| {"ID": "dart_llm-L1-T1-001", "text": "Move Excavator 1 and Dump Truck 1 to the puddle area, then command all robots to avoid the puddle.", "output": {"tasks": [{"task": "move_excavator_and_dump_to_puddle", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["puddle1"]}}, {"task": "avoid_puddle_all_robots", "instruction_function": {"name": "avoid_areas_for_all_robots", "robot_type": ["dump_truck", "excavator"], "dependencies": ["move_excavator_and_dump_to_puddle"], "object_keywords": ["puddle1"]}}]}} | |
| {"ID": "dart_llm-L1-T2-001", "text": "Direct Excavator 1 to the obstacle, perform excavation, then proceed to unload.", "output": {"tasks": [{"task": "excavator_to_obstacle", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["obstacle1"]}}, {"task": "excavation_task", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavator_to_obstacle"], "object_keywords": []}}, {"task": "unload_task", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L1-T1-002", "text": "Send Excavator 2 to the rock area and then command it to avoid the obstacle.", "output": {"tasks": [{"task": "move_excavator_to_rock_area", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "avoid_obstacle_excavator_2", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": ["move_excavator_to_rock_area"], "object_keywords": ["obstacle1"]}}]}} | |
| {"ID": "dart_llm-L1-T1-003", "text": "Direct Dump Truck 2 to the dumping site near soil area 2.", "output": {"tasks": [{"task": "move_dump_truck_to_dumping_site_soil2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": [], "object_keywords": ["soil2", "dumping_site"]}}]}} | |
| {"ID": "dart_llm-L1-T2-002", "text": "Send Excavator 1 to obstacle 2, perform excavation.", "output": {"tasks": [{"task": "excavator_to_obstacle2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["obstacle2"]}}, {"task": "excavation_task", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavator_to_obstacle2"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L1-T2-003", "text": "Guide Dump Truck 1 to the starting position and unload.", "output": {"tasks": [{"task": "dump_truck_to_starting_position", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": [], "object_keywords": ["starting_position"]}}, {"task": "dump_truck_unload", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["dump_truck_to_starting_position"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L1-T3-001", "text": "Move Excavator 1 to soil area 1, perform excavation, then move to soil area 2 and excavate again.", "output": {"tasks": [{"task": "move_excavator_to_soil1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "excavation_task_soil1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_excavator_to_soil1"], "object_keywords": []}}, {"task": "move_excavator_to_soil2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task_soil1"], "object_keywords": ["soil2"]}}, {"task": "excavation_task_soil2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_excavator_to_soil2"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L1-T3-002", "text": "Guide Dump Truck 2 to collect at starting position, then proceed to dumping site near puddle 1.", "output": {"tasks": [{"task": "dump_truck_to_starting_position", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": [], "object_keywords": ["starting_position"]}}, {"task": "dump_load", "instruction_function": {"name": "DumpLoading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["dump_truck_to_starting_position"], "object_keywords": []}}, {"task": "dump_truck_to_dumping_site_puddle1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["dump_load"], "object_keywords": ["puddle1", "dumping_site"]}}, {"task": "dump_unload_puddle1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["dump_truck_to_dumping_site_puddle1"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L2-T1-001", "text": "Send Excavator 1 and Dump Truck 1 to the soil area; Excavator 1 will excavate and unload, followed by Dump Truck 1 proceeding to the puddle for unloading.", "output": {"tasks": [{"task": "move_to_soil_area", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "excavation_task", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_to_soil_area"], "object_keywords": []}}, {"task": "unload_task", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task"], "object_keywords": []}}, {"task": "dump_unload_puddle", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["unload_task"], "object_keywords": ["puddle1"]}}]}} | |
| {"ID": "dart_llm-L2-T2-001", "text": "Move Excavator 1 and Dump Truck 1 to soil area 2; Excavator 1 will excavate and unload, then Dump Truck 1 returns to the starting position to unload.", "output": {"tasks": [{"task": "move_to_soil2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "excavation_task", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_to_soil2"], "object_keywords": []}}, {"task": "excavator_unload_task", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task"], "object_keywords": []}}, {"task": "dump_return_unload", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["excavator_unload_task"], "object_keywords": ["starting_position"]}}]}} | |
| {"ID": "dart_llm-L2-T1-002", "text": "Send Excavator 1 and Dump Truck 2 to soil area 3; Excavator 1 will excavate and unload, then Dump Truck 2 will move to obstacle 1 for unloading.", "output": {"tasks": [{"task": "move_to_soil_area3", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_02"], "dependencies": [], "object_keywords": ["soil3"]}}, {"task": "excavation_task", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_to_soil_area3"], "object_keywords": []}}, {"task": "excavator_unload_task", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task"], "object_keywords": []}}, {"task": "dump_to_obstacle1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["excavator_unload_task"], "object_keywords": ["obstacle1"]}}, {"task": "dump_unload_obstacle1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["dump_to_obstacle1"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L2-T2-002", "text": "Move Excavator 2 and Dump Truck 1 to rock area; Excavator 2 will excavate and unload, then Dump Truck 1 will proceed to puddle 2 for unloading.", "output": {"tasks": [{"task": "move_to_rock_area", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "excavation_task", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["move_to_rock_area"], "object_keywords": []}}, {"task": "excavator_unload_task", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavation_task"], "object_keywords": []}}, {"task": "dump_to_puddle2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["excavator_unload_task"], "object_keywords": ["puddle2"]}}, {"task": "dump_unload_puddle2", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["dump_to_puddle2"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L2-T1-003", "text": "Send Excavator 2 and Dump Truck 2 to obstacle 2; Excavator 2 will excavate while Dump Truck 2 avoids puddle 2.", "output": {"tasks": [{"task": "move_to_obstacle2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_02"], "dependencies": [], "object_keywords": ["obstacle2"]}}, {"task": "avoid_puddle_dump_truck_2", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["move_to_obstacle2"], "object_keywords": ["puddle2"]}}, {"task": "excavation_task", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["move_to_obstacle2"], "object_keywords": []}}, {"task": "excavator_unload_task", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavation_task"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L2-T2-003", "text": "Direct Excavator 1 and Dump Truck 1 to the rock area; after excavation, both robots proceed independently to their respective starting positions.", "output": {"tasks": [{"task": "move_to_rock_area", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "excavation_task_rock", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_to_rock_area"], "object_keywords": []}}, {"task": "excavator_return_to_start", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task_rock"], "object_keywords": ["starting_position"]}}, {"task": "dump_truck_return_to_start", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["excavation_task_rock"], "object_keywords": ["starting_position"]}}]}} | |
| {"ID": "dart_llm-L2-T3-001", "text": "Excavator 1 and Dump Truck 1 proceed to soil area 1, after completing excavation and unloading, move both to soil area 2 for another excavation and unloading.", "output": {"tasks": [{"task": "move_to_soil_area1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "excavation_task_soil1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_to_soil_area1"], "object_keywords": []}}, {"task": "excavator_unload_task_soil1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task_soil1"], "object_keywords": []}}, {"task": "dump_unload_soil1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["excavator_unload_task_soil1"], "object_keywords": []}}, {"task": "move_to_soil_area2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": ["dump_unload_soil1"], "object_keywords": ["soil2"]}}, {"task": "excavation_task_soil2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_to_soil_area2"], "object_keywords": []}}, {"task": "excavator_unload_task_soil2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task_soil2"], "object_keywords": []}}, {"task": "dump_unload_soil2", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["excavator_unload_task_soil2"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L2-T3-002", "text": "Excavator 2 and Dump Truck 2 proceed to soil area 3; Excavator 2 will excavate and unload, all robots must avoid puddle 2 during the task.", "output": {"tasks": [{"task": "move_to_soil_area3", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_02"], "dependencies": [], "object_keywords": ["soil3"]}}, {"task": "avoid_puddle_all_robots", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_02"], "dependencies": ["move_to_soil_area3"], "object_keywords": ["puddle2"]}}, {"task": "excavation_task", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["avoid_puddle_all_robots"], "object_keywords": []}}, {"task": "excavator_unload_task", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavation_task"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L3-T1-001", "text": "Guide Excavator 1 to the obstacle for excavation and unloading, then move both Excavator 1 and Dump Truck 1 to the soil area for another excavation and unloading. Finally, send Dump Truck 1 to the puddle for unloading.", "output": {"tasks": [{"task": "excavator_to_obstacle", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["obstacle1"]}}, {"task": "excavation_task_obstacle", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavator_to_obstacle"], "object_keywords": []}}, {"task": "unload_task_obstacle", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task_obstacle"], "object_keywords": []}}, {"task": "move_to_soil", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": ["unload_task_obstacle"], "object_keywords": ["soil1"]}}, {"task": "excavation_task_soil", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_to_soil"], "object_keywords": []}}, {"task": "unload_task_soil", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task_soil"], "object_keywords": []}}, {"task": "dump_unload_puddle", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["unload_task_soil"], "object_keywords": ["puddle1"]}}]}} | |
| {"ID": "dart_llm-L3-T2-001", "text": "Direct Excavator 1 to the obstacle for excavation and unloading, then command all robots to proceed to the puddle area.", "output": {"tasks": [{"task": "excavator_to_obstacle", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["obstacle1"]}}, {"task": "excavation_task", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavator_to_obstacle"], "object_keywords": []}}, {"task": "all_to_puddle", "instruction_function": {"name": "target_area_for_all_robots", "robot_type": ["excavator", "dump_truck"], "dependencies": ["excavation_task"], "object_keywords": ["puddle1"]}}]}} | |
| {"ID": "dart_llm-L3-T1-002", "text": "Guide Excavator 1 and Dump Truck 1 to soil area 1 and Excavator 2 and Dump Truck 2 to soil area 2; both teams should excavate and unload simultaneously, then send all dump trucks to the puddle area for unloading.", "output": {"tasks": [{"task": "move_team1_to_soil1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "move_team2_to_soil2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_02"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "excavation_task_team1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_team1_to_soil1"], "object_keywords": []}}, {"task": "excavation_task_team2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["move_team2_to_soil2"], "object_keywords": []}}, {"task": "unload_task_team1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task_team1"], "object_keywords": []}}, {"task": "unload_task_team2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavation_task_team2"], "object_keywords": []}}, {"task": "move_dump_trucks_to_puddle", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01", "robot_dump_truck_02"], "dependencies": ["unload_task_team1", "unload_task_team2"], "object_keywords": ["puddle1"]}}, {"task": "dump_unload_puddle", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01", "robot_dump_truck_02"], "dependencies": ["move_dump_trucks_to_puddle"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L3-T2-002", "text": "After Excavator 1 completes excavation at obstacle 1 and unloads, command all robots to proceed to starting position, and then proceed to soil area 2 for another excavation.", "output": {"tasks": [{"task": "excavator_to_obstacle1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["obstacle1"]}}, {"task": "excavation_task_obstacle1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavator_to_obstacle1"], "object_keywords": []}}, {"task": "unload_task_obstacle1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task_obstacle1"], "object_keywords": []}}, {"task": "move_all_to_starting_position", "instruction_function": {"name": "target_area_for_all_robots", "robot_type": ["excavator", "dump_truck"], "dependencies": ["unload_task_obstacle1"], "object_keywords": ["starting_position"]}}, {"task": "move_to_soil_area2", "instruction_function": {"name": "target_area_for_all_robots", "robot_type": ["excavator"], "dependencies": ["move_all_to_starting_position"], "object_keywords": ["soil2"]}}, {"task": "excavation_task_soil2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_to_soil_area2"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L3-T3-001", "text": "Excavator 1 and Excavator 2 proceed to obstacle 1 and soil area 2 respectively. After completing excavation and unloading, both excavators and dump trucks should avoid puddle 1 and regroup at starting position.", "output": {"tasks": [{"task": "excavator1_to_obstacle1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["obstacle1"]}}, {"task": "excavator2_to_soil2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "excavation_task_excavator1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavator1_to_obstacle1"], "object_keywords": []}}, {"task": "excavation_task_excavator2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavator2_to_soil2"], "object_keywords": []}}, {"task": "excavator1_unloading", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task_excavator1"], "object_keywords": []}}, {"task": "excavator2_unloading", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavation_task_excavator2"], "object_keywords": []}}, {"task": "avoid_puddle1", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_excavator_02", "robot_dump_truck_01", "robot_dump_truck_02"], "dependencies": ["excavator1_unloading", "excavator2_unloading"], "object_keywords": ["puddle1"]}}, {"task": "regroup_at_starting_position", "instruction_function": {"name": "target_area_for_all_robots", "robot_type": ["excavator", "dump_truck"], "dependencies": ["avoid_puddle1"], "object_keywords": ["starting_position"]}}]}} | |
| {"ID": "dart_llm-L3-T2-003", "text": "After completing excavation at rock area, guide all robots to avoid obstacle 2 and proceed to soil area 3 for another excavation.", "output": {"tasks": [{"task": "excavator_to_rock_area", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "excavation_task_rock", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavator_to_rock_area"], "object_keywords": []}}, {"task": "unload_task_rock", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task_rock"], "object_keywords": []}}, {"task": "avoid_obstacle2_all_robots", "instruction_function": {"name": "avoid_areas_for_all_robots", "robot_type": ["excavator", "dump_truck"], "dependencies": ["unload_task_rock"], "object_keywords": ["obstacle2"]}}, {"task": "move_all_to_soil_area3", "instruction_function": {"name": "target_area_for_all_robots", "robot_type": ["excavator", "dump_truck"], "dependencies": ["avoid_obstacle2_all_robots"], "object_keywords": ["soil3"]}}, {"task": "excavation_task_soil3", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_all_to_soil_area3"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L3-T3-002", "text": "Coordinate Excavator 2 and Dump Truck 2 to perform parallel excavation at obstacle 2 and soil area 3 respectively, then meet at dumping area near puddle 2.", "output": {"tasks": [{"task": "excavator_to_obstacle2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["obstacle2"]}}, {"task": "dump_truck_to_soil3", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": [], "object_keywords": ["soil3"]}}, {"task": "excavation_task_obstacle2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavator_to_obstacle2"], "object_keywords": []}}, {"task": "excavation_task_soil3", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["dump_truck_to_soil3"], "object_keywords": []}}, {"task": "meet_at_dumping_area_puddle2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_02"], "dependencies": ["excavation_task_obstacle2", "excavation_task_soil3"], "object_keywords": ["puddle2", "dumping_area"]}}]}} | |
| {"ID": "dart_llm-L3-T3-003", "text": "Excavator 1, Excavator 2, and Dump Truck 1 coordinate to clear rocks from rock area and soil from soil area 1, avoiding all puddles. After tasks, regroup at starting position.", "output": {"tasks": [{"task": "excavator1_to_rock_area", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "excavator2_to_soil1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "dump_truck1_to_soil1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "excavation_task_rock", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavator1_to_rock_area"], "object_keywords": []}}, {"task": "excavation_task_soil1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavator2_to_soil1"], "object_keywords": []}}, {"task": "avoid_puddles_all_robots", "instruction_function": {"name": "avoid_areas_for_all_robots", "robot_type": ["excavator", "dump_truck"], "dependencies": ["excavation_task_rock", "excavation_task_soil1"], "object_keywords": ["puddle1", "puddle2"]}}, {"task": "regroup_at_starting_position", "instruction_function": {"name": "target_area_for_all_robots", "robot_type": ["excavator", "dump_truck"], "dependencies": ["avoid_puddles_all_robots"], "object_keywords": ["starting_position"]}}]}} | |
| {"ID": "dart_llm-L1-T1-004", "text": "Move Excavator 2 to the puddle area, then command it to avoid the obstacle.", "output": {"tasks": [{"task": "move_excavator2_to_puddle", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["puddle1"]}}, {"task": "excavator2_avoid_obstacle", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": ["move_excavator2_to_puddle"], "object_keywords": ["obstacle1"]}}]}} | |
| {"ID": "dart_llm-L1-T1-005", "text": "Guide Dump Truck 2 to the starting position.", "output": {"tasks": [{"task": "move_dump_truck2_to_start", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": [], "object_keywords": ["starting_position"]}}]}} | |
| {"ID": "dart_llm-L1-T1-006", "text": "Send Excavator 3 to soil area 3.", "output": {"tasks": [{"task": "move_excavator3_to_soil3", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03"], "dependencies": [], "object_keywords": ["soil3"]}}]}} | |
| {"ID": "dart_llm-L1-T2-004", "text": "Direct Excavator 2 to the rock area, perform excavation.", "output": {"tasks": [{"task": "move_excavator2_to_rock", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "excavation_task_rock", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["move_excavator2_to_rock"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L1-T2-005", "text": "Send Dump Truck 3 to the puddle area, proceed to unload.", "output": {"tasks": [{"task": "move_dump_truck3_to_puddle", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": [], "object_keywords": ["puddle1"]}}, {"task": "dump_truck3_unload", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["move_dump_truck3_to_puddle"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L1-T3-003", "text": "Move Excavator 1 to soil area 1, perform excavation, then move to soil area 2 while avoiding puddle 1.", "output": {"tasks": [{"task": "move_excavator1_to_soil1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "excavation_task_soil1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_excavator1_to_soil1"], "object_keywords": []}}, {"task": "excavator1_avoid_puddle1", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task_soil1"], "object_keywords": ["puddle1"]}}, {"task": "move_excavator1_to_soil2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavator1_avoid_puddle1"], "object_keywords": ["soil2"]}}]}} | |
| {"ID": "dart_llm-L1-T3-004", "text": "Guide Dump Truck 1 to obstacle 2, unload materials, then proceed to the starting position.", "output": {"tasks": [{"task": "move_dump_truck1_to_obstacle2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": [], "object_keywords": ["obstacle2"]}}, {"task": "dump_truck1_unload_obstacle2", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["move_dump_truck1_to_obstacle2"], "object_keywords": []}}, {"task": "move_dump_truck1_to_start", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["dump_truck1_unload_obstacle2"], "object_keywords": ["starting_position"]}}]}} | |
| {"ID": "dart_llm-L1-T3-005", "text": "Send Excavator 2 to the rock area, perform excavation, avoid obstacle 1, and return to the starting position.", "output": {"tasks": [{"task": "move_excavator2_to_rock", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "excavation_task_rock", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["move_excavator2_to_rock"], "object_keywords": []}}, {"task": "excavator2_avoid_obstacle1", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavation_task_rock"], "object_keywords": ["obstacle1"]}}, {"task": "move_excavator2_to_start", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavator2_avoid_obstacle1"], "object_keywords": ["starting_position"]}}]}} | |
| {"ID": "dart_llm-L1-T3-006", "text": "Direct Dump Truck 1 to collect materials at the starting position, then move to the dumping site near soil area 3.", "output": {"tasks": [{"task": "dump_truck1_to_start", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": [], "object_keywords": ["starting_position"]}}, {"task": "dump_truck1_load_materials", "instruction_function": {"name": "DumpLoading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["dump_truck1_to_start"], "object_keywords": []}}, {"task": "dump_truck1_to_dumping_site_soil3", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["dump_truck1_load_materials"], "object_keywords": ["soil3", "dumping_site"]}}, {"task": "dump_truck1_unload_soil3", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["dump_truck1_to_dumping_site_soil3"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L2-T1-004", "text": "Send Excavator 1 and Dump Truck 1 to the puddle area; Excavator 1 will excavate and unload, while Dump Truck 1 avoids obstacles.", "output": {"tasks": [{"task": "move_to_puddle_area", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["puddle1"]}}, {"task": "dump_truck1_avoid_obstacles", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["move_to_puddle_area"], "object_keywords": ["obstacle1", "obstacle2"]}}, {"task": "excavation_task_puddle", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_to_puddle_area"], "object_keywords": []}}, {"task": "excavator_unload_task_puddle", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task_puddle"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L2-T1-005", "text": "Guide Excavator 3 and Dump Truck 2 to soil area 3; Excavator 3 will excavate, then Dump Truck 2 unloads at two locations sequentially.", "output": {"tasks": [{"task": "move_to_soil_area3", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03", "robot_dump_truck_02"], "dependencies": [], "object_keywords": ["soil3"]}}, {"task": "excavation_task_soil3", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["move_to_soil_area3"], "object_keywords": []}}, {"task": "excavator_unload_task_soil3", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_03"], "dependencies": ["excavation_task_soil3"], "object_keywords": []}}, {"task": "dump_truck2_unload_location1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["excavator_unload_task_soil3"], "object_keywords": ["location1"]}}, {"task": "dump_truck2_unload_location2", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["dump_truck2_unload_location1"], "object_keywords": ["location2"]}}]}} | |
| {"ID": "dart_llm-L2-T2-004", "text": "Move Excavator 2 and Dump Truck 3 to obstacle 1; Excavator 2 will excavate, then Dump Truck 3 returns to the starting position.", "output": {"tasks": [{"task": "move_to_obstacle1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_03"], "dependencies": [], "object_keywords": ["obstacle1"]}}, {"task": "excavation_task_obstacle1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["move_to_obstacle1"], "object_keywords": []}}, {"task": "excavator_unload_task_obstacle1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavation_task_obstacle1"], "object_keywords": []}}, {"task": "dump_truck3_to_start", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["excavation_task_obstacle1"], "object_keywords": ["starting_position"]}}]}} | |
| {"ID": "dart_llm-L2-T2-005", "text": "Direct Excavator 1 and Dump Truck 1 to soil area 2; Excavator 1 will excavate, then Dump Truck 1 proceeds to puddle 1 and then to obstacle 2 for unloading.", "output": {"tasks": [{"task": "move_to_soil_area2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "excavation_task_soil2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_to_soil_area2"], "object_keywords": []}}, {"task": "excavator_unload_task_soil2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task_soil2"], "object_keywords": []}}, {"task": "dump_truck1_to_puddle1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["excavator_unload_task_soil2"], "object_keywords": ["puddle1"]}}, {"task": "dump_unload_puddle1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["dump_truck1_to_puddle1"], "object_keywords": []}}, {"task": "dump_truck1_to_obstacle2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["dump_unload_puddle1"], "object_keywords": ["obstacle2"]}}, {"task": "dump_unload_obstacle2", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["dump_truck1_to_obstacle2"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L2-T3-003", "text": "Excavator 2 and Dump Truck 2 proceed to the rock area; after excavation, both avoid puddle 2 and return to the starting position.", "output": {"tasks": [{"task": "move_to_rock_area", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_02"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "excavation_task_rock", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["move_to_rock_area"], "object_keywords": []}}, {"task": "excavator_unload_task_rock", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavation_task_rock"], "object_keywords": []}}, {"task": "avoid_puddle2_both_robots", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_02"], "dependencies": ["excavator_unload_task_rock"], "object_keywords": ["puddle2"]}}, {"task": "return_to_starting_position", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_02"], "dependencies": ["avoid_puddle2_both_robots"], "object_keywords": ["starting_position"]}}]}} | |
| {"ID": "dart_llm-L2-T3-004", "text": "Send Excavator 1 and Dump Truck 3 to soil area 1; after excavation, Dump Truck 3 unloads at three locations in sequence.", "output": {"tasks": [{"task": "move_to_soil_area1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_03"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "excavation_task_soil1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_to_soil_area1"], "object_keywords": []}}, {"task": "excavator_unload_task_soil1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task_soil1"], "object_keywords": []}}, {"task": "dump_truck3_unload_location1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["excavator_unload_task_soil1"], "object_keywords": ["location1"]}}, {"task": "dump_truck3_unload_location2", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["dump_truck3_unload_location1"], "object_keywords": ["location2"]}}, {"task": "dump_truck3_unload_location3", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["dump_truck3_unload_location2"], "object_keywords": ["location3"]}}]}} | |
| {"ID": "dart_llm-L2-T3-005", "text": "Coordinate Excavator 2 and Dump Truck 1 to perform excavation at obstacle 2, then avoid puddle 1 and proceed to soil area 2.", "output": {"tasks": [{"task": "move_to_obstacle2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["obstacle2"]}}, {"task": "excavation_task_obstacle2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["move_to_obstacle2"], "object_keywords": []}}, {"task": "excavator_unload_task_obstacle2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavation_task_obstacle2"], "object_keywords": []}}, {"task": "avoid_puddle1_both_robots", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_01"], "dependencies": ["excavator_unload_task_obstacle2"], "object_keywords": ["puddle1"]}}, {"task": "move_to_soil_area2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_01"], "dependencies": ["avoid_puddle1_both_robots"], "object_keywords": ["soil2"]}}]}} | |
| {"ID": "dart_llm-L2-T3-006", "text": "Guide Excavator 3 and Dump Truck 2 to the puddle area; Excavator 3 will excavate and unload, then Dump Truck 2 unloads at obstacle 1.", "output": {"tasks": [{"task": "move_to_puddle_area", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03", "robot_dump_truck_02"], "dependencies": [], "object_keywords": ["puddle1"]}}, {"task": "excavation_task_puddle", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["move_to_puddle_area"], "object_keywords": []}}, {"task": "excavator_unload_task_puddle", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_03"], "dependencies": ["excavation_task_puddle"], "object_keywords": []}}, {"task": "dump_truck2_to_obstacle1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["excavator_unload_task_puddle"], "object_keywords": ["obstacle1"]}}, {"task": "dump_truck2_unload_obstacle1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["dump_truck2_to_obstacle1"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L3-T1-003", "text": "Coordinate Excavator 1, Excavator 2, and Dump Truck 1 to clear soil area 3 and obstacle 1, then dump materials at puddle 2.", "output": {"tasks": [{"task": "excavator1_to_soil3", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["soil3"]}}, {"task": "excavator2_to_obstacle1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["obstacle1"]}}, {"task": "dump_truck1_to_soil3", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": [], "object_keywords": ["soil3"]}}, {"task": "excavation_task_soil3", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavator1_to_soil3"], "object_keywords": []}}, {"task": "excavation_task_obstacle1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavator2_to_obstacle1"], "object_keywords": []}}, {"task": "excavator1_unload_soil3", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task_soil3"], "object_keywords": []}}, {"task": "excavator2_unload_obstacle1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavation_task_obstacle1"], "object_keywords": []}}, {"task": "move_all_to_puddle2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_excavator_02", "robot_dump_truck_01"], "dependencies": ["excavator1_unload_soil3", "excavator2_unload_obstacle1"], "object_keywords": ["puddle2"]}}, {"task": "dump_unload_puddle2", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["move_all_to_puddle2"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L3-T1-004", "text": "Guide Excavator 1, Excavator 3, and Dump Truck 2 to the rock area; perform simultaneous excavation, then Dump Truck 2 unloads at the starting position.", "output": {"tasks": [{"task": "move_to_rock_area", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_excavator_03", "robot_dump_truck_02"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "excavation_task_excavator1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_to_rock_area"], "object_keywords": []}}, {"task": "excavation_task_excavator3", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["move_to_rock_area"], "object_keywords": []}}, {"task": "excavators_unload_rock", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01", "robot_excavator_03"], "dependencies": ["excavation_task_excavator1", "excavation_task_excavator3"], "object_keywords": []}}, {"task": "dump_truck2_to_start", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["excavators_unload_rock"], "object_keywords": ["starting_position"]}}, {"task": "dump_truck2_unload_start", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["dump_truck2_to_start"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L3-T2-004", "text": "After Excavator 2 completes excavation at soil area 3, command all robots to proceed to obstacle 1, avoiding puddle 1.", "output": {"tasks": [{"task": "excavator2_to_soil3", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["soil3"]}}, {"task": "excavation_task_soil3", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavator2_to_soil3"], "object_keywords": []}}, {"task": "excavator2_unload_soil3", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavation_task_soil3"], "object_keywords": []}}, {"task": "avoid_puddle1_all_robots", "instruction_function": {"name": "avoid_areas_for_all_robots", "robot_type": ["excavator", "dump_truck"], "dependencies": ["excavator2_unload_soil3"], "object_keywords": ["puddle1"]}}, {"task": "move_all_to_obstacle1", "instruction_function": {"name": "target_area_for_all_robots", "robot_type": ["excavator", "dump_truck"], "dependencies": ["avoid_puddle1_all_robots"], "object_keywords": ["obstacle1"]}}]}} | |
| {"ID": "dart_llm-L3-T2-005", "text": "Direct Excavator 1 and Dump Truck 1 to soil area 2; after excavation, send all robots to puddle 2 for unloading, avoiding obstacles.", "output": {"tasks": [{"task": "move_to_soil_area2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "excavation_task_soil2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_to_soil_area2"], "object_keywords": []}}, {"task": "excavator_unload_task_soil2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task_soil2"], "object_keywords": []}}, {"task": "avoid_obstacles_all_robots", "instruction_function": {"name": "avoid_areas_for_all_robots", "robot_type": ["excavator", "dump_truck"], "dependencies": ["excavator_unload_task_soil2"], "object_keywords": ["obstacle1", "obstacle2"]}}, {"task": "move_all_to_puddle2", "instruction_function": {"name": "target_area_for_all_robots", "robot_type": ["excavator", "dump_truck"], "dependencies": ["avoid_obstacles_all_robots"], "object_keywords": ["puddle2"]}}, {"task": "dump_unload_puddle2", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["move_all_to_puddle2"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L3-T3-004", "text": "Excavator 1 and Dump Truck 1 proceed to obstacle 1; after excavation, Dump Truck 1 unloads at multiple locations, then all return to the starting position.", "output": {"tasks": [{"task": "move_to_obstacle1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["obstacle1"]}}, {"task": "excavation_task_obstacle1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_to_obstacle1"], "object_keywords": []}}, {"task": "excavator_unload_task_obstacle1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task_obstacle1"], "object_keywords": []}}, {"task": "dump_truck1_unload_location1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["excavator_unload_task_obstacle1"], "object_keywords": ["location1"]}}, {"task": "dump_truck1_unload_location2", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["dump_truck1_unload_location1"], "object_keywords": ["location2"]}}, {"task": "move_all_to_start", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": ["dump_truck1_unload_location2"], "object_keywords": ["starting_position"]}}]}} | |
| {"ID": "dart_llm-L3-T3-005", "text": "Coordinate Excavator 2, Dump Truck 2, and Excavator 3 to perform tasks at different locations, then regroup at the starting position, avoiding puddle 2.", "output": {"tasks": [{"task": "excavator2_to_soil2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "dump_truck2_to_obstacle2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": [], "object_keywords": ["obstacle2"]}}, {"task": "excavator3_to_rock", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "excavation_task_excavator2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavator2_to_soil2"], "object_keywords": []}}, {"task": "excavation_task_excavator3", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["excavator3_to_rock"], "object_keywords": []}}, {"task": "avoid_puddle2_all", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_02", "robot_excavator_03"], "dependencies": ["excavation_task_excavator2", "excavation_task_excavator3"], "object_keywords": ["puddle2"]}}, {"task": "regroup_at_start", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_02", "robot_excavator_03"], "dependencies": ["avoid_puddle2_all"], "object_keywords": ["starting_position"]}}]}} | |
| {"ID": "dart_llm-L3-T3-006", "text": "After excavation at the rock area, guide all robots to avoid obstacle 2 and proceed to soil area 3 for another excavation task.", "output": {"tasks": [{"task": "excavator_to_rock_area", "instruction_function": {"name": "target_area_for_all_robots", "robot_type": ["excavator", "dump_truck"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "excavation_task_rock", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01", "robot_excavator_02"], "dependencies": ["excavator_to_rock_area"], "object_keywords": []}}, {"task": "avoid_obstacle2_all_robots", "instruction_function": {"name": "avoid_areas_for_all_robots", "robot_type": ["excavator", "dump_truck"], "dependencies": ["excavation_task_rock"], "object_keywords": ["obstacle2"]}}, {"task": "move_all_to_soil_area3", "instruction_function": {"name": "target_area_for_all_robots", "robot_type": ["excavator", "dump_truck"], "dependencies": ["avoid_obstacle2_all_robots"], "object_keywords": ["soil3"]}}, {"task": "excavation_task_soil3", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01", "robot_excavator_02"], "dependencies": ["move_all_to_soil_area3"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L3-T3-007", "text": "Excavator 1, Excavator 2, and Dump Truck 1 coordinate to clear multiple areas, avoiding puddles and obstacles, then unload at the starting position.", "output": {"tasks": [{"task": "excavator1_to_soil1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "excavator2_to_obstacle2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["obstacle2"]}}, {"task": "dump_truck1_to_soil1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "excavation_task_excavator1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavator1_to_soil1"], "object_keywords": []}}, {"task": "excavation_task_excavator2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavator2_to_obstacle2"], "object_keywords": []}}, {"task": "avoid_puddles_and_obstacles", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_excavator_02", "robot_dump_truck_01"], "dependencies": ["excavation_task_excavator1", "excavation_task_excavator2"], "object_keywords": ["puddle1", "puddle2", "obstacle1"]}}, {"task": "regroup_at_start", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_excavator_02", "robot_dump_truck_01"], "dependencies": ["avoid_puddles_and_obstacles"], "object_keywords": ["starting_position"]}}, {"task": "unload_at_start", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["regroup_at_start"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L1-T1-007", "text": "Move Excavator 2 to the dumping area near obstacle 1.", "output": {"tasks": [{"task": "move_excavator2_to_dumping_area_obstacle1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["obstacle1", "dumping_area"]}}]}} | |
| {"ID": "dart_llm-L1-T1-008", "text": "Guide Dump Truck 3 to the rock area.", "output": {"tasks": [{"task": "move_dump_truck3_to_rock_area", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": [], "object_keywords": ["rock1"]}}]}} | |
| {"ID": "dart_llm-L1-T1-009", "text": "Send Excavator 1 to soil area 2, then command it to avoid puddle 2.", "output": {"tasks": [{"task": "move_excavator1_to_soil2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "excavator1_avoid_puddle2", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_excavator1_to_soil2"], "object_keywords": ["puddle2"]}}]}} | |
| {"ID": "dart_llm-L1-T1-010", "text": "Direct Dump Truck 2 to the starting position, avoiding obstacle 2.", "output": {"tasks": [{"task": "move_dump_truck2_to_start", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": [], "object_keywords": ["starting_position"]}}, {"task": "dump_truck2_avoid_obstacle2", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["move_dump_truck2_to_start"], "object_keywords": ["obstacle2"]}}]}} | |
| {"ID": "dart_llm-L1-T2-006", "text": "Send Excavator 3 to the puddle area, perform excavation.", "output": {"tasks": [{"task": "move_excavator3_to_puddle", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03"], "dependencies": [], "object_keywords": ["puddle1"]}}, {"task": "excavation_task_puddle", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["move_excavator3_to_puddle"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L1-T2-007", "text": "Guide Dump Truck 1 to soil area 1, proceed to unload.", "output": {"tasks": [{"task": "move_dump_truck1_to_soil1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "dump_truck1_unload_soil1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["move_dump_truck1_to_soil1"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L1-T2-008", "text": "Direct Excavator 2 to obstacle 2, perform excavation, then unload.", "output": {"tasks": [{"task": "move_excavator2_to_obstacle2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["obstacle2"]}}, {"task": "excavation_task_obstacle2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["move_excavator2_to_obstacle2"], "object_keywords": []}}, {"task": "excavator2_unload_task", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavation_task_obstacle2"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L1-T3-007", "text": "Move Excavator 1 to soil area 1, perform excavation, then move to rock area and excavate again.", "output": {"tasks": [{"task": "move_excavator1_to_soil1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "excavation_task_soil1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_excavator1_to_soil1"], "object_keywords": []}}, {"task": "move_excavator1_to_rock_area", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task_soil1"], "object_keywords": ["rock1"]}}, {"task": "excavation_task_rock", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_excavator1_to_rock_area"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L1-T3-008", "text": "Guide Dump Truck 2 to collect materials at obstacle 1, then proceed to dumping site near soil area 2.", "output": {"tasks": [{"task": "dump_truck2_to_obstacle1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": [], "object_keywords": ["obstacle1"]}}, {"task": "dump_truck2_load_materials", "instruction_function": {"name": "DumpLoading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["dump_truck2_to_obstacle1"], "object_keywords": []}}, {"task": "dump_truck2_to_dumping_site_soil2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["dump_truck2_load_materials"], "object_keywords": ["soil2", "dumping_site"]}}, {"task": "dump_truck2_unload_soil2", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["dump_truck2_to_dumping_site_soil2"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L2-T1-006", "text": "Send Excavator 2 and Dump Truck 1 to the rock area; Excavator 2 will excavate and unload, then Dump Truck 1 proceeds to obstacle 1 for unloading.", "output": {"tasks": [{"task": "move_to_rock_area", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "excavation_task_rock", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["move_to_rock_area"], "object_keywords": []}}, {"task": "excavator_unload_task_rock", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavation_task_rock"], "object_keywords": []}}, {"task": "dump_truck1_to_obstacle1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["excavator_unload_task_rock"], "object_keywords": ["obstacle1"]}}, {"task": "dump_truck1_unload_obstacle1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["dump_truck1_to_obstacle1"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L2-T1-007", "text": "Guide Excavator 3 and Dump Truck 3 to soil area 1; Excavator 3 will excavate, then both robots avoid puddle 1.", "output": {"tasks": [{"task": "move_to_soil_area1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03", "robot_dump_truck_03"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "excavation_task_soil1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["move_to_soil_area1"], "object_keywords": []}}, {"task": "excavator_unload_task_soil1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_03"], "dependencies": ["excavation_task_soil1"], "object_keywords": []}}, {"task": "avoid_puddle1_both_robots", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_03", "robot_dump_truck_03"], "dependencies": ["excavator_unload_task_soil1"], "object_keywords": ["puddle1"]}}]}} | |
| {"ID": "dart_llm-L2-T2-006", "text": "Send Excavator 1 and Dump Truck 2 to soil area 2; Excavator 1 will excavate, then Dump Truck 2 returns to starting position and unloads.", "output": {"tasks": [{"task": "move_to_soil_area2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_02"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "excavation_task_soil2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_to_soil_area2"], "object_keywords": []}}, {"task": "excavator_unload_task_soil2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task_soil2"], "object_keywords": []}}, {"task": "dump_truck2_return_unload", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["excavator_unload_task_soil2"], "object_keywords": ["starting_position"]}}]}} | |
| {"ID": "dart_llm-L2-T2-007", "text": "Direct Excavator 2 and Dump Truck 3 to obstacle 1; after excavation, Dump Truck 3 moves to puddle 2 for unloading.", "output": {"tasks": [{"task": "move_to_obstacle1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_03"], "dependencies": [], "object_keywords": ["obstacle1"]}}, {"task": "excavation_task_obstacle1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["move_to_obstacle1"], "object_keywords": []}}, {"task": "excavator_unload_task_obstacle1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavation_task_obstacle1"], "object_keywords": []}}, {"task": "dump_truck3_to_puddle2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["excavator_unload_task_obstacle1"], "object_keywords": ["puddle2"]}}, {"task": "dump_unload_puddle2", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["dump_truck3_to_puddle2"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L2-T3-007", "text": "Excavator 3 and Dump Truck 1 proceed to soil area 3; Excavator 3 excavates, then both return to starting position avoiding obstacle 1.", "output": {"tasks": [{"task": "move_to_soil_area3", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["soil3"]}}, {"task": "excavation_task_soil3", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["move_to_soil_area3"], "object_keywords": []}}, {"task": "excavator_unload_task_soil3", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_03"], "dependencies": ["excavation_task_soil3"], "object_keywords": []}}, {"task": "avoid_obstacle1_both_robots", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_03", "robot_dump_truck_01"], "dependencies": ["excavator_unload_task_soil3"], "object_keywords": ["obstacle1"]}}, {"task": "return_to_starting_position", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03", "robot_dump_truck_01"], "dependencies": ["avoid_obstacle1_both_robots"], "object_keywords": ["starting_position"]}}]}} | |
| {"ID": "dart_llm-L2-T3-008", "text": "Guide Excavator 2 and Dump Truck 2 to obstacle 2; Excavator 2 excavates and unloads, then Dump Truck 2 unloads at multiple locations.", "output": {"tasks": [{"task": "move_to_obstacle2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_02"], "dependencies": [], "object_keywords": ["obstacle2"]}}, {"task": "excavation_task_obstacle2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["move_to_obstacle2"], "object_keywords": []}}, {"task": "excavator_unload_task_obstacle2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavation_task_obstacle2"], "object_keywords": []}}, {"task": "dump_truck2_unload_location1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["excavator_unload_task_obstacle2"], "object_keywords": ["location1"]}}, {"task": "dump_truck2_unload_location2", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["dump_truck2_unload_location1"], "object_keywords": ["location2"]}}]}} | |
| {"ID": "dart_llm-L3-T1-005", "text": "Coordinate Excavator 1, Dump Truck 3, and Excavator 2 to clear soil area 1 and rock area simultaneously; then Dump Truck 3 unloads at starting position.", "output": {"tasks": [{"task": "excavator1_to_soil1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "excavator2_to_rock_area", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "dump_truck3_to_soil1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "excavation_task_excavator1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavator1_to_soil1"], "object_keywords": []}}, {"task": "excavation_task_excavator2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavator2_to_rock_area"], "object_keywords": []}}, {"task": "excavator1_unload_soil1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task_excavator1"], "object_keywords": []}}, {"task": "excavator2_unload_rock", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavation_task_excavator2"], "object_keywords": []}}, {"task": "dump_truck3_to_start", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["excavator1_unload_soil1"], "object_keywords": ["starting_position"]}}, {"task": "dump_truck3_unload_start", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["dump_truck3_to_start"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L3-T1-006", "text": "Guide Excavator 3 and Dump Truck 1 to puddle area; after excavation, both avoid obstacle 1 and proceed to soil area 2 for another excavation.", "output": {"tasks": [{"task": "move_to_puddle_area", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["puddle1"]}}, {"task": "excavation_task_puddle", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["move_to_puddle_area"], "object_keywords": []}}, {"task": "excavator_unload_task_puddle", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_03"], "dependencies": ["excavation_task_puddle"], "object_keywords": []}}, {"task": "avoid_obstacle1_both_robots", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_03", "robot_dump_truck_01"], "dependencies": ["excavator_unload_task_puddle"], "object_keywords": ["obstacle1"]}}, {"task": "move_to_soil_area2", "instruction_function": {"name": "target_area_for_all_robots", "robot_type": ["excavator", "dump_truck"], "dependencies": ["avoid_obstacle1_both_robots"], "object_keywords": ["soil2"]}}, {"task": "excavation_task_soil2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["move_to_soil_area2"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L3-T2-006", "text": "After Excavator 1 completes excavation at rock area, command all robots to proceed to starting position, then proceed to obstacle 2 for another excavation, avoiding puddle 2.", "output": {"tasks": [{"task": "excavator1_to_rock_area", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "excavation_task_rock", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavator1_to_rock_area"], "object_keywords": []}}, {"task": "excavator1_unload_rock", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task_rock"], "object_keywords": []}}, {"task": "move_all_to_starting_position", "instruction_function": {"name": "target_area_for_all_robots", "robot_type": ["excavator", "dump_truck"], "dependencies": ["excavator1_unload_rock"], "object_keywords": ["starting_position"]}}, {"task": "avoid_puddle2_all_robots", "instruction_function": {"name": "avoid_areas_for_all_robots", "robot_type": ["excavator", "dump_truck"], "dependencies": ["move_all_to_starting_position"], "object_keywords": ["puddle2"]}}, {"task": "move_all_to_obstacle2", "instruction_function": {"name": "target_area_for_all_robots", "robot_type": ["excavator"], "dependencies": ["avoid_puddle2_all_robots"], "object_keywords": ["obstacle2"]}}, {"task": "excavation_task_obstacle2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_all_to_obstacle2"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L3-T3-008", "text": "Coordinate Excavator 1, Excavator 2, and Dump Truck 3 to perform tasks at different locations, then regroup at the starting position, avoiding all obstacles.", "output": {"tasks": [{"task": "excavator1_to_soil3", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["soil3"]}}, {"task": "excavator2_to_obstacle2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["obstacle2"]}}, {"task": "dump_truck3_to_puddle1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": [], "object_keywords": ["puddle1"]}}, {"task": "excavation_task_excavator1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavator1_to_soil3"], "object_keywords": []}}, {"task": "excavation_task_excavator2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavator2_to_obstacle2"], "object_keywords": []}}, {"task": "avoid_all_obstacles", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_excavator_02", "robot_dump_truck_03"], "dependencies": ["excavation_task_excavator1", "excavation_task_excavator2"], "object_keywords": ["obstacle1", "obstacle2"]}}, {"task": "regroup_at_starting_position", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_excavator_02", "robot_dump_truck_03"], "dependencies": ["avoid_all_obstacles"], "object_keywords": ["starting_position"]}}]}} | |
| {"ID": "dart_llm-L1-T1-011", "text": "Move Excavator 3 to the obstacle area.", "output": {"tasks": [{"task": "move_excavator3_to_obstacle_area", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03"], "dependencies": [], "object_keywords": ["obstacle1"]}}]}} | |
| {"ID": "dart_llm-L1-T1-012", "text": "Guide Dump Truck 1 to the puddle area, then command it to avoid soil area 1.", "output": {"tasks": [{"task": "move_dump_truck1_to_puddle", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": [], "object_keywords": ["puddle1"]}}, {"task": "dump_truck1_avoid_soil1", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["move_dump_truck1_to_puddle"], "object_keywords": ["soil1"]}}]}} | |
| {"ID": "dart_llm-L1-T1-013", "text": "Send Excavator 2 to rock area 2.", "output": {"tasks": [{"task": "move_excavator2_to_rock_area2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["rock2"]}}]}} | |
| {"ID": "dart_llm-L1-T1-014", "text": "Direct Dump Truck 3 to avoid obstacle 2 and move to soil area 3.", "output": {"tasks": [{"task": "dump_truck3_avoid_obstacle2", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": [], "object_keywords": ["obstacle2"]}}, {"task": "move_dump_truck3_to_soil3", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["dump_truck3_avoid_obstacle2"], "object_keywords": ["soil3"]}}]}} | |
| {"ID": "dart_llm-L1-T2-009", "text": "Send Excavator 1 to puddle 2, perform excavation.", "output": {"tasks": [{"task": "move_excavator1_to_puddle2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["puddle2"]}}, {"task": "excavation_task_puddle2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_excavator1_to_puddle2"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L1-T2-010", "text": "Guide Dump Truck 2 to obstacle 1, proceed to unload.", "output": {"tasks": [{"task": "move_dump_truck2_to_obstacle1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": [], "object_keywords": ["obstacle1"]}}, {"task": "dump_truck2_unload_obstacle1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["move_dump_truck2_to_obstacle1"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L1-T2-011", "text": "Direct Excavator 3 to soil area 2, perform excavation, then unload.", "output": {"tasks": [{"task": "move_excavator3_to_soil2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "excavation_task_soil2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["move_excavator3_to_soil2"], "object_keywords": []}}, {"task": "excavator3_unload_task", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_03"], "dependencies": ["excavation_task_soil2"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L1-T3-009", "text": "Move Excavator 2 to soil area 2, perform excavation, then move to puddle 1 while avoiding obstacle 2.", "output": {"tasks": [{"task": "move_excavator2_to_soil2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "excavation_task_soil2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["move_excavator2_to_soil2"], "object_keywords": []}}, {"task": "excavator2_avoid_obstacle2", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavation_task_soil2"], "object_keywords": ["obstacle2"]}}, {"task": "move_excavator2_to_puddle1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavator2_avoid_obstacle2"], "object_keywords": ["puddle1"]}}]}} | |
| {"ID": "dart_llm-L1-T3-010", "text": "Guide Dump Truck 2 to collect at rock area, then proceed to dumping site near obstacle 2.", "output": {"tasks": [{"task": "dump_truck2_to_rock_area", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "dump_truck2_load_materials", "instruction_function": {"name": "DumpLoading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["dump_truck2_to_rock_area"], "object_keywords": []}}, {"task": "dump_truck2_to_dumping_site_obstacle2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["dump_truck2_load_materials"], "object_keywords": ["obstacle2", "dumping_site"]}}, {"task": "dump_truck2_unload_obstacle2", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["dump_truck2_to_dumping_site_obstacle2"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L1-T3-011", "text": "Send Excavator 1 to obstacle 1, perform excavation, avoid puddle 1, and return to starting position.", "output": {"tasks": [{"task": "move_excavator1_to_obstacle1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["obstacle1"]}}, {"task": "excavation_task_obstacle1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_excavator1_to_obstacle1"], "object_keywords": []}}, {"task": "excavator1_avoid_puddle1", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task_obstacle1"], "object_keywords": ["puddle1"]}}, {"task": "move_excavator1_to_start", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavator1_avoid_puddle1"], "object_keywords": ["starting_position"]}}]}} | |
| {"ID": "dart_llm-L2-T1-008", "text": "Send Excavator 2 and Dump Truck 3 to soil area 2; Excavator 2 will excavate and unload, then Dump Truck 3 avoids puddle 2.", "output": {"tasks": [{"task": "move_to_soil_area2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_03"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "excavation_task_soil2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["move_to_soil_area2"], "object_keywords": []}}, {"task": "excavator_unload_task_soil2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavation_task_soil2"], "object_keywords": []}}, {"task": "dump_truck3_avoid_puddle2", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["excavator_unload_task_soil2"], "object_keywords": ["puddle2"]}}]}} | |
| {"ID": "dart_llm-L2-T1-009", "text": "Guide Excavator 1 and Dump Truck 2 to the rock area; Excavator 1 will excavate, then Dump Truck 2 unloads at the starting position.", "output": {"tasks": [{"task": "move_to_rock_area", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_02"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "excavation_task_rock", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_to_rock_area"], "object_keywords": []}}, {"task": "excavator_unload_task_rock", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task_rock"], "object_keywords": []}}, {"task": "dump_truck2_to_start", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["excavator_unload_task_rock"], "object_keywords": ["starting_position"]}}, {"task": "dump_truck2_unload_start", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["dump_truck2_to_start"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L2-T2-008", "text": "Move Excavator 3 and Dump Truck 1 to puddle 2; Excavator 3 will excavate, then Dump Truck 1 returns to starting position.", "output": {"tasks": [{"task": "move_to_puddle2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["puddle2"]}}, {"task": "excavation_task_puddle2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["move_to_puddle2"], "object_keywords": []}}, {"task": "excavator_unload_task_puddle2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_03"], "dependencies": ["excavation_task_puddle2"], "object_keywords": []}}, {"task": "dump_truck1_return_to_start", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["excavator_unload_task_puddle2"], "object_keywords": ["starting_position"]}}]}} | |
| {"ID": "dart_llm-L2-T2-009", "text": "Direct Excavator 2 and Dump Truck 2 to obstacle 1; after excavation, Dump Truck 2 proceeds to soil area 3 for unloading.", "output": {"tasks": [{"task": "move_to_obstacle1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_02"], "dependencies": [], "object_keywords": ["obstacle1"]}}, {"task": "excavation_task_obstacle1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["move_to_obstacle1"], "object_keywords": []}}, {"task": "excavator_unload_task_obstacle1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavation_task_obstacle1"], "object_keywords": []}}, {"task": "dump_truck2_to_soil3", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["excavator_unload_task_obstacle1"], "object_keywords": ["soil3"]}}, {"task": "dump_truck2_unload_soil3", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["dump_truck2_to_soil3"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L2-T3-009", "text": "Excavator 3 and Dump Truck 3 proceed to soil area 1; after excavation, both avoid obstacle 1 and puddle 1, then return to starting position.", "output": {"tasks": [{"task": "move_to_soil_area1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03", "robot_dump_truck_03"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "excavation_task_soil1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["move_to_soil_area1"], "object_keywords": []}}, {"task": "excavator_unload_task_soil1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_03"], "dependencies": ["excavation_task_soil1"], "object_keywords": []}}, {"task": "avoid_obstacle1_and_puddle1", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_03", "robot_dump_truck_03"], "dependencies": ["excavator_unload_task_soil1"], "object_keywords": ["obstacle1", "puddle1"]}}, {"task": "return_to_starting_position", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03", "robot_dump_truck_03"], "dependencies": ["avoid_obstacle1_and_puddle1"], "object_keywords": ["starting_position"]}}]}} | |
| {"ID": "dart_llm-L2-T3-010", "text": "Guide Excavator 1 and Dump Truck 1 to obstacle 2; Excavator 1 excavates and unloads, then Dump Truck 1 unloads at multiple locations.", "output": {"tasks": [{"task": "move_to_obstacle2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["obstacle2"]}}, {"task": "excavation_task_obstacle2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_to_obstacle2"], "object_keywords": []}}, {"task": "excavator_unload_task_obstacle2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task_obstacle2"], "object_keywords": []}}, {"task": "dump_truck1_unload_location1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["excavator_unload_task_obstacle2"], "object_keywords": ["location1"]}}, {"task": "dump_truck1_unload_location2", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["dump_truck1_unload_location1"], "object_keywords": ["location2"]}}, {"task": "dump_truck1_unload_location3", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["dump_truck1_unload_location2"], "object_keywords": ["location3"]}}]}} | |
| {"ID": "dart_llm-L3-T1-007", "text": "Coordinate Excavator 2, Excavator 3, and Dump Truck 2 to clear soil area 2 and obstacle 2 simultaneously; then Dump Truck 2 unloads at puddle 1.", "output": {"tasks": [{"task": "excavator2_to_soil2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "excavator3_to_obstacle2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03"], "dependencies": [], "object_keywords": ["obstacle2"]}}, {"task": "dump_truck2_to_soil2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "excavation_task_excavator2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavator2_to_soil2"], "object_keywords": []}}, {"task": "excavation_task_excavator3", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["excavator3_to_obstacle2"], "object_keywords": []}}, {"task": "excavator2_unload_soil2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavation_task_excavator2"], "object_keywords": []}}, {"task": "excavator3_unload_obstacle2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_03"], "dependencies": ["excavation_task_excavator3"], "object_keywords": []}}, {"task": "dump_truck2_to_puddle1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["excavator2_unload_soil2"], "object_keywords": ["puddle1"]}}, {"task": "dump_truck2_unload_puddle1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["dump_truck2_to_puddle1"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L3-T1-008", "text": "Guide Excavator 1, Excavator 2, and Dump Truck 3 to soil area 3; perform simultaneous excavation, then Dump Truck 3 unloads at multiple locations.", "output": {"tasks": [{"task": "move_to_soil_area3", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_excavator_02", "robot_dump_truck_03"], "dependencies": [], "object_keywords": ["soil3"]}}, {"task": "excavation_task_excavator1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_to_soil_area3"], "object_keywords": []}}, {"task": "excavation_task_excavator2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["move_to_soil_area3"], "object_keywords": []}}, {"task": "excavators_unload_soil3", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01", "robot_excavator_02"], "dependencies": ["excavation_task_excavator1", "excavation_task_excavator2"], "object_keywords": []}}, {"task": "dump_truck3_unload_location1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["excavators_unload_soil3"], "object_keywords": ["location1"]}}, {"task": "dump_truck3_unload_location2", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["dump_truck3_unload_location1"], "object_keywords": ["location2"]}}, {"task": "dump_truck3_unload_location3", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["dump_truck3_unload_location2"], "object_keywords": ["location3"]}}]}} | |
| {"ID": "dart_llm-L1-T1-015", "text": "Send Excavator 3 to soil area 1 and then command it to avoid rock area 1.", "output": {"tasks": [{"task": "move_excavator3_to_soil1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "excavator3_avoid_rock_area1", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_03"], "dependencies": ["move_excavator3_to_soil1"], "object_keywords": ["rock1"]}}]}} | |
| {"ID": "dart_llm-L1-T1-016", "text": "Guide Dump Truck 1 to the starting position, then command it to proceed to obstacle 2.", "output": {"tasks": [{"task": "move_dump_truck1_to_start", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": [], "object_keywords": ["starting_position"]}}, {"task": "move_dump_truck1_to_obstacle2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["move_dump_truck1_to_start"], "object_keywords": ["obstacle2"]}}]}} | |
| {"ID": "dart_llm-L1-T1-017", "text": "Send Excavator 1 to the puddle area and avoid soil area 2.", "output": {"tasks": [{"task": "move_excavator1_to_puddle_area", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["puddle1"]}}, {"task": "excavator1_avoid_soil2", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_excavator1_to_puddle_area"], "object_keywords": ["soil2"]}}]}} | |
| {"ID": "dart_llm-L1-T1-018", "text": "Direct Dump Truck 2 to rock area 1, then avoid puddle 2.", "output": {"tasks": [{"task": "move_dump_truck2_to_rock1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "dump_truck2_avoid_puddle2", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["move_dump_truck2_to_rock1"], "object_keywords": ["puddle2"]}}]}} | |
| {"ID": "dart_llm-L1-T2-012", "text": "Send Excavator 3 to obstacle 2, perform excavation.", "output": {"tasks": [{"task": "move_excavator3_to_obstacle2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03"], "dependencies": [], "object_keywords": ["obstacle2"]}}, {"task": "excavation_task_obstacle2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["move_excavator3_to_obstacle2"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L1-T2-013", "text": "Guide Dump Truck 3 to soil area 2, proceed to unload.", "output": {"tasks": [{"task": "move_dump_truck3_to_soil2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "dump_truck3_unload_soil2", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["move_dump_truck3_to_soil2"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L1-T2-014", "text": "Direct Excavator 2 to soil area 1, perform excavation, then unload.", "output": {"tasks": [{"task": "move_excavator2_to_soil1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "excavation_task_soil1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["move_excavator2_to_soil1"], "object_keywords": []}}, {"task": "excavator2_unload_task", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavation_task_soil1"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L1-T3-012", "text": "Move Excavator 3 to puddle 2, perform excavation, then move to soil area 1 while avoiding obstacle 1.", "output": {"tasks": [{"task": "move_excavator3_to_puddle2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03"], "dependencies": [], "object_keywords": ["puddle2"]}}, {"task": "excavation_task_puddle2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["move_excavator3_to_puddle2"], "object_keywords": []}}, {"task": "excavator3_avoid_obstacle1", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_03"], "dependencies": ["excavation_task_puddle2"], "object_keywords": ["obstacle1"]}}, {"task": "move_excavator3_to_soil1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03"], "dependencies": ["excavator3_avoid_obstacle1"], "object_keywords": ["soil1"]}}]}} | |
| {"ID": "dart_llm-L1-T3-013", "text": "Guide Dump Truck 1 to collect materials at soil area 2, then proceed to dumping site near puddle 2.", "output": {"tasks": [{"task": "dump_truck1_to_soil2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "dump_truck1_load_materials", "instruction_function": {"name": "DumpLoading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["dump_truck1_to_soil2"], "object_keywords": []}}, {"task": "dump_truck1_to_dumping_site_puddle2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["dump_truck1_load_materials"], "object_keywords": ["puddle2", "dumping_site"]}}, {"task": "dump_truck1_unload_puddle2", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["dump_truck1_to_dumping_site_puddle2"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L1-T3-014", "text": "Send Excavator 2 to rock area 1, perform excavation, avoid puddle 2, and return to starting position.", "output": {"tasks": [{"task": "move_excavator2_to_rock1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "excavation_task_rock1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["move_excavator2_to_rock1"], "object_keywords": []}}, {"task": "excavator2_avoid_puddle2", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavation_task_rock1"], "object_keywords": ["puddle2"]}}, {"task": "move_excavator2_to_start", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavator2_avoid_puddle2"], "object_keywords": ["starting_position"]}}]}} | |
| {"ID": "dart_llm-L1-T3-015", "text": "Direct Dump Truck 3 to collect at the starting position, then move to the dumping site near obstacle 1.", "output": {"tasks": [{"task": "dump_truck3_to_start", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": [], "object_keywords": ["starting_position"]}}, {"task": "dump_truck3_load_materials", "instruction_function": {"name": "DumpLoading", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["dump_truck3_to_start"], "object_keywords": []}}, {"task": "dump_truck3_to_dumping_site_obstacle1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["dump_truck3_load_materials"], "object_keywords": ["obstacle1", "dumping_site"]}}, {"task": "dump_truck3_unload_obstacle1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["dump_truck3_to_dumping_site_obstacle1"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L2-T1-010", "text": "Send Excavator 1 and Dump Truck 3 to puddle 1; Excavator 1 will excavate and unload, then Dump Truck 3 avoids rock area 1.", "output": {"tasks": [{"task": "move_to_puddle1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_03"], "dependencies": [], "object_keywords": ["puddle1"]}}, {"task": "excavation_task_puddle1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_to_puddle1"], "object_keywords": []}}, {"task": "excavator_unload_task_puddle1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task_puddle1"], "object_keywords": []}}, {"task": "dump_truck3_avoid_rock1", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["excavator_unload_task_puddle1"], "object_keywords": ["rock1"]}}]}} | |
| {"ID": "dart_llm-L2-T1-011", "text": "Guide Excavator 2 and Dump Truck 1 to obstacle 2; Excavator 2 will excavate, then both robots avoid puddle 2.", "output": {"tasks": [{"task": "move_to_obstacle2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["obstacle2"]}}, {"task": "excavation_task_obstacle2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["move_to_obstacle2"], "object_keywords": []}}, {"task": "excavator_unload_task_obstacle2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavation_task_obstacle2"], "object_keywords": []}}, {"task": "avoid_puddle2_both_robots", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_01"], "dependencies": ["excavator_unload_task_obstacle2"], "object_keywords": ["puddle2"]}}]}} | |
| {"ID": "dart_llm-L2-T1-012", "text": "Send Excavator 3 and Dump Truck 2 to soil area 1; Excavator 3 will excavate and unload, then Dump Truck 2 proceeds to puddle 1 for unloading.", "output": {"tasks": [{"task": "move_to_soil_area1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03", "robot_dump_truck_02"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "excavation_task_soil1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["move_to_soil_area1"], "object_keywords": []}}, {"task": "excavator_unload_task_soil1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_03"], "dependencies": ["excavation_task_soil1"], "object_keywords": []}}, {"task": "dump_truck2_to_puddle1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["excavator_unload_task_soil1"], "object_keywords": ["puddle1"]}}, {"task": "dump_unload_puddle1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["dump_truck2_to_puddle1"], "object_keywords": []}}]}} | |
| {"ID": "dart_llm-L2-T2-011", "text": "Move Excavator 1 and Dump Truck 3 to rock area 1; Excavator 1 will excavate, then Dump Truck 3 returns to starting position.", "output": {"tasks": [{"task": "move_to_rock_area1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_03"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "excavation_task_rock1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["move_to_rock_area1"], "object_keywords": []}}, {"task": "excavator_unload_task_rock1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["excavation_task_rock1"], "object_keywords": []}}, {"task": "dump_truck3_return_to_start", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["excavator_unload_task_rock1"], "object_keywords": ["starting_position"]}}]}} | |
| {"ID": "dart_llm-L2-T2-012", "text": "Direct Excavator 2 and Dump Truck 1 to soil area 2; after excavation, Dump Truck 1 proceeds to obstacle 1 and then to puddle 2 for unloading.", "output": {"tasks": [{"task": "move_to_soil_area2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "excavation_task_soil2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["move_to_soil_area2"], "object_keywords": []}}, {"task": "excavator_unload_task_soil2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["excavation_task_soil2"], "object_keywords": []}}, {"task": "dump_truck1_to_obstacle1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["excavator_unload_task_soil2"], "object_keywords": ["obstacle1"]}}, {"task": "dump_unload_obstacle1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["dump_truck1_to_obstacle1"], "object_keywords": []}}, {"task": "dump_truck1_to_puddle2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["dump_unload_obstacle1"], "object_keywords": ["puddle2"]}}, {"task": "dump_unload_puddle2", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["dump_truck1_to_puddle2"], "object_keywords": []}}]}} | |