data/dart_llm_tasks.jsonl

{"ID": "dart_llm-L1-T001", "text": "Dump truck 1 goes to the puddle for inspection, after which all robots avoid the puddle.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": [], "object_keywords": ["puddle1"]}}, {"task": "avoid_areas_for_all_robots_1", "instruction_function": {"name": "avoid_areas_for_all_robots", "robot_type": ["excavator", "dump_truck"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": ["puddle1"]}}]}}
{"ID": "dart_llm-L1-T002", "text": "Drive the Excavator 1 to the obstacle, and perform excavation to clear the obstacle.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["obstacle1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L2-T001", "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": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["puddle1"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": ["puddle1"]}}]}}
{"ID": "dart_llm-L2-T002", "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": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "return_to_start_for_specific_robots_1", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": []}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["return_to_start_for_specific_robots_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L3-T001", "text": "Excavator 1 is guided to the obstacle to excavate and unload to clear the obstacle, then excavator 1 and dump truck 1 are moved to the soil area, and the excavator excavates and unloads. Finally, dump truck 1 unloads the soil into the puddle.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["obstacle1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["soil1"]}}, {"task": "Excavation_2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}, {"task": "ExcavatorUnloading_2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_2"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_3", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["ExcavatorUnloading_2"], "object_keywords": ["puddle1"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["target_area_for_specific_robots_3"], "object_keywords": ["puddle1"]}}]}}
{"ID": "dart_llm-L3-T002", "text": "Excavator 1 goes to the obstacle to excavate and unload to clear the obstacle. Once the obstacle is cleared, mobilize all available robots to proceed to the puddle area for inspection.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["obstacle1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "target_area_for_all_robots_1", "instruction_function": {"name": "target_area_for_all_robots", "robot_type": ["excavator", "dump_truck"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["puddle1"]}}]}}
{"ID": "dart_llm-L1-T003", "text": "Send Excavator 2 to the rock area and then command it to avoid the obstacle.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "avoid_areas_for_specific_robots_1", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": ["obstacle1"]}}]}}
{"ID": "dart_llm-L1-T004", "text": "Direct Dump Truck 2 to the dumping site near soil area 2.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": [], "object_keywords": ["soil2", "dumping_site"]}}]}}
{"ID": "dart_llm-L2-T003", "text": "Guide Excavator 2 and Dump Truck 1 to avoid Rock Area 1 and proceed to Soil Area 2. After the excavator completes soil excavation and unloading, Excavator 2 goes to inspect the puddle, then returns to the origin.", "output": {"tasks": [{"task": "avoid_areas_for_specific_robots_1", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_01"], "dependencies": ["avoid_areas_for_specific_robots_1"], "object_keywords": ["soil2"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["puddle1"]}}, {"task": "return_to_start_for_specific_robots_1", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}]}}
{"ID": "dart_llm-L3-T003", "text": "All robots avoid Obstacle 1. Excavator 1 and Dump Truck 1 go to Obstacle 1 to clear it by excavation and unloading with the excavator. After clearing is completed, all robots are allowed to pass through Obstacle 1. Dump Truck 1 unloads at the initial location. Dump Truck 2 goes to Puddle 1, and Dump Truck 3 goes to Puddle 2.", "output": {"tasks": [{"task": "avoid_areas_for_all_robots_1", "instruction_function": {"name": "avoid_areas_for_all_robots", "robot_type": [], "dependencies": [], "object_keywords": ["obstacle1"]}}, {"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": ["avoid_areas_for_all_robots_1"], "object_keywords": ["obstacle1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "allow_areas_for_all_robots_1", "instruction_function": {"name": "allow_areas_for_all_robots", "robot_type": [], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["obstacle1"]}}, {"task": "return_to_start_for_specific_robots_1", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["allow_areas_for_all_robots_1"], "object_keywords": []}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["return_to_start_for_specific_robots_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["allow_areas_for_all_robots_1"], "object_keywords": ["puddle1"]}}, {"task": "target_area_for_specific_robots_3", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["allow_areas_for_all_robots_1"], "object_keywords": ["puddle2"]}}]}}
{"ID": "dart_llm-L1-T005", "text": "Send Excavator 1 to obstacle 2, perform excavation.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["obstacle2"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L1-T006", "text": "Guide Dump Truck 1 to the starting position and unload.", "output": {"tasks": [{"task": "return_to_start_for_specific_robots_1", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": [], "object_keywords": []}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["return_to_start_for_specific_robots_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L2-T004", "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": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03", "robot_dump_truck_02"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_03"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["puddle1"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}]}}
{"ID": "dart_llm-L2-T005", "text": "Move Excavator 1 and Dump Truck 3 to Rock Area 1. Excavator 1 will perform excavation and unloading, then Dump Truck 3 returns to the starting position.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_03"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "return_to_start_for_specific_robots_1", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L3-T004", "text": "Guide Excavator 1, Excavator 3, and Dump Truck 1 to Soil Area 1. The two excavators perform excavation and unloading separately. After both excavators finish unloading, Excavator 1 and Excavator 3 return to the starting position, and Dump Truck 1 unloads soil at Puddle 1.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_excavator_03", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "Excavation_2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_03"], "dependencies": ["Excavation_2"], "object_keywords": []}}, {"task": "return_to_start_for_specific_robots_1", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_excavator_03"], "dependencies": ["ExcavatorUnloading_1", "ExcavatorUnloading_2"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["ExcavatorUnloading_1", "ExcavatorUnloading_2"], "object_keywords": ["puddle1"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}]}}
{"ID": "dart_llm-L1-T007", "text": "Move Excavator 1 to soil area 1, perform excavation, then move to soil area 2 and excavate again.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": ["soil2"]}}, {"task": "Excavation_2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}]}}
{"ID": "dart_llm-L1-T008", "text": "Guide dump truck 2 to load at the starting position, then go to the puddle 1 for dumping.", "output": {"tasks": [{"task": "return_to_start_for_specific_robots_1", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": [], "object_keywords": []}}, {"task": "DumpLoading_1", "instruction_function": {"name": "DumpLoading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["return_to_start_for_specific_robots_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["DumpLoading_1"], "object_keywords": ["puddle1"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L2-T006", "text": "Guide Excavator 2 and Dump Truck 1 to Obstacle 2. After Excavator 2 performs excavation and unloading, both machines go to Obstacle 1.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["obstacle2"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["obstacle1"]}}]}}
{"ID": "dart_llm-L3-T005", "text": "All robots avoid the rock area. After Excavator 1 goes to the rock area for excavation, Excavator 1 returns to the starting point, and all robots can pass through the rock area. After Dump Truck 1 and Excavator 2 go to the puddle area for excavation and unloading, Dump Truck 1 returns to the origin and unloads, and Excavator 2 also returns to the starting point.", "output": {"tasks": [{"task": "avoid_areas_for_all_robots_1", "instruction_function": {"name": "avoid_areas_for_all_robots", "robot_type": [], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": ["avoid_areas_for_all_robots_1"], "object_keywords": ["rock1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "allow_areas_for_all_robots_1", "instruction_function": {"name": "allow_areas_for_all_robots", "robot_type": [], "dependencies": ["Excavation_1"], "object_keywords": ["rock1"]}}, {"task": "return_to_start_for_specific_robots_1", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": ["allow_areas_for_all_robots_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01", "robot_excavator_02"], "dependencies": [], "object_keywords": ["puddle1"]}}, {"task": "Excavation_2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["Excavation_2"], "object_keywords": []}}, {"task": "return_to_start_for_specific_robots_2", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": []}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": []}}, {"task": "return_to_start_for_specific_robots_3", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": ["DumpUnloading_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L3-T006", "text": "All robots avoid Obstacle 1 and Obstacle 2. Excavator 1 and Dump Truck 1 go to Obstacle 1 to clear it through excavation and unloading, then all robots are allowed to pass through Obstacle 1. Excavator 1 and Dump Truck 1 go to Obstacle 2 to clear it through excavation and unloading, then all robots are allowed to pass through Obstacle 2.", "output": {"tasks": [{"task": "avoid_areas_for_all_robots_1", "instruction_function": {"name": "avoid_areas_for_all_robots", "robot_type": [], "dependencies": [], "object_keywords": ["obstacle1", "obstacle2"]}}, {"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": ["avoid_areas_for_all_robots_1"], "object_keywords": ["obstacle1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "allow_areas_for_all_robots_1", "instruction_function": {"name": "allow_areas_for_all_robots", "robot_type": [], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["obstacle1"]}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": ["allow_areas_for_all_robots_1"], "object_keywords": ["obstacle2"]}}, {"task": "Excavation_2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}, {"task": "ExcavatorUnloading_2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_2"], "object_keywords": []}}, {"task": "allow_areas_for_all_robots_2", "instruction_function": {"name": "allow_areas_for_all_robots", "robot_type": [], "dependencies": ["ExcavatorUnloading_2"], "object_keywords": ["obstacle2"]}}]}}
{"ID": "dart_llm-L2-T007", "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": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_02"], "dependencies": [], "object_keywords": ["soil3"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["obstacle1"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}]}}
{"ID": "dart_llm-L2-T008", "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": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["puddle2"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}]}}
{"ID": "dart_llm-L2-T009", "text": "All robots avoid puddle 2, then send excavator 2 and dump truck 2 to obstacle 2, excavator 2 will carry out excavation and unloading, then dump truck 2 goes to puddle 2 for unloading.", "output": {"tasks": [{"task": "avoid_areas_for_all_robots_1", "instruction_function": {"name": "avoid_areas_for_all_robots", "robot_type": ["excavator", "dump_truck"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["obstacle2"]}}, {"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_02"], "dependencies": ["avoid_areas_for_all_robots_1"], "object_keywords": ["obstacle2"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["puddle2"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}]}}
{"ID": "dart_llm-L2-T010", "text": "Direct the excavator 1 and the dump truck 1 to the rock area; after the excavator digs and unloads, the two machines return to the starting position.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "return_to_start_for_specific_robots_1", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_dump_truck_01", "robot_excavator_01"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L2-T011", "text": "Excavator 1 and dump truck 1 go to soil area 1, after excavator completes excavation and unloading, move both to soil area 2, then excavator performs another excavation and unloading.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["soil2"]}}, {"task": "Excavation_2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}, {"task": "ExcavatorUnloading_2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_2"], "object_keywords": []}}]}}
{"ID": "dart_llm-L2-T012", "text": "Excavator 2 and dump truck 2 go to soil area 3, then excavator 2 will carry out excavation and unloading; all robots must avoid puddle 2 during the task before acting.", "output": {"tasks": [{"task": "avoid_areas_for_all_robots_1", "instruction_function": {"name": "avoid_areas_for_all_robots", "robot_type": ["dump_truck", "excavator"], "dependencies": [], "object_keywords": ["puddle2"]}}, {"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_02"], "dependencies": ["avoid_areas_for_all_robots_1"], "object_keywords": ["soil3"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["Excavation_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L3-T007", "text": "Deploy Excavator 1 and Dump Truck 1 to Soil Area 1, and Excavator 2 and Dump Truck 2 to Soil Area 2. Once both teams reach their designated areas, initiate excavation operations with the excavators loading soil into their respective dump trucks. After loading is complete, direct each dump truck to the disposal area for unloading.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_02"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "Excavation_2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["Excavation_2"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_3", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["puddle1"]}}, {"task": "target_area_for_specific_robots_4", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["ExcavatorUnloading_2"], "object_keywords": ["puddle2"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["target_area_for_specific_robots_3"], "object_keywords": []}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["target_area_for_specific_robots_4"], "object_keywords": []}}]}}
{"ID": "dart_llm-L3-T008", "text": "After Excavator 1 completes clearing Obstacle 1, return all robots to the starting position. Then, deploy Excavator 1 and Dump Truck 1 to Soil Area 2, where the excavator will perform excavation and load the dump truck.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["obstacle1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "return_to_start_for_all_robots_1", "instruction_function": {"name": "return_to_start_for_all_robots", "robot_ids": [], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": ["return_to_start_for_all_robots_1"], "object_keywords": ["soil2"]}}, {"task": "Excavation_2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_all_robots_2"], "object_keywords": []}}, {"task": "ExcavatorUnloading_2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_2"], "object_keywords": []}}]}}
{"ID": "dart_llm-L3-T009", "text": "All robots avoid the puddles. Excavator 1 and Excavator 2 go to Obstacle 1 and Soil Area 2 respectively. After completing excavation and unloading, regroup at the starting position.", "output": {"tasks": [{"task": "avoid_areas_for_all_robots_1", "instruction_function": {"name": "avoid_areas_for_all_robots", "robot_type": [], "dependencies": [], "object_keywords": ["puddle1", "puddle2"]}}, {"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": ["avoid_areas_for_all_robots_1"], "object_keywords": ["obstacle1"]}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "Excavation_2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["Excavation_2"], "object_keywords": []}}, {"task": "return_to_start_for_specific_robots_1", "instruction_function": {"name": "return_to_start_for_all_robots", "robot_ids": ["robot_excavator_01", "robot_excavator_02"], "dependencies": ["ExcavatorUnloading_1", "ExcavatorUnloading_2"], "object_keywords": []}}]}}
{"ID": "dart_llm-L3-T010", "text": "Guide all robots to avoid Obstacle 2. After Excavator 1 completes excavation and unloading in the rock area, go to Soil Area 3 for another excavation and unloading.", "output": {"tasks": [{"task": "avoid_areas_for_all_robots_1", "instruction_function": {"name": "avoid_areas_for_all_robots", "robot_type": [], "dependencies": [], "object_keywords": ["obstacle2"]}}, {"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": ["avoid_areas_for_all_robots_1"], "object_keywords": ["rock1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["soil3"]}}, {"task": "Excavation_2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}, {"task": "ExcavatorUnloading_2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_2"], "object_keywords": []}}]}}
{"ID": "dart_llm-L3-T011", "text": "Guide all robots to avoid the puddle. Excavator 1 and Dump Truck 1 go to the soil area for excavation and unloading. After Dump Truck 1 unloads the soil into the puddle, all robots can pass through the puddle.", "output": {"tasks": [{"task": "avoid_areas_for_all_robots_1", "instruction_function": {"name": "avoid_areas_for_all_robots", "robot_type": [], "dependencies": [], "object_keywords": ["puddle1"]}}, {"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": ["avoid_areas_for_all_robots_1"], "object_keywords": ["soil1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["puddle1"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}, {"task": "allow_areas_for_all_robots_1", "instruction_function": {"name": "allow_areas_for_all_robots", "robot_type": [], "dependencies": ["DumpUnloading_1"], "object_keywords": ["puddle1"]}}]}}
{"ID": "dart_llm-L3-T012", "text": "After Excavator 1 completes excavation and unloading in the rock area, it proceeds to soil area 1 for another round of excavation and unloading. Then all robots regroup at the starting position.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["soil1"]}}, {"task": "Excavation_2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}, {"task": "ExcavatorUnloading_2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_2"], "object_keywords": []}}, {"task": "return_to_start_for_all_robots_1", "instruction_function": {"name": "return_to_start_for_all_robots", "robot_ids": [], "dependencies": ["ExcavatorUnloading_2"], "object_keywords": []}}]}}
{"ID": "dart_llm-L1-T009", "text": "Move Excavator 2 to the puddle area, then command it to avoid the obstacle.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["puddle1"]}}, {"task": "avoid_areas_for_specific_robots_1", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": ["obstacle1"]}}]}}
{"ID": "dart_llm-L1-T010", "text": "Guide Dump Truck 2 to the starting position.", "output": {"tasks": [{"task": "return_to_start_for_specific_robots_1", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": [], "object_keywords": []}}]}}
{"ID": "dart_llm-L1-T011", "text": "Send Excavator 3 to soil area 3.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03"], "dependencies": [], "object_keywords": ["soil3"]}}]}}
{"ID": "dart_llm-L1-T012", "text": "Send Excavator 2 to the rock area, perform excavation.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L1-T013", "text": "Send Dump Truck 3 to the puddle area, proceed to unload.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": [], "object_keywords": ["puddle1"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L1-T014", "text": "Move Excavator 1 to Soil Area 1 for excavation, then move to Soil Area 2.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": ["soil2"]}}]}}
{"ID": "dart_llm-L1-T015", "text": "Guide Dump Truck 1 to obstacle 2, unload materials, then proceed to the starting position.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": [], "object_keywords": ["obstacle2"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "return_to_start_for_specific_robots_1", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["DumpUnloading_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L1-T016", "text": "Send Excavator 2 to the Rock Area for excavation, then return to the starting position.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "return_to_start_for_specific_robots_1", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": ["Excavation_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L1-T017", "text": "Directly instruct Dump Truck 1 to load at the starting position, then move to the dumping site near Soil Area 3 and unload.", "output": {"tasks": [{"task": "return_to_start_for_all_robots_1", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": [], "object_keywords": []}}, {"task": "DumpLoading_1", "instruction_function": {"name": "DumpLoading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["return_to_start_for_all_robots_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["DumpLoading_1"], "object_keywords": ["soil3"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L2-T013", "text": "Send Excavator 1 and Dump Truck 1 to the Soil2. Excavator 1 will perform excavation and unloading, then return to the starting point together.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "return_to_start_for_specific_robots_1", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L2-T014", "text": "Guide Excavator 3 and Dump Truck 2 to Soil Area 3; Excavator 3 will perform excavation and unloading, then Dump Truck 2 will unload at the puddle.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03", "robot_dump_truck_02"], "dependencies": [], "object_keywords": ["soil3"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_03"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["puddle1"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}]}}
{"ID": "dart_llm-L2-T015", "text": "Move Excavator 2 and Dump Truck 3 to Obstacle 1; Excavator 2 will perform excavation and unloading.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_03"], "dependencies": [], "object_keywords": ["obstacle1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["Excavation_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L2-T016", "text": "Assign Dump Truck 1 to the puddle area. After all robots immediately avoid the puddle, Dump Truck 1 returns to the starting position.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "avoid_areas_for_all_robots_1", "instruction_function": {"name": "avoid_areas_for_all_robots", "robot_ids": [], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": ["puddle1"]}}, {"task": "return_to_start_for_specific_robots_1", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["avoid_areas_for_all_robots_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L2-T017", "text": "Dump Truck 2 avoids the puddle. Excavator 2 and Dump Truck 2 return to the starting point, then allow Dump Truck 2 passage through the puddle.", "output": {"tasks": [{"task": "avoid_areas_for_specific_robots_1", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": [], "object_keywords": ["puddle1"]}}, {"task": "return_to_start_for_specific_robots_1", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_02"], "dependencies": ["avoid_areas_for_specific_robots_1"], "object_keywords": []}}, {"task": "allow_areas_for_specific_robots_1", "instruction_function": {"name": "allow_areas_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["return_to_start_for_specific_robots_1"], "object_keywords": ["puddle1"]}}]}}
{"ID": "dart_llm-L2-T018", "text": "Send Excavator 1 and Dump Truck 3 to soil area 1; after excavation and unloading, Dump Truck 3 unloads at the puddle.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_03"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["puddle1"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}]}}
{"ID": "dart_llm-L2-T019", "text": "Dispatch Excavator 1 and Dump Truck 3 to Soil Area 1. After excavation and unloading, both machines return to the starting position.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_03"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "return_to_start_for_specific_robots_1", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_03"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L2-T020", "text": "Guide Excavator 3 and Dump Truck 2 to the puddle area; Excavator 3 will excavate and unload, then Dump Truck 2 unloads at Soil 1.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03", "robot_dump_truck_02"], "dependencies": [], "object_keywords": ["puddle1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_03"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["soil1"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}]}}
{"ID": "dart_llm-L3-T013", "text": "Coordinate Excavator 1 and Dump Truck 1 as one group, and Excavator 2 and Dump Truck 2 as another group to go to Soil Area 1 and Soil Area 2 respectively. After the excavators perform excavation and unloading, the dump trucks go to Puddle 2 to dump the soil.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_01"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["puddle2"]}}, {"task": "Excavation_2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}, {"task": "ExcavatorUnloading_2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["Excavation_2"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_3", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["ExcavatorUnloading_2"], "object_keywords": ["puddle2"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["target_area_for_specific_robots_3"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_4", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["ExcavatorUnloading_2"], "object_keywords": ["puddle2"]}}, {"task": "DumpUnloading_2", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["target_area_for_specific_robots_4"], "object_keywords": []}}]}}
{"ID": "dart_llm-L3-T014", "text": "Excavator 2 goes to Obstacle 1 for excavation and clearing, then returns to the starting position. After Excavator 2 clears Obstacle 1, Dump Truck 1 goes to Puddle 1 to unload, and Dump Truck 2 goes to Puddle 2 to unload.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["obstacle1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "return_to_start_for_specific_robots_1", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["puddle1"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_3", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["puddle2"]}}, {"task": "DumpUnloading_2", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["target_area_for_specific_robots_3"], "object_keywords": []}}]}}
{"ID": "dart_llm-L3-T015", "text": "Direct Excavator 1 and Dump Truck 1 to Soil Area 2. After the excavator completes excavation and unloading, Excavator 1 returns to the starting position. Dump Truck 1 goes to Puddle 2 for unloading, then returns to the starting position.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "return_to_start_for_specific_robots_1", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["puddle2"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}, {"task": "return_to_start_for_specific_robots_2", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["DumpUnloading_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L3-T016", "text": "Excavator 1 and Dump Truck 3 go to Soil Pile 1 for excavation and unloading. Meanwhile, Excavator 2 goes to Obstacle 2 for excavation to clear the obstacle. After Excavator 1 completes unloading, Dump Truck 1 goes to Puddle 1 for unloading. After completing all tasks, all robots return to the initial position.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_03"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["puddle2"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_3", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["obstacle2"]}}, {"task": "Excavation_2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_3"], "object_keywords": []}}, {"task": "return_to_start_for_all_robots_1", "instruction_function": {"name": "return_to_start_for_all_robots", "robot_type": [], "dependencies": ["DumpUnloading_1", "Excavation_2"], "object_keywords": []}}]}}
{"ID": "dart_llm-L1-T018", "text": "Move Excavator 2 to the dumping area near obstacle 1.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["obstacle1", "dumping_area"]}}]}}
{"ID": "dart_llm-L1-T019", "text": "Guide Dump Truck 3 to the rock area.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": [], "object_keywords": ["rock1"]}}]}}
{"ID": "dart_llm-L1-T020", "text": "Send Excavator 1 to soil area 2, then command it to avoid puddle 2.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "avoid_areas_for_specific_robots_1", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": ["puddle2"]}}]}}
{"ID": "dart_llm-L1-T021", "text": "Ensure Dump Truck 2 avoids Obstacle 2 and moves to the starting position.", "output": {"tasks": [{"task": "avoid_areas_for_specific_robots_1", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": [], "object_keywords": ["obstacle2"]}}, {"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["avoid_areas_for_specific_robots_1"], "object_keywords": ["starting_position"]}}]}}
{"ID": "dart_llm-L1-T022", "text": "Send Excavator 3 to the puddle area, perform excavation.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03"], "dependencies": [], "object_keywords": ["puddle1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L1-T023", "text": "Guide Dump Truck 1 to soil area 1, proceed to unload.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L1-T024", "text": "Direct Excavator 2 to obstacle 2, perform excavation, then unload.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["obstacle2"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["Excavation_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L1-T025", "text": "Move Excavator 1 to soil area 1, perform excavation, then move to rock area and excavate again.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": ["rock1"]}}, {"task": "Excavation_2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}]}}
{"ID": "dart_llm-L1-T026", "text": "Guide Dump Truck 2 to collect materials at obstacle 1, then proceed to dumping site near soil area 2.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": [], "object_keywords": ["obstacle1"]}}, {"task": "DumpLoading_1", "instruction_function": {"name": "DumpLoading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["DumpLoading_1"], "object_keywords": ["soil2", "dumping_site"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}]}}
{"ID": "dart_llm-L2-T021", "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": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["obstacle1"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}]}}
{"ID": "dart_llm-L2-T022", "text": "Guide Excavator 3 and Dump Truck 3 to Soil Area 1. Excavator 3 will perform excavation and unloading. Then, both robots avoid Puddle 2 and proceed to Soil Area 2.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03", "robot_dump_truck_03"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_03"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "avoid_areas_for_specific_robots_1", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_03", "robot_dump_truck_03"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["puddle2"]}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03", "robot_dump_truck_03"], "dependencies": ["avoid_areas_for_specific_robots_1"], "object_keywords": ["soil2"]}}]}}
{"ID": "dart_llm-L2-T023", "text": "Send Excavator 1 and Dump Truck 3 to Soil Area 2; Excavator 1 will perform excavation and unloading, then Dump Truck 3 returns to the starting position and unloads.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_03"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "return_to_start_for_specific_robots_1", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": []}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["return_to_start_for_specific_robots_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L2-T024", "text": "Direct Excavator 2 and Dump Truck 3 to Obstacle 1. After excavation and unloading, Dump Truck 3 moves to Puddle 2 for unloading.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_03"], "dependencies": [], "object_keywords": ["obstacle1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["puddle2"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}]}}
{"ID": "dart_llm-L2-T025", "text": "Excavator 3 and Dump Truck 1 go to Soil Area 3; Excavator 3 performs excavation and unloading, then both return to the starting position, avoiding Obstacle 1.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["soil3"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_03"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "avoid_areas_for_specific_robots_1", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_03", "robot_dump_truck_01"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["obstacle1"]}}, {"task": "return_to_start_for_specific_robots_1", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_excavator_03", "robot_dump_truck_01"], "dependencies": ["avoid_areas_for_specific_robots_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L2-T026", "text": "Guide Excavator 2 and Dump Truck 2 to Obstacle 2; Excavator 2 performs excavation and unloading, then Dump Truck 2 unloads at Soil 1.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_02"], "dependencies": [], "object_keywords": ["obstacle2"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["soil1"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}]}}
{"ID": "dart_llm-L3-T017", "text": "Coordinate Excavator 1 to perform excavation and unloading to clear Rock 1. Excavator 2 and Dump Truck 3 go to Soil Area 1 simultaneously to carry out excavation and unloading. Then Dump Truck 3 unloads at the puddle.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_03"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "Excavation_2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}, {"task": "ExcavatorUnloading_2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["Excavation_2"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_3", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["ExcavatorUnloading_2"], "object_keywords": ["puddle1"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["target_area_for_specific_robots_3"], "object_keywords": []}}]}}
{"ID": "dart_llm-L3-T018", "text": "Guide Excavator 1 and Dump Truck 1 to Soil Area 1; Excavator 2 and Dump Truck 2 to Soil Area 2. After both groups complete excavation and unloading, proceed to Puddle 1 to dump the soil.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["soil2"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_3", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_02"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "Excavation_2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_3"], "object_keywords": []}}, {"task": "ExcavatorUnloading_2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["Excavation_2"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_4", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["ExcavatorUnloading_2"], "object_keywords": ["puddle1"]}}, {"task": "DumpUnloading_2", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["target_area_for_specific_robots_4"], "object_keywords": []}}]}}
{"ID": "dart_llm-L3-T019", "text": "After Excavator 1 completes the excavation and unloading in the rock area, it returns to the starting position. Then, guide Excavator 2 and Dump Truck 1 to Soil Area 1, where the excavator performs excavation and unloading. After that, the dump truck goes to Puddle 1 for unloading.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "return_to_start_for_specific_robots_1", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_01"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["soil1"]}}, {"task": "Excavation_2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}, {"task": "ExcavatorUnloading_2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["Excavation_2"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_3", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["ExcavatorUnloading_2"], "object_keywords": ["puddle1"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["target_area_for_specific_robots_3"], "object_keywords": []}}]}}
{"ID": "dart_llm-L3-T020", "text": "All robots avoid the puddles. Then coordinate Excavator 1 and Dump Truck 2 to go to Soil Area 2, and Excavator 2 and Dump Truck 3 to go to Soil Area 3. After arrival, the excavators perform excavation and unloading respectively. Then the dump trucks unload the soil into the puddles. After both dump trucks have completed unloading, allow all robots to pass through the puddles.", "output": {"tasks": [{"task": "avoid_areas_for_all_robots_1", "instruction_function": {"name": "avoid_areas_for_all_robots", "robot_ids": [], "dependencies": [], "object_keywords": ["puddle1"]}}, {"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_02"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["puddle1"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_3", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_03"], "dependencies": [], "object_keywords": ["soil3"]}}, {"task": "Excavation_2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_3"], "object_keywords": []}}, {"task": "ExcavatorUnloading_2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["Excavation_2"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_4", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["ExcavatorUnloading_2"], "object_keywords": ["puddle2"]}}, {"task": "DumpUnloading_2", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["target_area_for_specific_robots_4"], "object_keywords": []}}, {"task": "allow_all_robots_to_pass_puddles", "instruction_function": {"name": "allow_all_robots_to_pass_puddles", "robot_ids": [], "dependencies": ["DumpUnloading_1", "DumpUnloading_2"], "object_keywords": []}}]}}
{"ID": "dart_llm-L1-T027", "text": "Move Excavator 3 to the obstacle area.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03"], "dependencies": [], "object_keywords": ["obstacle1"]}}]}}
{"ID": "dart_llm-L1-T028", "text": "Guide Dump Truck 1 to the puddle area, then command it to avoid puddle area.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": [], "object_keywords": ["puddle1"]}}, {"task": "avoid_areas_for_specific_robots_1", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": ["puddle1"]}}]}}
{"ID": "dart_llm-L1-T029", "text": "Send Excavator 2 to rock area 2.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["rock2"]}}]}}
{"ID": "dart_llm-L1-T030", "text": "Make sure that Dump Truck 3 avoids obstacle 2 and moves to soil area 3.", "output": {"tasks": [{"task": "avoid_areas_for_specific_robots_1", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": [], "object_keywords": ["obstacle2"]}}, {"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["avoid_areas_for_specific_robots_1"], "object_keywords": ["soil3"]}}]}}
{"ID": "dart_llm-L1-T031", "text": "Send Excavator 1 to puddle 2, perform excavation.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["puddle2"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L1-T032", "text": "Guide Dump Truck 2 to obstacle 1, proceed to unload.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": [], "object_keywords": ["obstacle1"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L1-T033", "text": "Direct Excavator 3 to soil area 2, perform excavation, then unload.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_03"], "dependencies": ["Excavation_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L1-T034", "text": "Move Excavator 2 to soil area 2, perform excavation, then move to puddle 1.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": ["Excavation_1"], "object_keywords": ["puddle1"]}}]}}
{"ID": "dart_llm-L1-T035", "text": "Guide Dump Truck 2 to the rock area for loading, then proceed to Obstacle 2.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "DumpLoading_1", "instruction_function": {"name": "DumpLoading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["DumpLoading_1"], "object_keywords": ["obstacle2"]}}]}}
{"ID": "dart_llm-L1-T036", "text": "Send Excavator 1 to obstacle 1, perform excavation, and return to starting position.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["obstacle1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "return_to_start_for_specific_robots_1", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L2-T027", "text": "Send Excavator 2 and Dump Truck 3 to Soil Area 2; Excavator 2 will perform excavation and unloading, then Dump Truck 3 goes to Puddle 2 for unloading.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_03"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["puddle2"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}]}}
{"ID": "dart_llm-L2-T028", "text": "Guide Excavator 1 and Dump Truck 2 to the rock area; Excavator 1 will perform excavation and unloading, then Dump Truck 2 unloads at the starting position.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_02"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "return_to_start_for_specific_robots_1", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": []}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["return_to_start_for_specific_robots_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L2-T029", "text": "Move Excavator 3 and Dump Truck 1 to Puddle 2; Excavator 3 will perform excavation, then Dump Truck 1 goes to Soil Area 2 for unloading.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["puddle2"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_03"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["soil2"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}]}}
{"ID": "dart_llm-L2-T030", "text": "Move Excavator 2 to Obstacle 1. All robots avoid Obstacle 1. Then Excavator 2 goes to Puddle 1 for inspection. All robots avoid Puddle 1. Then Excavator 2 returns to the starting position.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02", "robot_dump_truck_02"], "dependencies": [], "object_keywords": ["obstacle1"]}}, {"task": "avoid_areas_for_all_robots_1", "instruction_function": {"name": "avoid_areas_for_all_robots", "robot_type": [], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": ["obstacle1"]}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": ["avoid_areas_for_all_robots_1"], "object_keywords": ["puddle1"]}}, {"task": "avoid_areas_for_all_robots_2", "instruction_function": {"name": "avoid_areas_for_all_robots", "robot_type": [], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": ["puddle1"]}}, {"task": "return_to_start_for_specific_robots_1", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": ["avoid_areas_for_all_robots_2"], "object_keywords": []}}]}}
{"ID": "dart_llm-L2-T031", "text": "Excavator 3 and Dump Truck 3 go to Soil Area 1. After the excavator completes excavation and unloading, both avoid Obstacle 1 and then proceed to Puddle 1.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03", "robot_dump_truck_03"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_03"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "avoid_areas_for_specific_robots_1", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_03", "robot_dump_truck_03"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["obstacle1"]}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03", "robot_dump_truck_03"], "dependencies": ["avoid_areas_for_specific_robots_1"], "object_keywords": ["puddle1"]}}]}}
{"ID": "dart_llm-L2-T032", "text": "Guide Excavator 1 and Dump Truck 1 to Obstacle 2. Excavator 1 performs excavation and unloading, then Dump Truck 1 unloads at the starting position. Then Excavator 1 goes to the puddle.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_01"], "dependencies": [], "object_keywords": ["obstacle2"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "return_to_start_for_specific_robots_1", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": []}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["return_to_start_for_specific_robots_1"], "object_keywords": ["location1"]}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": ["DumpUnloading_1"], "object_keywords": ["puddle1"]}}]}}
{"ID": "dart_llm-L3-T021", "text": "Let Excavator 2 and Excavator 3 go to Obstacle 1 and Obstacle 2 respectively. After arriving at the targets, perform excavation and unloading respectively.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["obstacle1"]}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03"], "dependencies": [], "object_keywords": ["obstacle2"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "Excavation_2", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_2", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_03"], "dependencies": ["Excavation_2"], "object_keywords": []}}]}}
{"ID": "dart_llm-L3-T022", "text": "All robots avoid Puddle 1, then guide Excavator 1 and Dump Truck 2 to Soil Area 3. After the excavator completes excavation and unloading, the dump truck goes to the puddle for unloading. After that, all robots no longer need to avoid Puddle 1.", "output": {"tasks": [{"task": "avoid_areas_for_all_robots_1", "instruction_function": {"name": "avoid_areas_for_all_robots", "robot_type": [], "dependencies": [], "object_keywords": ["puddle1"]}}, {"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_02"], "dependencies": ["avoid_areas_for_all_robots_1"], "object_keywords": ["soil3"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["ExcavatorUnloading_1"], "object_keywords": ["puddle1"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["target_area_for_specific_robots_2"], "object_keywords": []}}, {"task": "allow_areas_for_all_robots_1", "instruction_function": {"name": "allow_areas_for_all_robots", "robot_type": [], "dependencies": ["DumpUnloading_1"], "object_keywords": ["puddle1"]}}]}}
{"ID": "dart_llm-L1-T037", "text": "After Excavator 3 avoids Rock Area 1, move to Soil Area 1.", "output": {"tasks": [{"task": "avoid_areas_for_specific_robots_1", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_03"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": ["rock1"]}}, {"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03"], "dependencies": ["avoid_areas_for_specific_robots_1"], "object_keywords": ["soil1"]}}]}}
{"ID": "dart_llm-L1-T038", "text": "Guide Dump Truck 1 to the starting position, then command it to proceed to obstacle 2.", "output": {"tasks": [{"task": "return_to_start_for_specific_robots_1", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": [], "object_keywords": []}}, {"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["return_to_start_for_specific_robots_1"], "object_keywords": ["obstacle2"]}}]}}
{"ID": "dart_llm-L1-T039", "text": "Avoid soil area 2 and send Excavator 1 to the puddle area.", "output": {"tasks": [{"task": "avoid_areas_for_specific_robots_1", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01"], "dependencies": ["avoid_areas_for_specific_robots_1"], "object_keywords": ["puddle1"]}}]}}
{"ID": "dart_llm-L1-T040", "text": "Direct Dump Truck 2 to rock area 1, then avoid puddle 2.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "avoid_areas_for_specific_robots_1", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_dump_truck_02"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": ["puddle2"]}}]}}
{"ID": "dart_llm-L1-T041", "text": "Send Excavator 3 to obstacle 2, perform excavation.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03"], "dependencies": [], "object_keywords": ["obstacle2"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L1-T042", "text": "Guide Dump Truck 3 to soil area 2, proceed to unload.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "DumpUnloading_1", "instruction_function": {"name": "DumpUnloading", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L1-T043", "text": "Direct Excavator 2 to soil area 1, perform excavation, then unload.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["soil1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_02"], "dependencies": ["Excavation_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L1-T044", "text": "Move Excavator 3 to puddle 2, perform excavation, then move to soil area 1.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03"], "dependencies": [], "object_keywords": ["puddle2"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_03"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_03"], "dependencies": ["avoid_areas_for_specific_robots_1"], "object_keywords": ["soil1"]}}]}}
{"ID": "dart_llm-L1-T045", "text": "Guide Dump Truck 1 to collect materials at soil area 2, then move to puddle 2.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": [], "object_keywords": ["soil2"]}}, {"task": "DumpLoading_1", "instruction_function": {"name": "DumpLoading", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_01"], "dependencies": ["DumpLoading_1"], "object_keywords": ["puddle2"]}}]}}
{"ID": "dart_llm-L1-T046", "text": "Send Excavator 2 to the rock area 1, perform excavation, and return to starting position.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_02"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "return_to_start_for_specific_robots_1", "instruction_function": {"name": "return_to_start_for_specific_robots", "robot_ids": ["robot_excavator_02"], "dependencies": ["Excavation_1"], "object_keywords": []}}]}}
{"ID": "dart_llm-L1-T047", "text": "Move Dump Truck 3 to obstacle 2, then move it to obstacle 1.", "output": {"tasks": [{"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": [], "object_keywords": ["obstacle2"]}}, {"task": "target_area_for_specific_robots_2", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_dump_truck_03"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": ["obstacle1"]}}]}}
{"ID": "dart_llm-L2-T033", "text": "Avoid Rock Area 1 with Excavator 1 and Dump Truck 3, go to Puddle 1, then Excavator 1 will perform excavation and unloading.", "output": {"tasks": [{"task": "avoid_areas_for_specific_robots_1", "instruction_function": {"name": "avoid_areas_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_03"], "dependencies": [], "object_keywords": ["rock1"]}}, {"task": "target_area_for_specific_robots_1", "instruction_function": {"name": "target_area_for_specific_robots", "robot_ids": ["robot_excavator_01", "robot_dump_truck_03"], "dependencies": ["avoid_areas_for_specific_robots_1"], "object_keywords": ["puddle1"]}}, {"task": "Excavation_1", "instruction_function": {"name": "Excavation", "robot_ids": ["robot_excavator_01"], "dependencies": ["target_area_for_specific_robots_1"], "object_keywords": []}}, {"task": "ExcavatorUnloading_1", "instruction_function": {"name": "ExcavatorUnloading", "robot_ids": ["robot_excavator_01"], "dependencies": ["Excavation_1"], "object_keywords": []}}]}}