ID
stringlengths 16
16
| text
stringlengths 32
378
| output
dict |
|---|---|---|
dart_llm-L1-T001 | Dump truck 1 goes to the puddle for inspection, after which all robots avoid the puddle. | {
"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"
],
"robot_type": null
}
},
{
"task": "avoid_areas_for_all_robots_1",
"instruction_function": {
"name": "avoid_areas_for_all_robots",
"robot_ids": null,
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [
"puddle1"
],
"robot_type": [
"excavator",
"dump_truck"
]
}
}
]
} |
dart_llm-L1-T002 | Drive the Excavator 1 to the obstacle, and perform excavation to clear the obstacle. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T001 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [
"puddle1"
],
"robot_type": null
}
}
]
} |
dart_llm-L2-T002 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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": [],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"return_to_start_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T001 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_2",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"target_area_for_specific_robots_3"
],
"object_keywords": [
"puddle1"
],
"robot_type": null
}
}
]
} |
dart_llm-L3-T002 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "target_area_for_all_robots_1",
"instruction_function": {
"name": "target_area_for_all_robots",
"robot_ids": null,
"dependencies": [
"ExcavatorUnloading_1"
],
"object_keywords": [
"puddle1"
],
"robot_type": [
"excavator",
"dump_truck"
]
}
}
]
} |
dart_llm-L1-T003 | Send Excavator 2 to the rock area and then command it to avoid the obstacle. | {
"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"
],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T004 | Direct Dump Truck 2 to the dumping site near soil area 2. | {
"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"
],
"robot_type": null
}
}
]
} |
dart_llm-L2-T003 | 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. | {
"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"
],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"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": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T003 | 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. | {
"tasks": [
{
"task": "avoid_areas_for_all_robots_1",
"instruction_function": {
"name": "avoid_areas_for_all_robots",
"robot_ids": null,
"dependencies": [],
"object_keywords": [
"obstacle1"
],
"robot_type": []
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "allow_areas_for_all_robots_1",
"instruction_function": {
"name": "allow_areas_for_all_robots",
"robot_ids": null,
"dependencies": [
"ExcavatorUnloading_1"
],
"object_keywords": [
"obstacle1"
],
"robot_type": []
}
},
{
"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": [],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"return_to_start_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T005 | Send Excavator 1 to obstacle 2, perform excavation. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T006 | Guide Dump Truck 1 to the starting position and unload. | {
"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": [],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"return_to_start_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T004 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T005 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T004 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "Excavation_2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_2",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"Excavation_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T007 | Move Excavator 1 to soil area 1, perform excavation, then move to soil area 2 and excavate again. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T008 | Guide dump truck 2 to load at the starting position, then go to the puddle 1 for dumping. | {
"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": [],
"robot_type": null
}
},
{
"task": "DumpLoading_1",
"instruction_function": {
"name": "DumpLoading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"return_to_start_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T006 | Guide Excavator 2 and Dump Truck 1 to Obstacle 2. After Excavator 2 performs excavation and unloading, both machines go to Obstacle 1. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
}
]
} |
dart_llm-L3-T005 | 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. | {
"tasks": [
{
"task": "avoid_areas_for_all_robots_1",
"instruction_function": {
"name": "avoid_areas_for_all_robots",
"robot_ids": null,
"dependencies": [],
"object_keywords": [
"rock1"
],
"robot_type": []
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "allow_areas_for_all_robots_1",
"instruction_function": {
"name": "allow_areas_for_all_robots",
"robot_ids": null,
"dependencies": [
"Excavation_1"
],
"object_keywords": [
"rock1"
],
"robot_type": []
}
},
{
"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": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"Excavation_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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": [],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"ExcavatorUnloading_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T006 | 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. | {
"tasks": [
{
"task": "avoid_areas_for_all_robots_1",
"instruction_function": {
"name": "avoid_areas_for_all_robots",
"robot_ids": null,
"dependencies": [],
"object_keywords": [
"obstacle1",
"obstacle2"
],
"robot_type": []
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "allow_areas_for_all_robots_1",
"instruction_function": {
"name": "allow_areas_for_all_robots",
"robot_ids": null,
"dependencies": [
"ExcavatorUnloading_1"
],
"object_keywords": [
"obstacle1"
],
"robot_type": []
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_2",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "allow_areas_for_all_robots_2",
"instruction_function": {
"name": "allow_areas_for_all_robots",
"robot_ids": null,
"dependencies": [
"ExcavatorUnloading_2"
],
"object_keywords": [
"obstacle2"
],
"robot_type": []
}
}
]
} |
dart_llm-L2-T007 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T008 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T009 | 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. | {
"tasks": [
{
"task": "avoid_areas_for_all_robots_1",
"instruction_function": {
"name": "avoid_areas_for_all_robots",
"robot_ids": null,
"dependencies": [
"ExcavatorUnloading_1"
],
"object_keywords": [
"obstacle2"
],
"robot_type": [
"excavator",
"dump_truck"
]
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T010 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T011 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_2",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T012 | 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. | {
"tasks": [
{
"task": "avoid_areas_for_all_robots_1",
"instruction_function": {
"name": "avoid_areas_for_all_robots",
"robot_ids": null,
"dependencies": [],
"object_keywords": [
"puddle2"
],
"robot_type": [
"dump_truck",
"excavator"
]
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T007 | 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. | {
"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"
],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "Excavation_2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_2",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"Excavation_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"target_area_for_specific_robots_3"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"target_area_for_specific_robots_4"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T008 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "return_to_start_for_all_robots_1",
"instruction_function": {
"name": "return_to_start_for_all_robots",
"robot_ids": [],
"dependencies": [
"ExcavatorUnloading_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_all_robots_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_2",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T009 | 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. | {
"tasks": [
{
"task": "avoid_areas_for_all_robots_1",
"instruction_function": {
"name": "avoid_areas_for_all_robots",
"robot_ids": null,
"dependencies": [],
"object_keywords": [
"puddle1",
"puddle2"
],
"robot_type": []
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "target_area_for_specific_robots_2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [],
"object_keywords": [
"soil2"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "Excavation_2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_2",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"Excavation_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T010 | 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. | {
"tasks": [
{
"task": "avoid_areas_for_all_robots_1",
"instruction_function": {
"name": "avoid_areas_for_all_robots",
"robot_ids": null,
"dependencies": [],
"object_keywords": [
"obstacle2"
],
"robot_type": []
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_2",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T011 | 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. | {
"tasks": [
{
"task": "avoid_areas_for_all_robots_1",
"instruction_function": {
"name": "avoid_areas_for_all_robots",
"robot_ids": null,
"dependencies": [],
"object_keywords": [
"puddle1"
],
"robot_type": []
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "allow_areas_for_all_robots_1",
"instruction_function": {
"name": "allow_areas_for_all_robots",
"robot_ids": null,
"dependencies": [
"DumpUnloading_1"
],
"object_keywords": [
"puddle1"
],
"robot_type": []
}
}
]
} |
dart_llm-L3-T012 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_2",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "return_to_start_for_all_robots_1",
"instruction_function": {
"name": "return_to_start_for_all_robots",
"robot_ids": [],
"dependencies": [
"ExcavatorUnloading_2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T009 | Move Excavator 2 to the puddle area, then command it to avoid the obstacle. | {
"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"
],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T010 | Guide Dump Truck 2 to the starting position. | {
"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": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T011 | Send Excavator 3 to soil area 3. | {
"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"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T012 | Send Excavator 2 to the rock area, perform excavation. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T013 | Send Dump Truck 3 to the puddle area, proceed to unload. | {
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T014 | Move Excavator 1 to Soil Area 1 for excavation, then move to Soil Area 2. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T015 | Guide Dump Truck 1 to obstacle 2, unload materials, then proceed to the starting position. | {
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T016 | Send Excavator 2 to the Rock Area for excavation, then return to the starting position. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T017 | Directly instruct Dump Truck 1 to load at the starting position, then move to the dumping site near Soil Area 3 and unload. | {
"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": [],
"robot_type": null
}
},
{
"task": "DumpLoading_1",
"instruction_function": {
"name": "DumpLoading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"return_to_start_for_all_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T013 | Send Excavator 1 and Dump Truck 1 to the Soil2. Excavator 1 will perform excavation and unloading, then return to the starting point together. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T014 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T015 | Move Excavator 2 and Dump Truck 3 to Obstacle 1; Excavator 2 will perform excavation and unloading. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T016 | Assign Dump Truck 1 to the puddle area. After all robots immediately avoid the puddle, Dump Truck 1 returns to the starting position. | {
"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"
],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"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": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T017 | 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. | {
"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"
],
"robot_type": null
}
},
{
"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": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
}
]
} |
dart_llm-L2-T018 | Send Excavator 1 and Dump Truck 3 to soil area 1; after excavation and unloading, Dump Truck 3 unloads at the puddle. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T019 | Dispatch Excavator 1 and Dump Truck 3 to Soil Area 1. After excavation and unloading, both machines return to the starting position. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T020 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T013 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_2",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"Excavation_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"target_area_for_specific_robots_3"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_2",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"target_area_for_specific_robots_4"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T014 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_2",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"target_area_for_specific_robots_3"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T015 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T016 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "target_area_for_specific_robots_3",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [],
"object_keywords": [
"obstacle2"
],
"robot_type": null
}
},
{
"task": "Excavation_2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"target_area_for_specific_robots_3"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "return_to_start_for_all_robots_1",
"instruction_function": {
"name": "return_to_start_for_all_robots",
"robot_ids": null,
"dependencies": [
"DumpUnloading_1",
"Excavation_2"
],
"object_keywords": [],
"robot_type": []
}
}
]
} |
dart_llm-L1-T018 | Move Excavator 2 to the dumping area near obstacle 1. | {
"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"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T019 | Guide Dump Truck 3 to the rock area. | {
"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"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T020 | Send Excavator 1 to soil area 2, then command it to avoid puddle 2. | {
"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"
],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T021 | Ensure Dump Truck 2 avoids Obstacle 2 and moves to the starting position. | {
"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"
],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T022 | Send Excavator 3 to the puddle area, perform excavation. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T023 | Guide Dump Truck 1 to soil area 1, proceed to unload. | {
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T024 | Direct Excavator 2 to obstacle 2, perform excavation, then unload. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T025 | Move Excavator 1 to soil area 1, perform excavation, then move to rock area and excavate again. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T026 | Guide Dump Truck 2 to collect materials at obstacle 1, then proceed to dumping site near soil area 2. | {
"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"
],
"robot_type": null
}
},
{
"task": "DumpLoading_1",
"instruction_function": {
"name": "DumpLoading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T021 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T022 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
}
]
} |
dart_llm-L2-T023 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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": [],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [
"return_to_start_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T024 | Direct Excavator 2 and Dump Truck 3 to Obstacle 1. After excavation and unloading, Dump Truck 3 moves to Puddle 2 for unloading. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T025 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"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": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T026 | Guide Excavator 2 and Dump Truck 2 to Obstacle 2; Excavator 2 performs excavation and unloading, then Dump Truck 2 unloads at Soil 1. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T017 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_2",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"Excavation_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [
"target_area_for_specific_robots_3"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T018 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"target_area_for_specific_robots_3"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_2",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"Excavation_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_2",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"target_area_for_specific_robots_4"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T019 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_2",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"Excavation_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"target_area_for_specific_robots_3"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T020 | 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. | {
"tasks": [
{
"task": "avoid_areas_for_all_robots_1",
"instruction_function": {
"name": "avoid_areas_for_all_robots",
"robot_ids": [],
"dependencies": [],
"object_keywords": [
"puddle1"
],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"target_area_for_specific_robots_3"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_2",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"Excavation_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_2",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [
"target_area_for_specific_robots_4"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T027 | Move Excavator 3 to the obstacle area. | {
"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"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T028 | Guide Dump Truck 1 to the puddle area, then command it to avoid puddle area. | {
"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"
],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T029 | Send Excavator 2 to rock area 2. | {
"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"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T030 | Make sure that Dump Truck 3 avoids obstacle 2 and moves to soil area 3. | {
"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"
],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T031 | Send Excavator 1 to puddle 2, perform excavation. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T032 | Guide Dump Truck 2 to obstacle 1, proceed to unload. | {
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T033 | Direct Excavator 3 to soil area 2, perform excavation, then unload. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T034 | Move Excavator 2 to soil area 2, perform excavation, then move to puddle 1. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T035 | Guide Dump Truck 2 to the rock area for loading, then proceed to Obstacle 2. | {
"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"
],
"robot_type": null
}
},
{
"task": "DumpLoading_1",
"instruction_function": {
"name": "DumpLoading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T036 | Send Excavator 1 to obstacle 1, perform excavation, and return to starting position. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T027 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T028 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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": [],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"return_to_start_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T029 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T030 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "avoid_areas_for_all_robots_1",
"instruction_function": {
"name": "avoid_areas_for_all_robots",
"robot_ids": null,
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [
"obstacle1"
],
"robot_type": []
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "avoid_areas_for_all_robots_2",
"instruction_function": {
"name": "avoid_areas_for_all_robots",
"robot_ids": null,
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [
"puddle1"
],
"robot_type": []
}
},
{
"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": [],
"robot_type": null
}
}
]
} |
dart_llm-L2-T031 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
}
]
} |
dart_llm-L2-T032 | 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. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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": [],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"return_to_start_for_specific_robots_1"
],
"object_keywords": [
"location1"
],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
}
]
} |
dart_llm-L3-T021 | Let Excavator 2 and Excavator 3 go to Obstacle 1 and Obstacle 2 respectively. After arriving at the targets, perform excavation and unloading respectively. | {
"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"
],
"robot_type": null
}
},
{
"task": "target_area_for_specific_robots_2",
"instruction_function": {
"name": "target_area_for_specific_robots",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [],
"object_keywords": [
"obstacle2"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "Excavation_2",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_2",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"Excavation_2"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L3-T022 | 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. | {
"tasks": [
{
"task": "avoid_areas_for_all_robots_1",
"instruction_function": {
"name": "avoid_areas_for_all_robots",
"robot_ids": null,
"dependencies": [],
"object_keywords": [
"puddle1"
],
"robot_type": []
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_01"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_02"
],
"dependencies": [
"target_area_for_specific_robots_2"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "allow_areas_for_all_robots_1",
"instruction_function": {
"name": "allow_areas_for_all_robots",
"robot_ids": null,
"dependencies": [
"DumpUnloading_1"
],
"object_keywords": [
"puddle1"
],
"robot_type": []
}
}
]
} |
dart_llm-L1-T037 | After Excavator 3 avoids Rock Area 1, move to Soil Area 1. | {
"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"
],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T038 | Guide Dump Truck 1 to the starting position, then command it to proceed to obstacle 2. | {
"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": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T039 | Avoid soil area 2 and send Excavator 1 to the puddle area. | {
"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"
],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T040 | Direct Dump Truck 2 to rock area 1, then avoid puddle 2. | {
"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"
],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T041 | Send Excavator 3 to obstacle 2, perform excavation. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T042 | Guide Dump Truck 3 to soil area 2, proceed to unload. | {
"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"
],
"robot_type": null
}
},
{
"task": "DumpUnloading_1",
"instruction_function": {
"name": "DumpUnloading",
"robot_ids": [
"robot_dump_truck_03"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T043 | Direct Excavator 2 to soil area 1, perform excavation, then unload. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"task": "ExcavatorUnloading_1",
"instruction_function": {
"name": "ExcavatorUnloading",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"Excavation_1"
],
"object_keywords": [],
"robot_type": null
}
}
]
} |
dart_llm-L1-T044 | Move Excavator 3 to puddle 2, perform excavation, then move to soil area 1. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_03"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T045 | Guide Dump Truck 1 to collect materials at soil area 2, then move to puddle 2. | {
"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"
],
"robot_type": null
}
},
{
"task": "DumpLoading_1",
"instruction_function": {
"name": "DumpLoading",
"robot_ids": [
"robot_dump_truck_01"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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"
],
"robot_type": null
}
}
]
} |
dart_llm-L1-T046 | Send Excavator 2 to the rock area 1, perform excavation, and return to starting position. | {
"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"
],
"robot_type": null
}
},
{
"task": "Excavation_1",
"instruction_function": {
"name": "Excavation",
"robot_ids": [
"robot_excavator_02"
],
"dependencies": [
"target_area_for_specific_robots_1"
],
"object_keywords": [],
"robot_type": null
}
},
{
"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": [],
"robot_type": null
}
}
]
} |
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