split stringclasses 1
value | environment stringclasses 55
values | environment_name stringclasses 55
values | setting stringclasses 5
values | task_id stringlengths 28 34 | type int8 0 5 | type_name stringclasses 6
values | instruction stringlengths 15 212 | steps int16 2 61 | initial_frame imagewidth (px) 640 640 | actions listlengths 2 61 | rationales listlengths 2 61 | pd_object stringclasses 10
values |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-000014_y000135_z000202_t0_a | 0 | Basic | Head toward the rusted orange garage door on the brick building. | 13 | [
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"Finish"
] | [
"Scanning the yard, I can see several bays along the brick facades, and the rust-streaked orange panel sits well off to my right beyond the pale metal doors. My current heading points across the pipes and rail scrap instead of at that bay, so I will turn right to bring the rusted door nearer the center of my view."... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-000014_y000135_z000202_t0_b | 0 | Basic | Navigate to the black trash bags on the ground. | 9 | [
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"From this yard I can see a small dark pile of bags on the ground to the right of center, sitting near the brick wall between the loading doors. My current heading points too far left across the pipes and scaffolding, so I will turn right to bring that pile closer to the middle of my view and open a clear lane towa... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-000014_y000135_z000202_t5_a_p | 5 | Pick & Drop | Pick up the tomato beside the rusted orange garage door on the brick building. | 12 | [
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRight",
"Pick",
"MoveForward",
"Pick",
"Finish"
] | [
"The red tomato sits far to my right edge, near the rusted orange door on the brick facade. Heading straight ahead would carry me toward the pipe stacks instead of the target. I will turn right so the tomato and its doorway sit closer to the center of my view.",
"The tomato now sits near the middle of my view, in... | tomato | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-000043_y000393_z000211_t2_a | 2 | Dynamic Spatial-Semantic | Walk to the rightmost metal door on the building. | 9 | [
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"Along this brick facade I can count the metal doors, and the last one at the right end is the rust streaked panel stained orange and blue, standing just left of the tall window. It lies off to the right of my current heading, while my view is centred on the pale doors further left. I turn right so that rusted door... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-000043_y000393_z000211_t2_b | 2 | Dynamic Spatial-Semantic | Head toward the second door from the left. | 12 | [
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"TurnRight",
"Finish"
] | [
"Counting the doors along these brick facades from the left, the second one is the pale door tucked just behind the wooden scaffold tower, and the doors otherwise look much alike, so I will hold it by that tower. It sits well across the open yard from me. I step forward to begin closing that distance.",
"The faca... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-000043_y000393_z000211_t2_c | 2 | Dynamic Spatial-Semantic | Approach the rusty orange door on the right side. | 9 | [
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"Across the yard I can pick out the corroded orange metal door set to the right of the two pale grey doors on the same brick facade, and that rust is what marks it as mine. The open concrete stretch ahead is clear of pipes and debris, so I will walk forward to cut the distance before adjusting my heading.",
"The ... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-000043_y000393_z000211_t2_d | 2 | Dynamic Spatial-Semantic | Move to the second door from the right. | 8 | [
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"Counting the doors along this brick facade from the right end, the rusty orange one is the last, so my target is the pale white double door just left of it, beside the pile of grey sacks. It sits well ahead of me across the open yard, so I will walk straight forward toward it.",
"The white double door beside the... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-000043_y000393_z000211_t2_e | 2 | Dynamic Spatial-Semantic | Navigate to the third door from the right. | 13 | [
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"Finish"
] | [
"Counting the shuttered doors along this brick facade from the right, I get the rusty orange one, then the tall white one in the middle, and third the pale door standing beside the wooden scaffold tower, so that scaffold-side door is my goal. It sits far across the open yard, so I step forward to close the gap.",
... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-000043_y000393_z000211_t5_a_p | 5 | Pick & Drop | Grab the candelabra at the base of the third door from the left. | 8 | [
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Pick",
"Finish"
] | [
"Counting the door openings across the brick facade from the left, the third is the tall white double door ahead of me, and its base is still far off across the open yard. My heading already lines up with it, so I will walk straight forward to close that distance.",
"The white double door I picked out is growing ... | candelabra | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-000093_y000644_z000210_t3_a | 3 | Multi-stage | Move to the metal scaffolding tower, then navigate to the rusty metal door. | 28 | [
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"MidwayTarget",
"MoveBackward",
"MoveBackward",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"MoveForward",
"TurnRig... | [
"The latticed metal scaffolding tower stands well off to my left along the brick workshop wall, and a rusty stained door sits further right on the same facade. Since the tower is my first stop and still far across the open yard, I will walk forward to cut down that distance before adjusting my heading.",
"The bri... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-000093_y000644_z000210_t3_b | 3 | Multi-stage | Approach the rusty metal door, then proceed to the metal scaffolding tower. | 21 | [
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MidwayTarget",
"MoveBackward",
"MoveBackward",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveF... | [
"The rust-streaked metal door sits in the brick wall to the right of my current heading, while I am facing the pale shuttered bays straight ahead. I will turn right to bring that corroded door into the center of my view before walking toward it.",
"The rusty metal door now sits ahead of me across the open dirt ya... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-000093_y000644_z000210_t5_a_pd | 5 | Pick & Drop | Grab the jerry can beside the metal scaffolding tower, then leave it near the rusty metal door. | 21 | [
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"TurnLeft",
"Pick",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"MoveForward",
"MoveForward",
"TurnLeft",
"TurnLeft",
"MoveForward",
"MoveForward",
"Drop",
"Finish"
] | [
"The metal scaffolding tower stands off to my left against the brick workshop, and a small red container sits at its base near the stacked pipes. I am still far back across the open yard, so I will walk forward to close that gap before refining my heading.",
"The red jerry can beside the scaffolding is now clearl... | jerry can | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-000093_y000644_z000210_t5_b_pd | 5 | Pick & Drop | Lift the metal bucket beside the rusty metal door, then place it at the base of the metal scaffolding tower. | 15 | [
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"Pick",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Drop",
"Finish"
] | [
"The rusty metal door stands ahead on the right side of the brick facade, and the metal bucket sits on the sand right beside it. It is still far across the open yard, so I will walk forward to close that distance before any grasp is possible.",
"The bucket beside the rusty door now sits noticeably right of my hea... | metal bucket | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-001378_y000917_z000194_t0_a | 0 | Basic | Walk to the blue metal door on the brick building. | 9 | [
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"Finish"
] | [
"I can see the blue metal door set into the brick facade on the right side of this alley, still some distance ahead. The open gravel lane in front of me is clear, so I will move forward to begin closing that gap.",
"The blue door now fills more of the right side of my view, confirming I am headed the right way al... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-001378_y000917_z000194_t0_b | 0 | Basic | Approach the metal pillar beside the blue door. | 7 | [
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"Finish"
] | [
"From the mouth of this alley I can already pick out the blue metal door on the brick wall to my right, with a braced metal pillar framework standing directly beside it. The gap is still long, so I will move forward along the open gravel lane to begin closing that distance.",
"The braced pillar and the blue door ... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-001378_y000917_z000194_t5_a_p | 5 | Pick & Drop | Lift the plate in front of the blue metal door on the brick building. | 7 | [
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRight",
"Pick",
"Finish"
] | [
"The white plate stands upright on the ground ahead of me, right in front of the blue metal door set in the brick building. It is still far off across the open yard, so I will walk straight forward to close that distance.",
"The plate has grown noticeably larger and stays near the middle of my view, confirming my... | plate | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-001378_y000917_z000194_t5_b_p | 5 | Pick & Drop | Pick up the jerry can at the base of the metal pillar beside the blue door. | 6 | [
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Pick",
"Finish"
] | [
"I can see the red jerry can sitting on the ground at the foot of the metal lattice pillar, right beside the blue door. It is far ahead across the open yard, and my heading already lines up with it, so no turn is needed. I will walk straight forward to close that distance.",
"The jerry can and the pillar behind i... | jerry can | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-001842_y000603_z000205_t1_a | 1 | Exploration | Search for a deep blue double door that is closed; once identified, proceed to it. | 18 | [
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"Directly ahead I only see a pale, rust streaked metal door set in the brick wall, which is not the deep blue double door I am looking for. Since nothing else in this narrow view matches the target, I will turn right to begin a steady scan of the surrounding yard.",
"The rotation has opened up more of the yard, s... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-001904_y-002824_z000190_t1_a | 1 | Exploration | Search for a green door that has been removed and is leaning against a wall; once identified, proceed to its location. | 15 | [
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"Finish"
] | [
"From this narrow alley I only see a shuttered door set into the wall on my left and a brick factory block ahead, with no removed green door leaning anywhere in sight. I will turn left to begin a steady scan of the yard behind this corner, since the open ground that way is the most likely place for discarded buildi... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-001904_y-002824_z000190_t1_b | 1 | Exploration | Identify the open half of a green double door, then head over to where it stands. | 16 | [
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"From this narrow, shadowed alley I can only see a rusty shutter and a dark doorway ahead, with no green double door in sight. I will turn left to begin a steady scan of the surrounding yard for the open half of a green double door.",
"The corner of the whitewashed building now fills my view, showing a single nar... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-002481_y-002699_z000189_t1_a | 1 | Exploration | Search for the green dumpster in the area and make your way to where it stands. | 15 | [
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"Finish"
] | [
"From this spot in the factory yard I can only see brick facades, puddles and a narrow gap between the buildings, with no green dumpster anywhere in front of me. I will start a steady leftward scan of the surroundings to bring the unseen parts of this yard into view.",
"The turn has opened up a darker corner wher... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-002481_y-002699_z000189_t1_b | 1 | Exploration | Determine where the gas canister near the dumpster is located; once you find it, navigate over to that spot. | 14 | [
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"LookDown",
"Finish"
] | [
"I am facing a brick factory facade across an open yard, and I see no dumpster or gas canister anywhere in this view. Since the task target should sit beside a dumpster, I will begin a steady leftward scan of the surrounding yard to look for one.",
"Rotating left has only brought a dark ruined wall into the near ... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-002811_y-001068_z000212_t1_a | 1 | Exploration | Search the building for a pile of garbage stacked in a corner; once you have located it, make your way there. | 10 | [
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"From this open hall I can see tall windows, stairs, and stacked timber, but nothing that resembles a pile of garbage heaped in a corner. Since the far corners on my right side are still outside my field of view, I will turn right to begin a steady scan of the room. This should reveal the darker recesses along that... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-002822_y-003204_z000198_t1_a | 1 | Exploration | Locate the vertical metal ladder mounted on the exterior wall of the building, then make your way to it. | 13 | [
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"Finish"
] | [
"I am facing a decayed brick wall with boarded windows and a heap of garbage bags right in front of me, and there is no ladder anywhere on this surface. Since this corner is closed off and offers no route, I will turn right to begin a consistent scan for a wall that might carry a mounted ladder.",
"The rotation h... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-003360_y-001119_z000212_t1_a | 1 | Exploration | Search the room for an open white metal door; once you have located it, move toward it. | 8 | [
"TurnRight",
"TurnRight",
"TurnRight",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"Finish"
] | [
"From this doorway I can see only brick walls, a paved yard and a barred window ahead, with no open white metal door anywhere in view. I will turn right to begin a consistent scan of the room and reveal the wall sections currently hidden by the brick pier on my right.",
"The new heading only brings more brick wal... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-003360_y-001119_z000212_t1_b | 1 | Exploration | Look around indoors to identify a red metal ladder staircase, then navigate over to where it stands. | 10 | [
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"From this doorway I only see a brick courtyard, barrels and a facade across the way, with no sign of a red metal ladder staircase. I will turn right to begin a steady scan of the surrounding interior spaces in one consistent direction. This should bring the darker areas beside me into view without wasting motion."... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-003614_y-003194_z000228_t0_a | 0 | Basic | Go to the long wooden boards leaning against the brick wall between two brick columns. | 6 | [
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"Ahead of me in the dim hall I can make out long wooden boards propped at an angle against the brick wall, set back in the recess between two brick columns. My heading already lines up with that gap, so I will step forward to begin closing the distance.",
"The leaning boards now read more clearly, with their cros... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-003614_y-003194_z000228_t0_b | 0 | Basic | Head toward the cable spool resting on the ground. | 20 | [
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"LookDown",
"Fi... | [
"From this dim brick hall I cannot yet pick out any cable spool, but the paved floor opens up ahead and to the right toward brighter light. I will step forward into that open space so more of the yard beyond the pillars comes into view.",
"Straight ahead of me is the brick wall with the leaning plank and workbenc... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-003614_y-003194_z000228_t5_a_p | 5 | Pick & Drop | Grab the green bell pepper at the base of the wooden pallets stacked against the wall. | 12 | [
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Pick",
"MoveForward",
"TurnLeft",
"Pick",
"Finish"
] | [
"The green bell pepper is visible far ahead on the open floor beside the brick piers and leaning timber boards. It is far too distant to reach, so I will walk straight forward across the paved floor to close the gap before refining my heading.",
"From here the pepper sits right of my heading, partly crowded by th... | green bell pepper | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-003803_y-001526_z000206_t3_a | 3 | Multi-stage | Walk to the green dumpster, then approach the gas cylinders cluster. | 14 | [
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MidwayTarget",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"MoveForward",
"MoveForward",
"Finish"
] | [
"The green skip sits ahead of me across the open yard, with the cluster of gas cylinders off to its right. I will walk forward along the concrete to close the distance to the dumpster first.",
"The green skip has grown larger and stays centered in my view, so my heading is good. I will keep walking straight towar... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-003803_y-001526_z000206_t3_b | 3 | Multi-stage | Head toward the cluster of gas cylinders, then reach the green dumpster. | 19 | [
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MidwayTarget",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveBackward",
"MoveBackward",
"MoveBackward",
"TurnLeft",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"TurnRight",
"MoveForward",
"Finish"
] | [
"The gas cylinders are grouped on the open concrete apron to my right, past the low steps, while the green dumpster sits further left along the same yard. Since the cylinders are my first stop, I will turn right to bring that cluster nearer the center of my heading before walking out.",
"The gas cylinders now sit... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-003803_y-001526_z000206_t3_c | 3 | Multi-stage | Navigate to the stacked black bags, then proceed to the gas cylinders. | 17 | [
"MoveForward",
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"LookDown",
"MidwayTarget",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"MoveForward",
"TurnRight",
"MoveForward",
"Finish"
] | [
"From this corner of the yard I can pick out the heap of black bags sitting on the pavement beside the green skip, with the gas cylinders clustered further right. The bags are my first destination, so I walk forward across the open ground to close the gap.",
"The bag pile beside the skip has grown larger ahead of... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-003821_y-001017_z000217_t0_a | 0 | Basic | Walk to the large blue metal door at the end. | 18 | [
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"LookDown",
"TurnRight",
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"Finish"
] | [
"The large blue metal door sits at the far end of this brick alley, roughly straight ahead and just left of my heading. Nothing blocks the paved strip in front of me, so I will move forward to begin closing the long distance to it.",
"The door and its flanking windows now appear slightly larger, confirming my hea... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-003821_y-001017_z000217_t0_b | 0 | Basic | Approach the pile of dark garbage bags on the ground. | 8 | [
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"Finish"
] | [
"From this end of the narrow brick yard I can already pick out a heap of dark garbage bags on the ground ahead, slightly left of center against the far left wall. The paved lane between the two buildings runs straight toward it with no obstruction in my path, so I will move forward to start closing that distance.",... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-004145_y-000461_z000181_t0_a | 0 | Basic | Walk to the pile of garbage bags. | 4 | [
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"I can see the pile of dark garbage bags ahead near the base of the brick factory wall, slightly left of center in my view. My heading already points down the open yard toward it, so I will step forward to begin closing the gap.",
"The garbage bags now appear larger and lower in my view, confirming that my previo... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-004145_y-000461_z000181_t0_b | 0 | Basic | Go to the rusty gas cylinder beside the trash pile. | 7 | [
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"LookDown",
"Finish"
] | [
"From the open yard I can already pick out a small rusty gas cylinder standing against the brick wall just left of the heap of grey rubbish bags. It is still far off across the gravel, so I will walk straight ahead to begin closing that gap before refining my heading.",
"The cylinder and the bag pile now sit clea... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-004145_y-000461_z000181_t0_c | 0 | Basic | Navigate to the wooden pallet leaning against the structure. | 8 | [
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"Finish"
] | [
"From this spot at the mouth of the yard I can see stacked timber and pallet boards along the raised platform to my right, but the leaning pallet itself is still partly hidden behind rubble and debris. I will move forward into the open yard to shorten the distance and get a clearer look at that pile.",
"Now that ... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-004145_y-000461_z000181_t5_a_p | 5 | Pick & Drop | Pick up the metal bucket beside the pile of garbage bags. | 4 | [
"MoveForward",
"MoveForward",
"Pick",
"Finish"
] | [
"The metal bucket stands ahead in the yard, right next to the heap of garbage bags along the brick wall. It is far too distant to reach from here, so I will walk straight forward to close that gap while my heading already points at it.",
"The bucket now sits noticeably larger and lower in my view, but it is still... | metal bucket | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-004317_y-003015_z000201_t1_a | 1 | Exploration | Locate the tall stacks of wooden pallets near the doorway and pillar; once found, approach them. | 13 | [
"TurnLeft",
"TurnLeft",
"TurnLeft",
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"Finish"
] | [
"My view is filled by a close brick pillar and a dark brick wall with a shuttered window, and I see no stacked pallets or doorway from here. I will turn left to begin a consistent scan of this interior for the pallet stacks named in the task.",
"The rotation has brought a timber brace and another brick pier into ... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-004317_y-003015_z000201_t1_b | 1 | Exploration | Discover where several small metal cabinets are stacked together, then navigate to that location. | 8 | [
"TurnRight",
"TurnRight",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"From here I only see a brick pillar close in front of me, dark walls, and a long concrete trough, with no stacked metal cabinets anywhere in sight. I will turn right to begin a consistent scan of this enclosed yard and open up the area hidden beyond the pillar.",
"The corner ahead shows the trough against two br... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-004317_y-003015_z000201_t1_c | 1 | Exploration | Search for the wooden cable reel rack and, once you identify it, reach that area. | 14 | [
"TurnRight",
"TurnRight",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"From this starting corner I only see brick walls, a timber brace on my left, and a metal trough, with no wooden cable reel anywhere in view. I will turn right to begin a steady scan of the surrounding space in one consistent direction.",
"The new heading still shows a closed brick corner with the long trough and... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-004334_y-000615_z000160_t0_a | 0 | Basic | Walk to the green dumpster near the stairs. | 12 | [
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"Finish"
] | [
"I can pick out a green dumpster far off to the right, sitting beside a short flight of steps between the brick buildings, while the red warehouse doors fill the left of my view. A wide puddle and some gas cylinders lie ahead, but the open yard gives me room to advance. I will move forward to close part of that dis... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-004334_y-000615_z000160_t0_b | 0 | Basic | Head toward the red gate marked number 6. | 10 | [
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"Finish"
] | [
"From here I can see a row of weathered red gates along the warehouse wall to my left, and one of the panels carries a painted number 6. The open gravel yard ahead of me is clear of the puddle and the gas cylinders, so I will step forward to close distance before refining my heading.",
"The gate marked 6 sits wel... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-004334_y-000615_z000160_t0_c | 0 | Basic | Move to the wooden cable spool on the ground. | 8 | [
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"Finish"
] | [
"Across the yard I can pick out the large wooden cable spool lying on the ground just beyond the row of gas cylinders, a bit right of straight ahead. It is still far off, so I will step forward over the open gravel to close some of that gap and get a clearer read on the ground around it.",
"Straight ahead of me t... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-004334_y-000615_z000160_t0_d | 0 | Basic | Navigate to the cluster of gas cylinders near the wall. | 5 | [
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"I can see the cluster of gas cylinders sitting on pallets against the pale wall beside the red doors, slightly left of my center of view but well within my forward path. The distance is still considerable across the open gravel yard, so I will move forward to begin closing on them.",
"The cylinder cluster has gr... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-004334_y-000615_z000160_t5_a_p | 5 | Pick & Drop | Grab the plate at the base of the green dumpster near the stairs. | 15 | [
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"TurnRight",
"TurnRight",
"MoveForward",
"Pick",
"Finish"
] | [
"The green dumpster sits far ahead on the right, beside the steps at the far end of this yard, so the plate I need must be down at its base. Nothing blocks the gravel in front of me, so I walk forward to cut down that long distance before refining my heading.",
"Now that I am closer, the red warehouse doors fill ... | plate | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-004334_y-000615_z000160_t5_b_p | 5 | Pick & Drop | Pick up the ceramic vase beside the wooden cable spool on the ground. | 7 | [
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"Pick",
"Finish"
] | [
"I can see the tall pale vase standing on the ground near the wooden cable spool ahead in the yard, but it is far off across the open lot. Walking straight forward should close a large part of that distance before I refine my heading.",
"The vase beside the cable spool now sits slightly right of my heading, with ... | ceramic vase | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-004374_y-003145_z000201_t0_a | 0 | Basic | Approach the electrical box on the brick wall. | 6 | [
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"I can see a pale metal electrical cabinet mounted against the brick wall on the left side of this narrow yard, well ahead of me. I will move forward along the open stone floor to close the gap before I refine my heading toward it.",
"After advancing, the electrical box sits noticeably off to my left against the ... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-004374_y-003145_z000201_t5_a_p | 5 | Pick & Drop | Pick up the trash bag directly below the electrical box on the brick wall. | 7 | [
"MoveForward",
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"Pick",
"Finish"
] | [
"The dark trash bag sits on the ground ahead on the left, directly beneath the gray electrical box mounted on the brick wall. It is still far down the yard, so I will walk forward to close the distance along this open path.",
"The bag beneath the electrical box now appears larger and lower on the left side, confi... | trash bag | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-004477_y-000370_z000140_t0_a | 0 | Basic | Walk to the red door marked number 8. | 10 | [
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"From the open yard I can see the row of red doors along the workshop wall, with the one marked 8 to the left of the numbered pair 4 and 6. It stands well ahead across the gravel, so I will move forward to begin closing that distance while keeping it in view.",
"Door 8 has grown slightly larger and remains left o... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-004477_y-000370_z000140_t0_b | 0 | Basic | Approach the red door marked number 6. | 10 | [
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"From here I can see two red doors along the far wall, and the one marked 6 sits well off to my right beyond the corner. My heading currently points at the door marked 8, so I will turn right to bring number 6 toward the center of my view before advancing.",
"The red door marked 6 now sits in the right half of my... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-004477_y-000370_z000140_t0_c | 0 | Basic | Move to the pile of dark trash bags on the ground. | 6 | [
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"I can see the pile of dark trash bags heaped on the gravel to my right, near the base of the wall between the red doors. My current heading points more toward the pipes and the left corner, so I will turn right to bring the bag pile closer to the center of my view before advancing.",
"The heap of dark bags now s... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-004477_y-000370_z000140_t5_a_p | 5 | Pick & Drop | Grab the wicker basket beside the pile of dark sandbags on the ground. | 6 | [
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"Pick",
"Finish"
] | [
"I can see the round wicker basket standing on the ground ahead, right next to the heap of dark sandbags along the base of the red doors. It is still far across the open yard, so I will walk forward to close that distance before any grasp is possible.",
"After advancing, the basket and the sandbags sit noticeably... | wicker basket | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-004482_y-000146_z000151_t3_a | 3 | Multi-stage | Walk to the red door marked with number four, then approach the pile of dark bags. | 15 | [
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MidwayTarget",
"MoveBackward",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"MoveForward",
"Finish"
] | [
"From here the red door painted with a four sits far off at the left edge of my view, while the door marked six and the heap of dark bags lie ahead of me. Turning left should swing that numbered door toward the center of my view so I can walk straight at it.",
"The red door with the four is now roughly ahead of m... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-004482_y-000146_z000151_t3_b | 3 | Multi-stage | Head toward the red door marked six, then reach the red door marked with number four. | 18 | [
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MidwayTarget",
"MoveBackward",
"MoveBackward",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"Two red doors face me across the open yard, and the one with the six painted on it stands to the right of centre. It is still far off, so I will walk forward to close the gap toward that door first.",
"The six on the red door is larger and clearer now, roughly ahead of me, with the trash bags heaped low against ... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-004482_y-000146_z000151_t3_c | 3 | Multi-stage | Proceed to the leaning circular wooden disc, then head toward the red door marked four. | 23 | [
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MidwayTarget",
"MoveBackward",
"MoveBackward",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRigh... | [
"Straight ahead I only face the flat red shutter doors, but off to my right, past the row of gas cylinders, I can make out the pale round wooden spool discs standing in the yard. Turning right should swing that leaning disc into the middle of my view so I can walk straight at it.",
"The large wooden discs now sit... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-004500_y-000526_z000140_t0_a | 0 | Basic | Approach the red gate marked number 4. | 11 | [
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRight",
"Finish"
] | [
"From here I can see a row of weathered red gates set into the long white wall ahead, with the one marked 6 near the center of my view and another red gate further to its left. I need the gate marked 4, so I will step forward across the open gravel yard to close distance and read the painted numbers more clearly.",... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-005421_y-002328_z000198_t1_a | 1 | Exploration | Search for a small white metal door inside the room; once identified, proceed to its location. | 9 | [
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"From where I stand, I only see a dark brick wall, stacked gas cylinders and leaning timber beams, with no sign of a small white metal door. Since nothing here matches the target, I will turn right to begin a steady scan of the room in one consistent direction.",
"The new heading still shows only shuttered window... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-005421_y-002328_z000198_t1_b | 1 | Exploration | Identify where black garbage bags are piled up, then head over to that spot. | 16 | [
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"Finish"
] | [
"I am facing a dark brick wall with gas cylinders and stacked timber in front of me, and there is no sign of piled black garbage bags anywhere in this view. I will turn right to begin a consistent scan of this derelict interior for the bag pile.",
"The view has shifted along the same wall and now shows more scaff... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x-005437_y-002057_z000201_t0_a | 0 | Basic | Walk to the white metal door in the brick wall. | 8 | [
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"Finish"
] | [
"I can see the white metal door set into the brick wall ahead of me, standing out in the dim alley to the left of my heading. It is still well beyond reach, so I will move forward along the open paved ground to close distance toward it.",
"The white door now sits slightly to the left of my heading, with the near ... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x000000_y000624_z000209_t1_a | 1 | Exploration | Explore the area and navigate to a large iron gate covered entirely in orange-red rust. | 13 | [
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"From this spot I mostly see a brick workshop wall with boarded windows and a plain wooden door, nothing resembling a large rusted iron gate. The open yard with rails and gantry structures continues off to my right, so I will turn right to begin a consistent scan of that side of the industrial yard.",
"The yard a... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x000132_y-002871_z000198_t1_a | 1 | Exploration | There is an exit already visible in this room; locate the other exit that is not the one currently in view, then make your way to it. | 15 | [
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"The green metal door filling my view is the exit I already know about, so it cannot be my goal. I will turn left to sweep the walls behind me and look for a second way out of this room.",
"Turning has only brought me a boarded panel with a keep out sign over crumbling brick, which is solid wall rather than a pas... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x000132_y-002871_z000198_t1_b | 1 | Exploration | Search for a stack of wooden pallets or wooden shelving within the room; once identified, navigate to that structure. | 13 | [
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRight",
"TurnRight",
"MoveForward",
"Finish"
] | [
"From here I only see a boarded door with a keep out sign, crumbling brickwork, and a slice of open yard, with no wooden pallets or shelving anywhere in view. I will turn left to begin a steady scan in one consistent direction, opening up the darker interior side of this ruined structure. This should reveal whether... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x000428_y000286_z000204_t2_a | 2 | Dynamic Spatial-Semantic | Head toward the base of the second steel gantry post on the right. | 9 | [
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"From here the overhead gantry runs across the yard on lattice legs, and counting along the right-hand line the second post back is my target, the column standing beside the green skips. The rail-scarred concrete between me and it is open. I will walk straight forward toward it.",
"The lattice column beside the g... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x000428_y000286_z000204_t2_b | 2 | Dynamic Spatial-Semantic | Move to the base of the leftmost gantry support post. | 16 | [
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"The overhead gantry crosses the yard on a row of riveted lattice legs, and counting them from here the leftmost is the one planted beside the tall brick workshop on the left, near its rusted doorway. The legs all look alike, so I hold onto that building as its marker. I walk forward along the tracks to close the o... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x000428_y000286_z000204_t2_c | 2 | Dynamic Spatial-Semantic | Proceed to the base of the rightmost gantry support post. | 12 | [
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"Finish"
] | [
"The gantry beam spans the yard ahead on its lattice legs, and I settle the choice now: the leg at the far right end, the one standing beside the right-hand brick workshop above the green skip, is my target. It is still far across the open track bed, so I walk forward.",
"The gantry now fills more of my view, but... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x000918_y-002869_z000198_t0_a | 0 | Basic | Go to the small green door beneath the concrete canopy on the weathered white building. | 16 | [
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"From the initial task view I can pick out the small green door set back under a concrete canopy on the weathered white and brick building ahead, past the rubble and scattered bags in the courtyard. The ground straight in front of me is open, so I will step forward to begin closing the long distance to that doorway... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x000980_y-000574_z000205_t2_a | 2 | Dynamic Spatial-Semantic | Walk to the dumpster on the left side. | 9 | [
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"Across the yard I can pick out several dumpsters, and the one on the left side is the rust-brown bin with a peaked cap and teal frame standing near the left wall, distinct from the green ones. Nothing blocks the open pavement ahead, so I will walk forward to close the gap.",
"The rust-brown dumpster with the pea... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x000980_y-000574_z000205_t2_b | 2 | Dynamic Spatial-Semantic | Approach to the rightmost red garage door. | 12 | [
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"Weathered red garage doors line the two walls of this yard, and counting across them, the one I want is the last on the right-hand wall, the one standing beside the green skip and the heap of rubbish bags. The open concrete between us is clear, so I step forward to start closing that gap.",
"The door beside the ... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x000980_y-000574_z000205_t2_c | 2 | Dynamic Spatial-Semantic | Move to the green dumpster on the far right. | 11 | [
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"Two green dumpsters stand along this yard, and the one I want is the far right one, a rust-lidded bin set against the brick wall with heaps of garbage bags piled beside it. It lies well to the right of my current heading, so I turn right to bring it in front of me.",
"The rust-lidded green dumpster with its bags... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x000980_y-000574_z000205_t2_d | 2 | Dynamic Spatial-Semantic | Navigate to the leftmost red garage door. | 16 | [
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"Scanning the long wall of red garage doors, I settle on the one at the far left end of the row, marked with a painted white 8 beside the canopy shelter. My body faces the middle of the courtyard, so that marked door sits off to my left. I will turn left to put it ahead of me.",
"The red door with the painted 8 n... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x000980_y-000574_z000205_t5_a_p | 5 | Pick & Drop | Grab the metal bucket beside the green dumpster on the far right. | 10 | [
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"Pick",
"Finish"
] | [
"From this corner of the yard I can see a green dumpster far off to the right side of the lot, but my heading points at the middle of the building wall. I will turn right to bring that right-hand dumpster and the containers beside it into the center of my view before walking out across the open ground.",
"The gre... | metal bucket | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x001114_y-002488_z000198_t3_a | 3 | Multi-stage | Walk to the green door in the wall opening, then approach the short vertical pipe on the wall. | 25 | [
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"MidwayTarget",
"MoveBackward",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"MoveForward",
"MoveForward"... | [
"The weathered green door set in the wall opening stands well ahead of me, past the sacks and rubble along the building front. The ground straight ahead is open, so I will walk forward to cut down that distance before worrying about fine alignment.",
"After closing some ground, the green doorway sits right of my ... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x001114_y-002488_z000198_t3_b | 3 | Multi-stage | Head toward the long vertical pipe on the wall, then move to the green door in the wall opening. | 23 | [
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnLeft",
"MidwayTarget",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnLeft",... | [
"I can see the long vertical pipe running down the pale brick wall off to my left, while my body faces the courtyard clutter and the green doorway further right. Turning left should put that pipe closer to the center of my path so I can walk straight at it.",
"The wall with its windows and the slim vertical pipe ... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x001114_y-002488_z000198_t5_a_pd | 5 | Pick & Drop | Grab the wicker basket at the green door in the wall opening, then set it down below the short vertical pipe. | 29 | [
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"Pick",
"MoveForward",
"TurnLeft",
"Pick",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"MoveForward",
"MoveForward",
"TurnLeft",
... | [
"The green door set in the wall opening stands well ahead of me across the open yard, and no basket is yet distinguishable at this range. Nothing blocks the gravel between me and that facade, so I will walk forward to cut the distance and get a clearer look at the doorway.",
"After closing some distance, the gree... | wicker basket | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x001150_y-002675_z000198_t2_a | 2 | Dynamic Spatial-Semantic | Approach the vertical drainpipe on the leftmost wall section. | 6 | [
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"The long factory wall runs off to my left, and at its far left section I can pick out a slim rust-brown pipe running vertically down the whitewashed brick beside the leftmost pair of windows, half screened by dry weeds. That pipe is my target, and I will keep to it by its rusty color rather than by counting the wa... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x001150_y-002675_z000198_t2_b | 2 | Dynamic Spatial-Semantic | Head toward the black garbage bags near the far center. | 9 | [
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"Finish"
] | [
"Two heaps of bags are in the yard: a near one at the right beside the wooden pallet bench, and the darker pile further off at the center of the yard against the factory wall. That far center heap is my target, so I walk forward across the open gravel to close the distance.",
"My heading is angled into the plaste... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x001150_y-002675_z000198_t2_c | 2 | Dynamic Spatial-Semantic | Navigate to the second ground-floor window from the left. | 8 | [
"MoveForward",
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"LookUp",
"Finish"
] | [
"Counting the ground-floor openings from the left end of this wall, my target is the second one, the window standing just right of the vertical drainpipe. It lies well across the open yard from me, so I will walk straight ahead to close that gap.",
"The facade is noticeably nearer and the window beside the drainp... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x001258_y-002450_z000198_t1_a | 1 | Exploration | Search for a sealed wooden window that bears a yellow warning notice; after locating it, make your way over to it. | 19 | [
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"LookUp",
"Finish"
] | [
"In front of me there is only a heap of black refuse bags against a brick facade whose windows are large glass panes, not boarded wood with a yellow notice. Since nothing here matches the sealed window I need, I will turn left to begin a steady scan of the surrounding yard.",
"The rotation has opened up a wooden ... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x001258_y-002450_z000198_t1_b | 1 | Exploration | Locate the pair of vertical standing pipes of differing lengths positioned side by side, then navigate toward them. | 13 | [
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"TurnLeft",
"Finish"
] | [
"My view is filled with a heap of dark refuse sacks against a brick facade and a tall grid window, with no vertical standing pipes anywhere in sight. Since nothing here matches the pair of upright pipes of different heights, I will turn left to begin a steady scan of the surrounding yard.",
"The rotation has brou... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x001303_y-000993_z000198_t0_a | 0 | Basic | Navigate to the large red door. | 5 | [
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"The large red double door sits ahead of me in the center of the weathered industrial wall, roughly in line with my current heading. Since nothing blocks the open gravel yard between us, I will step forward to begin closing the distance without needing to turn.",
"The red door now fills more of my view and remain... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x001303_y-000993_z000198_t0_b | 0 | Basic | Go to the narrow dark door beneath the small concrete canopy beside the large faded red door. | 8 | [
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRight",
"Finish"
] | [
"From the open yard I can see the large faded red sliding door on the industrial wall ahead, with a narrow dark doorway tucked under a small concrete canopy just to its left. That recessed doorway is my target, but it is still far off across the gravel, so I will move forward to close distance before refining my he... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x001518_y-000082_z000207_t3_a | 3 | Multi-stage | Walk to the green dumpster, then head toward the dried plant clump. | 13 | [
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MidwayTarget",
"TurnRight",
"TurnRight",
"TurnRight",
"MoveForward",
"TurnRight",
"MoveForward",
"Finish"
] | [
"The green skip sits far off at the left edge of my view, mostly cut off by the frame. I will turn left so it comes into the center of my path before I start walking toward it.",
"The green skip now sits ahead and slightly left, with open paving stones between me and it. I will walk forward to close that gap.",
... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x001518_y-000082_z000207_t3_b | 3 | Multi-stage | Head toward the green dumpster, then reach the pile of bags. | 18 | [
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"MidwayTarget",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"Finish"
] | [
"The green dumpster is clipped at the far left edge of my view, while the yard ahead of me is only blank wall. I will turn left so that dumpster sits properly in front of me before I start walking toward it.",
"The green dumpster now sits clearly ahead and slightly to my left, against the corner of the walls. The... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x001518_y-000082_z000207_t3_c | 3 | Multi-stage | Navigate to the red panel marked six, then approach the green dumpster. | 18 | [
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MidwayTarget",
"MoveBackward",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"Across the yard I can read a faint six chalked on the right-hand red panel of the far wall, and a green dumpster sits off to my left. The red panel is my first destination, so I walk straight ahead to close the open stretch of paving between us.",
"The wall has grown larger and the panel bearing the six still li... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x001518_y-000082_z000207_t3_d | 3 | Multi-stage | Proceed to the red panel marked six, then walk to the red panel marked four. | 17 | [
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MidwayTarget",
"MoveBackward",
"TurnLeft",
"TurnLeft",
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"Finish"
] | [
"From here the wall shows several red panels, and the one bearing the numeral six sits well off to my right. I will turn right to bring that panel toward the center of my heading before walking to it.",
"The red panel marked six now sits ahead of me, with open paving between us. I will walk forward to close that ... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x001518_y-000082_z000207_t5_a_pd | 5 | Pick & Drop | Lift the metal bucket beside the green dumpster, then leave it near the dried plant clump. | 12 | [
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"Pick",
"TurnRight",
"TurnRight",
"MoveForward",
"TurnRight",
"MoveForward",
"Drop",
"Finish"
] | [
"The metal bucket sits ahead on the left, right beside the green dumpster, and the dried plant clump grows against the wall further right. The open paving between us is clear, so I will walk forward to close the distance before fine alignment.",
"After advancing, the bucket and dumpster now sit well off to my lef... | metal bucket | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x001518_y-000082_z000207_t5_b_pd | 5 | Pick & Drop | Pick up the jerry can near the green dumpster, then set it down near the pile of bags. | 17 | [
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"Pick",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"Drop",
"Finish"
] | [
"The red jerry can sits on the pavement just right of the green dumpster, well ahead of me across the yard. Nothing blocks the open stone ground between us, so I will walk forward to close that distance before worrying about fine alignment.",
"After closing some ground, the jerry can and the dumpster sit toward t... | jerry can | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x001518_y-000082_z000207_t5_c_pd | 5 | Pick & Drop | Grab the metal bucket beside the red panel marked six, then place it at the green dumpster. | 17 | [
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Pick",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"Drop",
"Finish"
] | [
"The metal bucket sits on the pavement in front of the red panel marked six, off to the right of my current heading, while the green dumpster stands far to my left. Before walking, I want the bucket centered so my approach stays straight. I will turn right to bring it in front of me.",
"The bucket now sits near t... | metal bucket | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x001518_y-000082_z000207_t5_d_pd | 5 | Pick & Drop | Lift the wicker basket beside red panel six, then put it down near red panel four. | 16 | [
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Pick",
"TurnLeft",
"TurnLeft",
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"TurnRight",
"Drop",
"Finish"
] | [
"The wicker basket rests against the wall on the right, near the red panel marked six, while my heading points more toward the middle of the yard. I will turn right so the basket sits ahead of me and I can walk straight at it.",
"The basket now sits close to the center of my view against the wall with the panel m... | wicker basket | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x001556_y-000366_z000204_t1_a | 1 | Exploration | Explore the area and approach the red door marked with the number 4. | 16 | [
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"I am standing in an open industrial yard with brick workshops, dumpsters and rubbish bags around me, and no red door bearing the number 4 is anywhere ahead. I will turn right to begin a steady scan of the surrounding facades for a numbered red door. Sweeping consistently in one direction should let me cover the ya... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x001556_y-000366_z000204_t1_b | 1 | Exploration | Explore the area and head toward the red door labeled number 6. | 16 | [
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"From this spot in the open industrial yard I can see brick sheds, a green skip and refuse sacks, but no red door carrying a number. I will turn right to begin a steady scan of the surrounding facades for the labeled door six.",
"The wall now facing me is grey plaster and brick with small windows and a loading ba... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x001556_y-000366_z000204_t1_c | 1 | Exploration | Explore the area and navigate to the red door displaying number 8. | 11 | [
"TurnRight",
"TurnRight",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"From this yard I can see brick industrial buildings, dumpsters and refuse piles, but no red door with a number on it anywhere in front of me. The open ground continues to my right past the large building with the tall window band, so I will turn right to sweep that unseen part of the yard. This scan should reveal ... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x001585_y-001729_z000198_t0_a | 0 | Basic | Walk to the green dumpster. | 11 | [
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"Finish"
] | [
"The green dumpster is already visible ahead of me, sitting against the pale wall on the far side of this open yard, slightly right of my heading. The open gravel ground straight ahead is clear of the piled sacks on my left, so I will step forward to begin closing the distance.",
"The dumpster now sits a little l... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x001585_y-001729_z000198_t0_b | 0 | Basic | Head toward the wooden pallet near the trash bags. | 9 | [
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"TurnRight",
"MoveForward",
"TurnLeft",
"MoveForward",
"Finish"
] | [
"From the initial task position I can see the long line of dark trash bags heaped along the wall to my left, with loose wooden boards lying on the open ground beyond them. The wooden pallet I need should be in that cluttered strip, so I will move forward to close the large gap across the yard.",
"The trash bag pi... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x001750_y-000485_z000205_t3_a | 3 | Multi-stage | Walk to the green dumpster with a plank leaning on it, then approach the metal scaffolding base. | 19 | [
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"MoveForward",
"MidwayTarget",
"MoveBackward",
"TurnRight",
"TurnRight",
"TurnRight",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"Finish"
] | [
"The large green skip with the wooden plank propped against its side sits far over on my left, while my body faces the open yard and the brick gable ahead. Turning left should bring that dumpster nearer the center of my view so I can walk straight at it.",
"The rusted green dumpster with the plank leaning on it n... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x001750_y-000485_z000205_t3_b | 3 | Multi-stage | Head toward the red door marked with number eight, then reach the green dumpster with a plank leaning on it. | 21 | [
"TurnRight",
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MidwayTarget",
"MoveBackward",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForwa... | [
"From this yard the wide red panelled wall stands off to my right, and that is where a numbered door would be. My current heading points across the open cobbles instead, so I will turn right to bring that red facade into the centre of my view and check its markings.",
"The red painted door now sits ahead of me wi... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x001750_y-000485_z000205_t3_c | 3 | Multi-stage | Proceed to the metal scaffolding base, then navigate to the green dumpster with a plank. | 19 | [
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"TurnLeft",
"MoveForward",
"TurnRight",
"MidwayTarget",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"MoveForward",
"Finish"
] | [
"The tall metal scaffolding tower rises ahead on the right side of the yard, with its legs planted on the cobbles near the pale wall. I am still well back across the open ground, so I will walk forward to close some of that distance before adjusting my heading.",
"After advancing, the scaffolding's legs sit off t... | null | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x001750_y-000485_z000205_t5_a_pd | 5 | Pick & Drop | Grab the trash bag beside the green dumpster with the leaning plank, then drop it at the base of the metal scaffolding. | 15 | [
"MoveForward",
"TurnLeft",
"MoveForward",
"Pick",
"MoveForward",
"LookDown",
"Pick",
"TurnRight",
"TurnRight",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"Drop",
"Finish"
] | [
"The green dumpster with the plank leaning against it stands well ahead on my left, and the black trash bag sits on the ground beside it. From here the bag is far outside grasping range, so I will walk forward to close the gap across the open yard.",
"The trash bag and its dumpster sit off to my left while my hea... | trash bag | |
dataset | AbandonedDistrict | Abandoned District | Outdoor, day | x001750_y-000485_z000205_t5_b_pd | 5 | Pick & Drop | Lift the wicker basket from the metal scaffolding base, then leave it near the green dumpster with the leaning plank. | 15 | [
"MoveForward",
"MoveForward",
"TurnRight",
"MoveForward",
"MoveForward",
"Pick",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"TurnLeft",
"MoveForward",
"MoveForward",
"MoveForward",
"Drop",
"Finish"
] | [
"The wicker basket sits against the metal scaffolding base on the far right of the yard, still a long way off across the cobbles. I will walk forward to close that gap before worrying about fine alignment.",
"The basket leaning at the scaffolding base is now larger and clearer to my right, so my heading is still ... | wicker basket |
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