black desk where the banana awaits. Once I have successfully picked it up, my next destination will be the Kitchen Island, where I will place the banana. My previous actions show that I have already retrieved the banana and am now approaching the Kitchen Island. In my current view, I can clearly see the Kitchen Island positioned at the bottom right of the image, and I am close enough to execute the placement of the banana. Therefore, it is time for me to place the banana on the Kitchen Island, fulfilling my task.\", \"action\": \"place\", \"action_information\": \"[[664, 314, 999, 999]]\", \"summarization\": \"Having successfully placed the banana on the Kitchen Island, I can proudly say that I have completed all my tasks.\"}", "prompt_tokens": 2811, "completion_tokens": 184, "time_total": 7.646589994430542}
{"id": "realtest_15", "image": ["input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/sg_19_26gt.png", "input_images/sg_20gt.png", "input_images/sg_21gt.png", "input_images/sg_22_25gt.png", "input_images/sg_23gt.png", "input_images/sg_24gt.png", "input_images/15.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the NutriSoy Bean Milk Box from the White Rectangular Office Meeting Table to the Washing Machine Cabinet.Robot's history: \"The task has started and I have navigated to the White Rectangular Office Meeting Table and picked up the NutriSoy Bean Milk Box, I am getting closer to the Washing Machine Cabinet where I should place the NutriSoy Bean Milk Box.\"Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"As I embark on my task, my goal is clear: I must navigate to the White Rectangular Office Meeting Table to retrieve the NutriSoy Bean Milk Box, then make my way to the Washing Machine Cabinet to place it down. My previous actions confirm that I've successfully picked up the NutriSoy Bean Milk Box and am now on the lookout for the Washing Machine Cabinet. In my current view, I can spot the Washing Machine Cabinet positioned at the center of the image. However, I'm not yet close enough to interact with it, so I need to maneuver closer. The ground in the center of the image appears to be a navigable area, guiding my next move.\", \"action\": \"nav_to_point\", \"action_information\": \"[[478, 570, 517, 609]]\", \"summarization\": \"I've initiated my task by navigating to the White Rectangular Office Meeting Table and successfully picking up the NutriSoy Bean Milk Box. Now, I'm making my way closer to the Washing Machine Cabinet, where I will ultimately place the NutriSoy Bean Milk Box.\"}", "prompt_tokens": 2839, "completion_tokens": 241, "time_total": 8.56684923171997}
{"id": "realtest_16", "image": ["input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/sg_19_26gt.png", "input_images/sg_20gt.png", "input_images/sg_21gt.png", "input_images/sg_22_25gt.png", "input_images/sg_23gt.png", "input_images/sg_24gt.png", "input_images/16.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the red plastic cup from the black desk to the wooden high stool.Robot's history: \"The task has started and I am getting closer to the black desk where the red plastic cup is located.\"Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"As I embark on my task, my goal is clear: I must navigate to the sleek black desk where the vibrant red plastic cup awaits, grasp it firmly, and then journey to the wooden high stool to place it down. My previous movements have brought me closer to the black desk, which I can see prominently positioned in the bottom right of my view. The red plastic cup is tantalizingly located at the center right, within arm's reach, making it an ideal target for me to pick up. With determination, I am ready to seize the red plastic cup and continue my mission.\", \"action\": \"pick\", \"action_information\": \"[[818, 539, 991, 703]]\", \"summarization\": \"I have successfully initiated my task by navigating to the black desk and have now picked up the bright red plastic cup, ready for the next step.\"}", "prompt_tokens": 2801, "completion_tokens": 191, "time_total": 6.4230427742004395}
{"id": "realtest_17", "image": ["input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/sg_19_26gt.png", "input_images/sg_20gt.png", "input_images/sg_21gt.png", "input_images/sg_22_25gt.png", "input_images/sg_23gt.png", "input_images/sg_24gt.png", "input_images/17.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the apple from the White Rectangular Office Meeting Table to the wooden high stool.Robot's history: \"The task has started and I am getting closer to the White Rectangular Office Meeting Table where the apple is located.\"Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"I am on a mission to reach the White Rectangular Office Meeting Table, where the tantalizing apple awaits. My plan is to pick up the apple and then make my way to the wooden high stool to place it down. My previous searches have led me to focus on the White Rectangular Office Meeting Table, so I must persist in navigating towards it. In my current view, I can spot the table positioned prominently on the center right of the image. However, I'm still too far away to grab the apple, so I need to move towards the navigable area that brings me closer to my goal. I've identified that the ground in the bottom center of the image is a suitable path for me to take.\", \"action\": \"nav_to_point\", \"action_information\": \"[[552, 652, 591, 691]]\", \"summarization\": \"I've embarked on my task and am steadily approaching the White Rectangular Office Meeting Table, where the apple is waiting for me.\"}", "prompt_tokens": 2805, "completion_tokens": 216, "time_total": 7.98952579498291}
{"id": "realtest_18", "image": ["input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/sg_19_26gt.png", "input_images/sg_20gt.png", "input_images/sg_21gt.png", "input_images/sg_22_25gt.png", "input_images/sg_23gt.png", "input_images/sg_24gt.png", "input_images/18.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the red plastic cup from the black desk to the black cabinet.Robot's history: \"The task has started and I have navigated to the black desk and picked up the red plastic cup, I am getting closer to the black cabinet where I should place the red plastic cup.\"Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"In order to complete my mission, I must first navigate to the sleek black desk where the vibrant red plastic cup awaits. Once I grasp the cup, my next destination is the elegant black cabinet, where I will carefully place the cup. My previous actions show that I have successfully picked up the red plastic cup and am now approaching the black cabinet. In my current view, I can clearly see the black cabinet positioned at the bottom center of the image, and I am close enough to execute the placement of the red plastic cup. Thus, it is time for me to place the red plastic cup on the black cabinet with precision and care.\", \"action\": \"place\", \"action_information\": \"[[0, 482, 652, 999]]\", \"summarization\": \"Having successfully placed the red plastic cup on the black cabinet, I can proudly declare that I have completed my task.\"}", "prompt_tokens": 2817, "completion_tokens": 192, "time_total": 5.350468873977661}
{"id": "realtest_19", "image": ["input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/sg_19_26gt.png", "input_images/sg_20gt.png", "input_images/sg_21gt.png", "input_images/sg_22_25gt.png", "input_images/sg_23gt.png", "input_images/sg_24gt.png", "input_images/19.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the apple from the White Rectangular Office Meeting Table to the wooden high stool.Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"I am embarking on my task with determination. My objective is to reach the White Rectangular Office Meeting Table, where the apple awaits. However, it seems that this table is not within my current view. Therefore, I must delve into the scene frames to locate it. Upon examining Image-3, I spot the White Rectangular Office Meeting Table clearly, making it the ideal choice for my next move.\", \"action\": \"search_scene_frame\", \"action_information\": 3, \"summarization\": \"I have initiated my task and am actively seeking the White Rectangular Office Meeting Table, the location of the apple.\"}", "prompt_tokens": 2777, "completion_tokens": 132, "time_total": 5.3251283168792725}
{"id": "realtest_20", "image": ["input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/sg_19_26gt.png", "input_images/sg_20gt.png", "input_images/sg_21gt.png", "input_images/sg_22_25gt.png", "input_images/sg_23gt.png", "input_images/sg_24gt.png", "input_images/20.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the NutriSoy Bean Milk Box from the Minimalist Black Workstation Desk to the black cabinet.Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"I am embarking on my task with determination. My objective is to reach the Minimalist Black Workstation Desk, where the coveted NutriSoy Bean Milk Box awaits. However, my current view does not reveal the desk, prompting me to search through the scene frames. Upon examining Image-4, I spot the Minimalist Black Workstation Desk clearly, making it the ideal choice for my next move.\", \"action\": \"search_scene_frame\", \"action_information\": 4, \"summarization\": \"I have initiated my task and am actively seeking the Minimalist Black Workstation Desk, the home of the NutriSoy Bean Milk Box.\"}", "prompt_tokens": 2782, "completion_tokens": 138, "time_total": 5.3743250370025635}
{"id": "realtest_21", "image": ["input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/sg_19_26gt.png", "input_images/sg_20gt.png", "input_images/sg_21gt.png", "input_images/sg_22_25gt.png", "input_images/sg_23gt.png", "input_images/sg_24gt.png", "input_images/21.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the QQ Penguin Doll from the black cabinet to the wooden high stool.Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"I am embarking on my task with determination. My objective is to reach the black cabinet, home to the elusive QQ Penguin Doll. However, my current view does not reveal the cabinet, prompting me to delve into the scene frames for guidance. Upon examining Image-8, I spot the black cabinet clearly, making it the ideal choice for my next move.\", \"action\": \"search_scene_frame\", \"action_information\": 8, \"summarization\": \"I have initiated my task and am on a quest to locate the black cabinet, where the coveted QQ Penguin Doll awaits.\"}", "prompt_tokens": 2775, "completion_tokens": 123, "time_total": 4.594006538391113}
{"id": "realtest_22", "image": ["input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/sg_19_26gt.png", "input_images/sg_20gt.png", "input_images/sg_21gt.png", "input_images/sg_22_25gt.png", "input_images/sg_23gt.png", "input_images/sg_24gt.png", "input_images/22.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the chip box from the Genuine Leather Sofa to the white table.Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"I am embarking on my task with determination. My objective is to reach the Genuine Leather Sofa, where the elusive chip box awaits. However, my current view does not reveal the sofa, prompting me to delve into the scene frames for guidance. Upon examining Image-6, I spot the Genuine Leather Sofa clearly, making it the ideal choice for my next move.\", \"action\": \"search_scene_frame\", \"action_information\": 6, \"summarization\": \"I have initiated my task and am actively seeking the Genuine Leather Sofa, the resting place of the chip box.\"}", "prompt_tokens": 2774, "completion_tokens": 122, "time_total": 4.784564733505249}
{"id": "realtest_23", "image": ["input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/sg_19_26gt.png", "input_images/sg_20gt.png", "input_images/sg_21gt.png", "input_images/sg_22_25gt.png", "input_images/sg_23gt.png", "input_images/sg_24gt.png", "input_images/23.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the AC remote from the Minimalist Black Workstation Desk to the blue office stool.Robot's history: \"The task has started and I have navigated to the Minimalist Black Workstation Desk and picked up the AC remote.\"Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"I have successfully navigated to the Minimalist Black Workstation Desk and retrieved the AC remote. Now, my mission is to locate the blue office stool. Unfortunately, it is not visible in my current view, prompting me to search through the scene frames. Upon examining the frames, I discovered that the blue office stool is present in Scene Image-3, making it the ideal target for my next move.\", \"action\": \"search_scene_frame\", \"action_information\": 3, \"summarization\": \"The task is underway! I've made my way to the Minimalist Black Workstation Desk and collected the AC remote. Now, I'm on a quest to find the blue office stool, the perfect spot to place the remote.\"}", "prompt_tokens": 2807, "completion_tokens": 154, "time_total": 5.656579971313477}
{"id": "realtest_24", "image": ["input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/sg_19_26gt.png", "input_images/sg_20gt.png", "input_images/sg_21gt.png", "input_images/sg_22_25gt.png", "input_images/sg_23gt.png", "input_images/sg_24gt.png", "input_images/24.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the NutriSoy Bean Milk Box from the White Rectangular Office Meeting Table to the Washing Machine Cabinet.Robot's history: \"The task has started and I have navigated to the White Rectangular Office Meeting Table and picked up the NutriSoy Bean Milk Box.\"Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"I have successfully navigated to the White Rectangular Office Meeting Table and retrieved the NutriSoy Bean Milk Box. Now, my mission is to reach the Washing Machine Cabinet. However, it seems that the Washing Machine Cabinet is not visible in my current view. Therefore, I must search through the scene frames to locate it. Upon examining the scene Image-8, I can clearly see the Washing Machine Cabinet, making it the ideal choice for my next move.\", \"action\": \"search_scene_frame\", \"action_information\": 8, \"summarization\": \"The task is underway! I've made my way to the White Rectangular Office Meeting Table and collected the NutriSoy Bean Milk Box. Now, I'm on a quest to locate the Washing Machine Cabinet, the designated spot for placing the milk box.\"}", "prompt_tokens": 2817, "completion_tokens": 172, "time_total": 6.6934404373168945}
{"id": "realtest_25", "image": ["input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/sg_19_26gt.png", "input_images/sg_20gt.png", "input_images/sg_21gt.png", "input_images/sg_22_25gt.png", "input_images/sg_23gt.png", "input_images/sg_24gt.png", "input_images/25.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the QQ Penguin Doll from the black cabinet to the Genuine Leather Sofa.Robot's history: \"The task has started and I have navigated to the black cabinet and picked up the QQ Penguin Doll.\"Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"I have successfully navigated to the black cabinet and retrieved the delightful QQ Penguin Doll. Now, my mission is to locate the elegant Genuine Leather Sofa. Unfortunately, it eludes my current view, prompting me to search through the scene frames. Upon examining the frames, I discovered that Scene Image-6 showcases the coveted sofa, making it my next destination.\", \"action\": \"search_scene_frame\", \"action_information\": 6, \"summarization\": \"The journey has commenced! I've made my way to the black cabinet and collected the charming QQ Penguin Doll. Now, I'm on a quest to find the stunning Genuine Leather Sofa, the perfect spot to place my newfound treasure.\"}", "prompt_tokens": 2801, "completion_tokens": 144, "time_total": 4.55438494682312}
{"id": "realtest_26", "image": ["input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/sg_19_26gt.png", "input_images/sg_20gt.png", "input_images/sg_21gt.png", "input_images/sg_22_25gt.png", "input_images/sg_23gt.png", "input_images/sg_24gt.png", "input_images/26.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the toy-airplane from the wooden high stool to the White Rectangular Office Meeting Table.Robot's history: \"The task has started and I have navigated to the wooden high stool and picked up the toy-airplane.\"Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"I have successfully navigated to the wooden high stool and retrieved the toy-airplane. Now, my mission is to reach the White Rectangular Office Meeting Table. However, it seems that this table is not within my current view. To proceed, I will search through the scene frames for a glimpse of my target. Upon examining the scene Image-4, I spot the White Rectangular Office Meeting Table clearly, making it the ideal choice for my next move.\", \"action\": \"search_scene_frame\", \"action_information\": 4, \"summarization\": \"The task is underway! I've made my way to the wooden high stool and collected the toy-airplane. Now, I'm on a quest to locate the White Rectangular Office Meeting Table, the perfect spot to place my newly acquired treasure.\"}", "prompt_tokens": 2806, "completion_tokens": 168, "time_total": 6.327598333358765}
{"id": "realtest_27", "image": ["input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/sg_19_26gt.png", "input_images/sg_20gt.png", "input_images/sg_21gt.png", "input_images/sg_22_25gt.png", "input_images/sg_23gt.png", "input_images/sg_24gt.png", "input_images/27.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the orange from the black cabinet to the Co-working table.Robot's history: \"The task has started and I have navigated to the black cabinet and picked up the orange, I am getting closer to the Co-working table where I should place the orange.\"Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"As I embark on my task, my objective is clear: I must navigate to the black cabinet to retrieve the orange, then make my way to the Co-working table to place it down. My previous actions confirm that I've successfully picked up the orange and am now on the lookout for the Co-working table. In my current view, I can spot the Co-working table positioned at the center right of the image. However, I'm not yet close enough to interact with it, so I need to maneuver closer. The ground in the bottom right of the image appears to be a navigable area, guiding my next move.\", \"action\": \"nav_to_point\", \"action_information\": \"[[652, 707, 691, 746]]\", \"summarization\": \"I've initiated my task by navigating to the black cabinet and successfully picking up the orange. Now, I'm on my way to the Co-working table, getting closer to the spot where I will place the orange.\"}", "prompt_tokens": 2813, "completion_tokens": 214, "time_total": 6.7636494636535645}
{"id": "realtest_28", "image": ["input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/sg_19_26gt.png", "input_images/sg_20gt.png", "input_images/sg_21gt.png", "input_images/sg_22_25gt.png", "input_images/sg_23gt.png", "input_images/sg_24gt.png", "input_images/28.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the AC remote from the Minimalist Black Workstation Desk to the blue office stool.Robot's history: \"The task has started and I am getting closer to the Minimalist Black Workstation Desk where the AC remote is located.\"Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"As I embark on my task, my goal is clear: I must navigate to the Minimalist Black Workstation Desk, where the coveted AC remote awaits. Once I reach it, I will pick it up and then make my way to the blue office stool to place it down. My previous movements have brought me closer to the desk, and in my current view, I can see the Minimalist Black Workstation Desk prominently positioned at the bottom center of the image. The AC remote is right in the center, tantalizingly within reach of my arm. With this proximity, I am ready to seize the moment and pick up the AC remote.\", \"action\": \"pick\", \"action_information\": \"[[486, 355, 612, 534]]\", \"summarization\": \"I have successfully initiated my task by navigating to the Minimalist Black Workstation Desk and have now picked up the AC remote.\"}", "prompt_tokens": 2807, "completion_tokens": 198, "time_total": 6.541012287139893}
{"id": "realtest_29", "image": ["input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/sg_19_26gt.png", "input_images/sg_20gt.png", "input_images/sg_21gt.png", "input_images/sg_22_25gt.png", "input_images/sg_23gt.png", "input_images/sg_24gt.png", "input_images/29.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the NutriSoy Bean Milk Box from the White Rectangular Office Meeting Table to the Washing Machine Cabinet.Robot's history: \"The task has started and I have navigated to the White Rectangular Office Meeting Table and picked up the NutriSoy Bean Milk Box, I am getting closer to the Washing Machine Cabinet where I should place the NutriSoy Bean Milk Box.\"Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"As I embark on my task, my goal is clear: I must navigate to the White Rectangular Office Meeting Table to retrieve the NutriSoy Bean Milk Box, then make my way to the Washing Machine Cabinet to place it down. My previous actions confirm that I've successfully picked up the NutriSoy Bean Milk Box and am now on the lookout for the Washing Machine Cabinet. In my current view, I can spot the Washing Machine Cabinet positioned prominently on the center left of the image. However, I'm still too far away to interact with it, so I need to close the distance. The ground in the bottom center of the image appears to be a clear path for navigation, guiding me closer to my destination.\", \"action\": \"nav_to_point\", \"action_information\": \"[[390, 761, 429, 800]]\", \"summarization\": \"I've initiated my task by navigating to the White Rectangular Office Meeting Table and successfully picking up the NutriSoy Bean Milk Box. Now, I'm making my way toward the Washing Machine Cabinet, where I will place the NutriSoy Bean Milk Box.\"}", "prompt_tokens": 2839, "completion_tokens": 246, "time_total": 6.165866136550903}
{"id": "realtest_30", "image": ["input_images/sg_5gt.png", "input_images/sg_10gt.png", "input_images/sg_19_26gt.png", "input_images/sg_20gt.png", "input_images/sg_21gt.png", "input_images/sg_22_25gt.png", "input_images/sg_23gt.png", "input_images/sg_24gt.png", "input_images/30.png"], "height": [512, 512], "weight": [512, 512], "query": "You are an AI visual assistant that can manage a single robot. You receive the robot's task,one image representing the robot's current view and eight frames of the scene from the robot's tour. You need to output the robot's next action. Actions the robot can perform are \"search_scene_frame\",\"nav_to_point\",\"pick\" and \"place\".\n    These frames are from the robot's tour of the scene:\nImage-1:<IMAGE_TOKEN>\nImage-2:<IMAGE_TOKEN>\nImage-3:<IMAGE_TOKEN>\nImage-4:<IMAGE_TOKEN>\nImage-5:<IMAGE_TOKEN>\nImage-6:<IMAGE_TOKEN>\nImage-7:<IMAGE_TOKEN>\nImage-8:<IMAGE_TOKEN>\nIf you can not find the target you need to identify,you should find the frame that the robot should navigate to complete the task,and output \"search_scene_frame\" action and the id of frame.\nRobot's current view is: Image-9:<IMAGE_TOKEN>.If you can find the position that you should navigate to, pick or place,you should output your action information.\nBesides,you need to explain why you choose this action in your output and summarize by combining your chosen action with historical information.\nRobot's Task: Move the airpods box from the black desk to the black cabinet beside the microwave.Robot's history: \"The task has started and I have navigated to the black desk and picked up the airpods box, I am getting closer to the black cabinet beside the microwave where I should place the airpods box.\"Your output format should be in pure JSON format as follow:{'reasoning': \"Based on the current image information and history, think and infer the actions that need to be executed and action's information.\", 'action': 'The action name of your reasoning result.', 'action_information': 'If the action is \"nav_to_point\",\"pick\" or \"place\", the information format should be \"<box>[[x1, y1, x2, y2]]</box>\" to indicate location information,where x1, y1, x2, y2 are the coordinates of the bounding box;if the action is \"search_scene_frame\",the information format should be \"id\",where id is the value of the frame index you choose.', 'summarization': 'summarize based on the current action information and history.'}.", "prediction": "{\"reasoning\": \"In order to complete my mission, I must first navigate to the sleek black desk where the coveted airpods box awaits. Once I have successfully picked it up, my next destination is the elegant black cabinet situated beside the microwave. My previous actions have brought me closer to this cabinet, and my current view reveals it prominently positioned at the center of the image. The proximity is just right for me to place the airpods box with ease. Thus, it is time for me to carefully place the airpods box on the black cabinet beside the microwave, fulfilling my objective.\", \"action\": \"place\", \"action_information\": \"[[283, 232, 999, 999]]\", \"summarization\": \"Having successfully placed the airpods box on the stylish black cabinet beside the microwave, I can proudly declare that I have completed my task.\"}", "prompt_tokens": 2826, "completion_tokens": 188, "time_total": 4.442128658294678}
