nyu-visionx/VSI-Bench · Datasets at Hugging Face

id int64 0 5.16k	dataset stringclasses 3 values	scene_name stringclasses 288 values	question_type stringclasses 10 values	question stringlengths 32 540	ground_truth stringclasses 519 values	options sequencelengths 2 4 ⌀
4,923	scannet	scene0193_01	object_abs_distance	Measuring from the closest point of each object, what is the distance between the table and the bed (in meters)?	0.5	null
4,924	scannet	scene0196_00	object_abs_distance	Measuring from the closest point of each object, what is the distance between the door and the backpack (in meters)?	4.1	null
4,925	scannet	scene0196_00	object_abs_distance	Measuring from the closest point of each object, what is the distance between the trash bin and the backpack (in meters)?	3.8	null
4,926	scannet	scene0207_02	object_abs_distance	Measuring from the closest point of each object, what is the distance between the sofa and the bed (in meters)?	2.1	null
4,927	scannet	scene0207_02	object_abs_distance	Measuring from the closest point of each object, what is the distance between the microwave and the sofa (in meters)?	3.6	null
4,928	scannet	scene0207_02	object_abs_distance	Measuring from the closest point of each object, what is the distance between the mirror and the pillow (in meters)?	3.5	null
4,929	scannet	scene0207_02	object_abs_distance	Measuring from the closest point of each object, what is the distance between the printer and the refrigerator (in meters)?	5.3	null
4,930	scannet	scene0207_02	object_abs_distance	Measuring from the closest point of each object, what is the distance between the printer and the chair (in meters)?	0.9	null
4,931	scannet	scene0207_02	object_abs_distance	Measuring from the closest point of each object, what is the distance between the radiator and the counter (in meters)?	3.5	null
4,932	scannet	scene0207_02	object_abs_distance	Measuring from the closest point of each object, what is the distance between the refrigerator and the counter (in meters)?	0.4	null
4,933	scannet	scene0221_01	object_abs_distance	Measuring from the closest point of each object, what is the distance between the microwave and the nightstand (in meters)?	2.5	null
4,934	scannet	scene0221_01	object_abs_distance	Measuring from the closest point of each object, what is the distance between the radiator and the nightstand (in meters)?	2.8	null
4,935	scannet	scene0221_01	object_abs_distance	Measuring from the closest point of each object, what is the distance between the radiator and the microwave (in meters)?	5.8	null
4,936	scannet	scene0221_01	object_abs_distance	Measuring from the closest point of each object, what is the distance between the trash bin and the nightstand (in meters)?	2.9	null
4,937	scannet	scene0221_01	object_abs_distance	Measuring from the closest point of each object, what is the distance between the trash bin and the microwave (in meters)?	1.2	null
4,938	scannet	scene0221_01	object_abs_distance	Measuring from the closest point of each object, what is the distance between the trash bin and the radiator (in meters)?	6.0	null
4,939	scannet	scene0222_01	object_abs_distance	Measuring from the closest point of each object, what is the distance between the nightstand and the lamp (in meters)?	0.4	null
4,940	scannet	scene0222_01	object_abs_distance	Measuring from the closest point of each object, what is the distance between the fan and the lamp (in meters)?	1.5	null
4,941	scannet	scene0222_01	object_abs_distance	Measuring from the closest point of each object, what is the distance between the fan and the nightstand (in meters)?	2.5	null
4,942	scannet	scene0222_01	object_abs_distance	Measuring from the closest point of each object, what is the distance between the radiator and the lamp (in meters)?	2.1	null
4,943	scannet	scene0222_01	object_abs_distance	Measuring from the closest point of each object, what is the distance between the radiator and the nightstand (in meters)?	3.2	null
4,944	scannet	scene0222_01	object_abs_distance	Measuring from the closest point of each object, what is the distance between the radiator and the fan (in meters)?	0.5	null
4,945	scannet	scene0231_00	object_abs_distance	Measuring from the closest point of each object, what is the distance between the backpack and the refrigerator (in meters)?	2.3	null
4,946	scannet	scene0231_00	object_abs_distance	Measuring from the closest point of each object, what is the distance between the door and the refrigerator (in meters)?	1.0	null
4,947	scannet	scene0231_00	object_abs_distance	Measuring from the closest point of each object, what is the distance between the backpack and the pillow (in meters)?	2.2	null
4,948	scannet	scene0231_00	object_abs_distance	Measuring from the closest point of each object, what is the distance between the microwave and the plant (in meters)?	4.4	null
4,949	scannet	scene0231_00	object_abs_distance	Measuring from the closest point of each object, what is the distance between the clock and the backpack (in meters)?	1.5	null
4,950	scannet	scene0231_00	object_abs_distance	Measuring from the closest point of each object, what is the distance between the door and the pillow (in meters)?	3.6	null
4,951	scannet	scene0231_00	object_abs_distance	Measuring from the closest point of each object, what is the distance between the counter and the sofa (in meters)?	2.1	null
4,952	scannet	scene0246_00	object_abs_distance	Measuring from the closest point of each object, what is the distance between the chair and the bed (in meters)?	1.0	null
4,953	scannet	scene0246_00	object_abs_distance	Measuring from the closest point of each object, what is the distance between the towel and the chair (in meters)?	1.3	null
4,954	scannet	scene0246_00	object_abs_distance	Measuring from the closest point of each object, what is the distance between the nightstand and the chair (in meters)?	2.4	null
4,955	scannet	scene0246_00	object_abs_distance	Measuring from the closest point of each object, what is the distance between the table and the bed (in meters)?	1.0	null
4,956	scannet	scene0246_00	object_abs_distance	Measuring from the closest point of each object, what is the distance between the table and the chair (in meters)?	1.0	null
4,957	scannet	scene0246_00	object_abs_distance	Measuring from the closest point of each object, what is the distance between the table and the towel (in meters)?	1.1	null
4,958	scannet	scene0246_00	object_abs_distance	Measuring from the closest point of each object, what is the distance between the table and the nightstand (in meters)?	2.2	null
4,959	arkitscenes	42446167	route_planning	You are a robot beginning at the bed facing the tv. You want to navigate to the toilet. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the TV 2. [please fill in] 3. Go forward until the shower 4. [please fill in] 5. Go forward until the toilet. You have reached the final destination.	C	[ "A. Turn Back, Turn Left", "B. Turn Left, Turn Left", "C. Turn Left, Turn Right", "D. Turn Right, Turn Right" ]
4,960	arkitscenes	42899696	route_planning	You are a robot beginning at the tv facing the bed. You want to navigate to the trash bin. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the cabinet 3. [please fill in] 4. Go forward until the trash bin is on your right. You have reached the final destination.	B	[ "A. Turn Left, Turn Left", "B. Turn Right, Turn Left", "C. Turn Back, Turn Left", "D. Turn Right, Turn Right" ]
4,961	arkitscenes	47332005	route_planning	You are a robot beginning at the sink and facing the heater. You want to navigate to the doorframe. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the doorframe. You have reached the final destination.	A	[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]
4,962	scannetpp	fb5a96b1a2	route_planning	You are a robot beginning at the doorframe facing the table. You want to navigate to the bookshelf. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the table 2. [please fill in] 3. Go forward until the chair beside the screen 4. [please fill in] 5. Go forward until the bookshelf. You have reached the final destination.	A	[ "A. Turn Left, Turn Right", "B. Turn Right, Turn Right", "C. Turn Back, Turn Left", "D. Turn Back, Turn Right" ]
4,963	scannetpp	1ada7a0617	route_planning	You are a robot beginning at the blue chair and facing the column. You want to navigate to the column. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the trash bin 3. [please fill in] 4. Go forward until the wall 5. [please fill in] 6. Go forward until the column. You have reached the final destination.	B	[ "A. Turn Left, Turn Right, Turn Right", "B. Turn Right, Turn Left, Turn Left", "C. Turn Right, Turn Left, Turn Right", "D. Turn Right, Turn Right, Turn Right" ]
4,964	arkitscenes	42899461	route_planning	You are a robot beginning at the sofa facing the fireplace. You want to navigate to the stove. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the fireplace 2. [please fill in] 3. Go forward until the stove. You have reached the final destination.	A	[ "A. Turn Left", "B. Turn Back", "C. Turn Right" ]
4,965	scannetpp	c49a8c6cff	route_planning	You are a robot beginning at the door and facing the window. You want to navigate to the monitor. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the heater 2. [please fill in] 3. Go forward until the monitor. You have reached the final destination.	C	[ "A. Turn Left", "B. Turn Back", "C. Turn Right" ]
4,966	scannetpp	578511c8a9	route_planning	You are a robot beginning at the blue chair and facing the fan beside the boxes. You want to navigate to the trash bin. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until passing the tables on the right. 2. [please fill in] 3. Go forward until the trash bin. You have reached the final destination.	A	[ "A. Turn Left", "B. Turn Back", "C. Turn Right" ]
4,967	scannet	scene0316_00	route_planning	You are a robot beginning at the door facing the brown single-seat sofa. You want to navigate to the chair next to water fountain . You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the brown single-seat sofa. 2. [please fill in] 3. Go forward until passing by the brown two-seats sofa. 4. [please fill in] 5. Go forward until the chair. You have reached the final destination.	A	[ "A. Turn Left, Turn Left", "B. Turn Back, Turn Right", "C. Turn Left, Turn Right", "D. Turn Right, Turn Left" ]
4,968	scannetpp	3db0a1c8f3	route_planning	You are a robot beginning at the toilet and facing the washing machine. You want to navigate to the pan. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the washing machine 2. [please fill in] 3. Go forward until the sofa 4. [please fill in] 5. Go forward until the pan. You have reached the final destination.	D	[ "A. Turn Left, Turn Left", "B. Turn Left, Turn Right", "C. Turn Back, Turn Right", "D. Turn Right, Turn Right" ]
4,969	arkitscenes	42897508	route_planning	You are a robot beginning at the door and facing the kitchen windows. You want to navigate to the stove. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the cabinets 2. [please fill in] 3. Go forward until the stove. You have reached the final destination.	B	[ "A. Turn Back", "B. Turn Right", "C. Turn Left" ]
4,970	arkitscenes	42898581	route_planning	You are a robot beginning at the door and facing the bed. You want to navigate to the table. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the dresser 2. [please fill in] 3. Go forward until the table. You have reached the final destination.	C	[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]
4,971	arkitscenes	47334372	route_planning	You are a robot beginning at the door and facing the washer. You want to navigate to the bathtub. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the washer 2. [please fill in] 3. Go forward until the bathtub. You have reached the final destination.	C	[ "A. Turn Left", "B. Turn Back", "C. Turn Right" ]
4,972	arkitscenes	42445429	route_planning	You are a robot beginning at the sofa and facing the TV. You want to navigate to the bookshelf. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the TV 2. [please fill in] 3. Go forward until the bookshelf. You have reached the final destination.	B	[ "A. Turn Left", "B. Turn Right", "C. Turn Back" ]
4,973	arkitscenes	42446151	route_planning	You are a robot beginning at the tv and facing the closest sofa. You want to navigate to the stool by the piano. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the closest sofa 2. [please fill in] 3. Go forward until the stool. You have reached the final destination.	B	[ "A. Turn Left", "B. Turn Right", "C. Turn Back" ]
4,974	scannet	scene0338_00	route_planning	You are a robot beginning at the door and facing the boxes. You want to navigate to the counter. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the boxes 2. [please fill in] 3. Go forward until the counter. You have reached the final destination.	B	[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]
4,975	arkitscenes	42897554	route_planning	You are a robot beginning at the bed and facing the door. You want to navigate to the wardrobe. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the door 2. [please fill in] 3. Go forward until the cabinet. You have reached the final destination.	A	[ "A. Turn Right", "B. Turn Back", "C. Turn Left" ]
4,976	arkitscenes	47332899	route_planning	You are a robot beginning at the door and facing the desk. You want to navigate to the window. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the desk 2. [please fill in] 3. Go forward until the bed 4. [please fill in] 5. Go forward until the window. You have reached the final destination.	B	[ "A. Turn Right, Turn Right", "B. Turn Right, Turn Left", "C. Turn Back, Turn Right", "D. Turn Left, Turn Left" ]
4,977	arkitscenes	47429922	route_planning	You are a robot beginning at the door and facing the stool. You want to navigate to the bed. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the stool 2. [please fill in] 3. Go forward until the bed. You have reached the final destination.	C	[ "A. Turn Left", "B. Turn Back", "C. Turn Right" ]
4,978	scannetpp	cc5237fd77	route_planning	You are a robot beginning at the black desk chair and facing the bookshelf. You want to navigate to the red desk chair. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the red desk chair. You have reached the final destination.	C	[ "A. Turn Right", "B. Turn Left", "C. Turn Back" ]
4,979	arkitscenes	42446517	route_planning	You are a robot beginning at the black chair and facing to white table. You want to navigate to the tv. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the trash bin 3. [please fill in] 4. Go forward until the tv. You have reached the final destination.	A	[ "A. Turn Back, Turn Left", "B. Turn Back, Turn Right", "C. Turn Right, Turn Right", "D. Turn Left, Turn Right" ]
4,980	scannet	scene0658_00	route_planning	You are a robot beginning at the chair and facing to lamp. You want to navigate to the lamp on the cabinet. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the wardrobe. 3. [please fill in]. 4. Go foward until the lamp. You have reached the final destination.	C	[ "A. Turn Back, Turn Right", "B. Turn Back, Turn Left", "C. Turn Left, Turn Left", "D. Turn Left, Turn Right" ]
4,981	arkitscenes	47331970	route_planning	You are a robot beginning at the kitchen sink and facing window. You want to navigate to the refrigerator. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the refrigerator. You have reached the final destination.	A	[ "A. Turn Back", "B. Turn Right", "C. Turn Left" ]
4,982	scannetpp	d755b3d9d8	route_planning	You are a robot beginning at the blue chair and facing the nearest monitor. You want to navigate to the brown door. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the cabinet 3. [please fill in]. 4. Go forward until the brown door. You have reached the final destination.	D	[ "A. Turn Left, Turn Left", "B. Turn Right, Turn Right", "C. Turn Back, Turn Left", "D. Turn Back, Turn Right" ]
4,983	arkitscenes	47331990	route_planning	You are a robot beginning at the door and facing the bed. You want to navigate to the window. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the edge of bed 2. [please fill in] 3. Go forward until the wall 4. [please fill in] 5. Go forward until the window. You have reached the final destination.	B	[ "A. Turn Back, Turn Left", "B. Turn Left, Turn Right", "C. Turn Right, Turn Left", "D. Turn Left, Turn Left" ]
4,984	scannet	scene0696_01	route_planning	You are a robot beginning at the microwave and facing the table. You want to navigate to the sofa. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the sofa. You have reached the final destination.	B	[ "A. Turn Left", "B. Turn Right", "C. Turn Back" ]
4,985	arkitscenes	45260905	route_planning	You are a robot beginning at the TV and facing the TV. You want to navigate to the door. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the wall with the bookshelf to your right. 3. [please fill in] 4. Go forward until the door. You have reached the final destination.	A	[ "A. Turn Left, Turn Left", "B. Turn Back, Turn Right", "C. Turn Right, Turn Right", "D. Turn Back, Turn Left" ]
4,986	arkitscenes	47334362	route_planning	You are a robot beginning at the door and facing the farthest sofa. You want to navigate to the TV. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the farthest sofa 2. [please fill in] 3. Go forward until the TV. You have reached the final destination.	A	[ "A. Turn Left", "B. Turn Right", "C. Turn Back" ]
4,987	arkitscenes	45261637	route_planning	You are a robot beginning at the door and facing the bed. You want to navigate to the cabinet. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the bed 2. [please fill in]. 3. Go forward until the cabinet. You have reached the final destination.	B	[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]
4,988	scannet	scene0647_00	route_planning	You are a robot beginning at the TV facing the drawing. You want to navigate to the table with two orange chair. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the drawing 2. [please fill in] 3. Go forward until the desired chair. You have reached the final destination.	C	[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]
4,989	scannetpp	9071e139d9	route_planning	You are a robot beginning at the whiteboard facing the whiteboard. You want to navigate to the bookshelf. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the blue trash bin 3. [please fill in] 4. Go forward until the bookshelf. You have reached the final destination.	C	[ "A. Turn Back, Turn Left", "B. Turn Left, Turn Right", "C. Turn Left, Turn Left", "D. Turn Right, Turn Left" ]
4,990	arkitscenes	47333436	route_planning	You are a robot beginning at the door and facing the window. You want to navigate to the farthest sofa. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until window 2. [please fill in] 3. Go forward until the sofa. You have reached the final destination.	B	[ "A. Turn Right", "B. Turn Left", "C. Turn Back" ]
4,991	arkitscenes	45662924	route_planning	You are a robot beginning at the lamp and facing the windows. You want to navigate to the painting seen in the other room. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the wall 3. [please fill in]. 4. Go forward through the doorway until the painting. You have reached the final destination.	A	[ "A. Turn Back, Turn Left", "B. Turn Right, Turn Right", "C. Turn Left, Turn Left", "D. Turn Back, Turn Right" ]
4,992	scannet	scene0591_01	route_planning	You are a robot beginning at the black chair next to the trash bin and facing the table. You want to navigate to the black sofa. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the black sofa. You have reached the final destination.	A	[ "A. Turn Right", "B. Turn Left", "C. Turn Back" ]
4,993	arkitscenes	47334239	route_planning	You are a robot beginning at the door and facing the toilet. You want to navigate to the bathtub. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the toilet 2. [please fill in] 3. Go forward until the bathtub. You have reached the final destination.	C	[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]
4,994	scannet	scene0251_00	route_planning	You are a robot beginning at the poster and facing the cabinet. You want to navigate to the trashbin. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the cabinet. 2. [please fill in] 3. Go forward until the trashbin. You have reached the final destination.	A	[ "A. Turn Left", "B. Turn Right", "C. Turn Back" ]
4,995	scannetpp	6115eddb86	route_planning	You are a robot beginning at the chair and facing the table. You want to navigate to the apartment door. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the door. You have reached the final destination.	A	[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]
4,996	arkitscenes	45663164	route_planning	You are a robot beginning at the hallway entrance and facing the door. You want to navigate to the refrigerator. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the trash can 2. [please fill in]. 3. Go forward until the refrigerator. You have reached the final destination.	C	[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]
4,997	arkitscenes	42897688	route_planning	You are a robot beginning at the door and facing the trash bin next to the door. You want to navigate to the window. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the wall. 3. [please fill in] 4. Go forward until the window. You have reached the final destination.	C	[ "A. Turn Back, Turn Left", "B. Turn Right, Turn Right", "C. Turn Right, Turn Left", "D. Turn Back, Turn Right" ]
4,998	scannet	scene0153_00	route_planning	You are a robot beginning at the bathroom door facing the sink. You want to navigate to the bathtube. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the bathtube. You have reached the final destination.	A	[ "A. Turn Right", "B. Turn Back", "C. Turn Left" ]
4,999	arkitscenes	42446541	route_planning	You are a robot beginning at the TV and facing the TV. You want to navigate to the dining table. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in]. 2. Go forward until the dining table. You have reached the final destination.	B	[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]
5,000	arkitscenes	42899739	route_planning	You are a robot beginning at the nightstand near by the window and facing the closet. You want to navigate to the door. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the edge of the bed. 2. [please fill in] 3. Go forward until the door. You have reached the final destination.	C	[ "A. Turn Left", "B. Turn Back", "C. Turn Right" ]
5,001	arkitscenes	47334254	route_planning	You are a robot beginning at the oven and facing the dining table. You want to navigate to the gas stove. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the sink 3. [please fill in]. 4. Go forward until the gas stove. You have reached the final destination.	D	[ "A. Turn Left, Turn Left", "B. Turn Right, Turn Right", "C. Turn Back, Turn Right", "D. Turn Left, Turn Right" ]
5,002	arkitscenes	42899698	route_planning	You are a robot beginning at the bathroom sink facing the mirror. You want to navigate to the bathtube. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the bathtube. You have reached the final destination.	A	[ "A. Turn Right", "B. Turn Back", "C. Turn Left" ]
5,003	scannetpp	25f3b7a318	route_planning	You are a robot beginning at the window and facing the waste bin. You want to navigate to the bathroom. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the waste bin 2. [please fill in]. 3. Go forward until the bathroom. You have reached the final destination.	B	[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]
5,004	arkitscenes	41125760	route_planning	You are a robot beginning at the toilet and facing the bathtub. You want to navigate to the towel rack. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the bathtub 2. [please fill in]. 3. Go forward until the towel rack. You have reached the final destination.	C	[ "A. Turn Left", "B. Turn Back", "C. Turn Right" ]
5,005	arkitscenes	42898486	route_planning	You are a robot beginning at the door and facing the display cabinet. You want to navigate to the 3-seater sofa. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the display cabinet 2. [please fill in] 3. Go forward until the 3-seater sofa. You have reached the final destination.	B	[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]
5,006	scannet	scene0488_01	route_planning	You are a robot beginning at the sink and facing the sink. You want to navigate to the microwave. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the microwave. You have reached the final destination.	A	[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]
5,007	arkitscenes	45261182	route_planning	You are a robot beginning at the door and facing the mirror. You want to navigate to the bathroom sink. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the toilet. 2. [please fill in] 3. Go forward until the bathroom sink. You have reached the final destination.	A	[ "A. Turn Right", "B. Turn Back", "C. Turn Left" ]
5,008	arkitscenes	45662987	route_planning	You are a robot beginning at the door and facing the standing lamps. You want to navigate to the tv. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the sofa. 2. [please fill in] 3. Go forward until the fireplace. 4. [please fill in] 5. Go forward until the tv. You have reached the final destination.	D	[ "A. Turn Back, Turn Left", "B. Turn Right, Turn Left", "C. Turn Left, Turn Left", "D. Turn Left, Turn Right" ]
5,009	arkitscenes	41069048	route_planning	You are a robot beginning at the door facing the bathtub. You want to navigate to the toilet. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the bathroom sink. 2. [please fill in] 3. Go forward until the toilet. You have reached the final destination.	B	[ "A. Turn Left", "B. Turn Right", "C. Turn Back" ]
5,010	arkitscenes	45662970	route_planning	You are a robot beginning at the door and facing the cabinet. You want to navigate to the window. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the cabinet. 2. [please fill in] 3. Go forward until the window. You have reached the final destination.	C	[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]
5,011	arkitscenes	47333457	route_planning	You are a robot beginning at the head of the bed and facing the teddy bear and the windows. You want to navigate to the washer. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the cabinets. 3. [please fill in] 4. Go forward until the doorway. 5. [please fill in] 6. Go forward until the washer. You have reached the final destination.	C	[ "A. Turn Back, Turn Right, Turn Left", "B. Turn Right, Turn Left, Turn Left", "C. Turn Right, Turn Right, Turn Left", "D. Turn Left, Turn Right, Turn Right" ]
5,012	scannet	scene0671_01	route_planning	You are a robot beginning at the chair with the red backpack and facing the plant on the table. You want to navigate to the yellow backpack. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the trash bin. 3. [please fill in] 4. Go forward until the yellow backpack. You have reached the final destination.	B	[ "A. Turn Left, Turn Right", "B. Turn Right, Turn Left", "C. Turn Back, Turn Left", "D. Turn Back, Turn Right" ]
5,013	arkitscenes	42444976	route_planning	You are a robot beginning at the refrigerator and facing the refrigerator. You want to navigate to the table. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the sink. 3. [please fill in] 4. Go forward until the table. You have reached the final destination.	D	[ "A. Turn Left, Turn Left", "B. Turn Back, Turn Right", "C. Turn Back, Turn Left", "D. Turn Right, Turn Right" ]
5,014	arkitscenes	42899617	route_planning	You are a robot beginning at the door and facing into the bathroom. You want to navigate to the bathtub. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the bathroom sink. 2. [please fill in] 3. Go forward until the bathtub. You have reached the final destination.	A	[ "A. Turn Right", "B. Turn Left", "C. Turn Back" ]
5,015	scannet	scene0328_00	route_planning	You are a robot beginning at the sink facing the sink. You want to navigate to the microwave. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the refridgerator. 3. [please fill in] 4. Go forward until the microwave. You have reached the final destination.	A	[ "A. Turn Back, Turn Right", "B. Turn Back, Turn Left", "C. Turn Left, Turn Right", "D. Turn Right, Turn Left" ]
5,016	scannetpp	38d58a7a31	route_planning	You are a robot beginning at the coat rack by the front door and facing the whiteboard. You want to navigate to the last heater in the back of the room. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the wall 2. [please fill in] 3. Go forward until the heater. You have reached the final destination.	A	[ "A. Turn Right", "B. Turn Left", "C. Turn Back" ]
5,017	scannetpp	a8bf42d646	route_planning	You are a robot beginning at the door with the clock above it and facing the door. You want to navigate to the blue machine. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the blue machine. You have reached the final destination.	C	[ "A. Turn Left", "B. Turn Right", "C. Turn Back" ]
5,018	arkitscenes	47430475	route_planning	You are a robot beginning at the door and facing the window. You want to navigate to the window. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the bookshelf 3. [please fill in] 4. Go forward until the wall 5. [please fill in] 6. Go forward until the window. You have reached the final destination.	B	[ "A. Turn Back, Turn Right, Turn Left", "B. Turn Right, Turn Left, Turn Left", "C. Turn Right, Turn Right, Turn Left", "D. Turn Left, Turn Left, Turn Right" ]
5,019	scannet	scene0193_01	route_planning	You are a robot beginning at the chair and facing the window. You want to navigate to the trash bin. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until past the foot of the bed 3. [please fill in] 4. Go forward until the trash bin. You have reached the final destination.	C	[ "A. Turn Back, Turn Right", "B. Turn Back, Turn Left", "C. Turn Right, Turn Right", "D. Turn Left, Turn Right" ]
5,020	scannetpp	21d970d8de	route_planning	You are a robot beginning at the red chair at the front of the classroom and facing the windows. You want to navigate to the window in the corner farthest from the door. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the sink. 3. [please fill in] 4. Go forward until the wall. 5. [please fill in] 6. Go forward until the window. You have reached the final destination.	C	[ "A. Turn Right, Turn Left, Turn Left", "B. Turn Back, Turn Left, Turn Left", "C. Turn Back, Turn Right, Turn Right", "D. Turn Left, Turn Right, Turn Left" ]
5,021	scannet	scene0231_00	route_planning	You are a robot beginning at the refrigerator, with your back to the fridge. You want to navigate to the trophies on the open shelving. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the kitchen island. 2. [please fill in] 3. Go forward until the chairs. 4. [please fill in] 5. Go forward until past the column. 6. [please fill in] 7. Go forward until the open shelving. You have reached the final destination.	D	[ "A. Turn Back, Turn Right, Turn Right", "B. Turn Left, Turn Left, Turn Right", "C. Turn Left, Turn Right, Turn Left", "D. Turn Right, Turn Left, Turn Right" ]
5,022	scannetpp	bde1e479ad	route_planning	You are a robot beginning at the chair at the center-back of the room and facing the whiteboard. You want to navigate to the hand soap. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the desk row closest to the whiteboard. 2. [please fill in] 3. Go forward until the door. 4. [please fill in] 5. Go forward until the hand soap. You have reached the final destination.	A	[ "A. Turn Right, Turn Left", "B. Turn Right, Turn Right", "C. Turn Left, Turn Left", "D. Turn Left, Turn Right" ]

4,923

scannet

scene0193_01

object_abs_distance

Measuring from the closest point of each object, what is the distance between the table and the bed (in meters)?

0.5

null

4,924

scannet

scene0196_00

object_abs_distance

Measuring from the closest point of each object, what is the distance between the door and the backpack (in meters)?

4.1

null

4,925

scannet

scene0196_00

object_abs_distance

Measuring from the closest point of each object, what is the distance between the trash bin and the backpack (in meters)?

3.8

null

4,926

scannet

scene0207_02

object_abs_distance

Measuring from the closest point of each object, what is the distance between the sofa and the bed (in meters)?

2.1

null

4,927

scannet

scene0207_02

object_abs_distance

Measuring from the closest point of each object, what is the distance between the microwave and the sofa (in meters)?

3.6

null

4,928

scannet

scene0207_02

object_abs_distance

Measuring from the closest point of each object, what is the distance between the mirror and the pillow (in meters)?

3.5

null

4,929

scannet

scene0207_02

object_abs_distance

Measuring from the closest point of each object, what is the distance between the printer and the refrigerator (in meters)?

5.3

null

4,930

scannet

scene0207_02

object_abs_distance

Measuring from the closest point of each object, what is the distance between the printer and the chair (in meters)?

0.9

null

4,931

scannet

scene0207_02

object_abs_distance

Measuring from the closest point of each object, what is the distance between the radiator and the counter (in meters)?

3.5

null

4,932

scannet

scene0207_02

object_abs_distance

Measuring from the closest point of each object, what is the distance between the refrigerator and the counter (in meters)?

0.4

null

4,933

scannet

scene0221_01

object_abs_distance

Measuring from the closest point of each object, what is the distance between the microwave and the nightstand (in meters)?

2.5

null

4,934

scannet

scene0221_01

object_abs_distance

Measuring from the closest point of each object, what is the distance between the radiator and the nightstand (in meters)?

2.8

null

4,935

scannet

scene0221_01

object_abs_distance

Measuring from the closest point of each object, what is the distance between the radiator and the microwave (in meters)?

5.8

null

4,936

scannet

scene0221_01

object_abs_distance

Measuring from the closest point of each object, what is the distance between the trash bin and the nightstand (in meters)?

2.9

null

4,937

scannet

scene0221_01

object_abs_distance

Measuring from the closest point of each object, what is the distance between the trash bin and the microwave (in meters)?

1.2

null

4,938

scannet

scene0221_01

object_abs_distance

Measuring from the closest point of each object, what is the distance between the trash bin and the radiator (in meters)?

6.0

null

4,939

scannet

scene0222_01

object_abs_distance

Measuring from the closest point of each object, what is the distance between the nightstand and the lamp (in meters)?

0.4

null

4,940

scannet

scene0222_01

object_abs_distance

Measuring from the closest point of each object, what is the distance between the fan and the lamp (in meters)?

1.5

null

4,941

scannet

scene0222_01

object_abs_distance

Measuring from the closest point of each object, what is the distance between the fan and the nightstand (in meters)?

2.5

null

4,942

scannet

scene0222_01

object_abs_distance

Measuring from the closest point of each object, what is the distance between the radiator and the lamp (in meters)?

2.1

null

4,943

scannet

scene0222_01

object_abs_distance

Measuring from the closest point of each object, what is the distance between the radiator and the nightstand (in meters)?

3.2

null

4,944

scannet

scene0222_01

object_abs_distance

Measuring from the closest point of each object, what is the distance between the radiator and the fan (in meters)?

0.5

null

4,945

scannet

scene0231_00

object_abs_distance

Measuring from the closest point of each object, what is the distance between the backpack and the refrigerator (in meters)?

2.3

null

4,946

scannet

scene0231_00

object_abs_distance

Measuring from the closest point of each object, what is the distance between the door and the refrigerator (in meters)?

1.0

null

4,947

scannet

scene0231_00

object_abs_distance

Measuring from the closest point of each object, what is the distance between the backpack and the pillow (in meters)?

2.2

null

4,948

scannet

scene0231_00

object_abs_distance

Measuring from the closest point of each object, what is the distance between the microwave and the plant (in meters)?

4.4

null

4,949

scannet

scene0231_00

object_abs_distance

Measuring from the closest point of each object, what is the distance between the clock and the backpack (in meters)?

1.5

null

4,950

scannet

scene0231_00

object_abs_distance

Measuring from the closest point of each object, what is the distance between the door and the pillow (in meters)?

3.6

null

4,951

scannet

scene0231_00

object_abs_distance

Measuring from the closest point of each object, what is the distance between the counter and the sofa (in meters)?

2.1

null

4,952

scannet

scene0246_00

object_abs_distance

Measuring from the closest point of each object, what is the distance between the chair and the bed (in meters)?

1.0

null

4,953

scannet

scene0246_00

object_abs_distance

Measuring from the closest point of each object, what is the distance between the towel and the chair (in meters)?

1.3

null

4,954

scannet

scene0246_00

object_abs_distance

Measuring from the closest point of each object, what is the distance between the nightstand and the chair (in meters)?

2.4

null

4,955

scannet

scene0246_00

object_abs_distance

Measuring from the closest point of each object, what is the distance between the table and the bed (in meters)?

1.0

null

4,956

scannet

scene0246_00

object_abs_distance

Measuring from the closest point of each object, what is the distance between the table and the chair (in meters)?

1.0

null

4,957

scannet

scene0246_00

object_abs_distance

Measuring from the closest point of each object, what is the distance between the table and the towel (in meters)?

1.1

null

4,958

scannet

scene0246_00

object_abs_distance

Measuring from the closest point of each object, what is the distance between the table and the nightstand (in meters)?

2.2

null

4,959

arkitscenes

42446167

route_planning

You are a robot beginning at the bed facing the tv. You want to navigate to the toilet. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the TV 2. [please fill in] 3. Go forward until the shower 4. [please fill in] 5. Go forward until the toilet. You have reached the final destination.

C

[ "A. Turn Back, Turn Left", "B. Turn Left, Turn Left", "C. Turn Left, Turn Right", "D. Turn Right, Turn Right" ]

4,960

arkitscenes

42899696

route_planning

You are a robot beginning at the tv facing the bed. You want to navigate to the trash bin. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the cabinet 3. [please fill in] 4. Go forward until the trash bin is on your right. You have reached the final destination.

B

[ "A. Turn Left, Turn Left", "B. Turn Right, Turn Left", "C. Turn Back, Turn Left", "D. Turn Right, Turn Right" ]

4,961

arkitscenes

47332005

route_planning

You are a robot beginning at the sink and facing the heater. You want to navigate to the doorframe. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the doorframe. You have reached the final destination.

A

[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]

4,962

scannetpp

fb5a96b1a2

route_planning

You are a robot beginning at the doorframe facing the table. You want to navigate to the bookshelf. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the table 2. [please fill in] 3. Go forward until the chair beside the screen 4. [please fill in] 5. Go forward until the bookshelf. You have reached the final destination.

A

[ "A. Turn Left, Turn Right", "B. Turn Right, Turn Right", "C. Turn Back, Turn Left", "D. Turn Back, Turn Right" ]

4,963

scannetpp

1ada7a0617

route_planning

You are a robot beginning at the blue chair and facing the column. You want to navigate to the column. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the trash bin 3. [please fill in] 4. Go forward until the wall 5. [please fill in] 6. Go forward until the column. You have reached the final destination.

B

[ "A. Turn Left, Turn Right, Turn Right", "B. Turn Right, Turn Left, Turn Left", "C. Turn Right, Turn Left, Turn Right", "D. Turn Right, Turn Right, Turn Right" ]

4,964

arkitscenes

42899461

route_planning

You are a robot beginning at the sofa facing the fireplace. You want to navigate to the stove. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the fireplace 2. [please fill in] 3. Go forward until the stove. You have reached the final destination.

A

[ "A. Turn Left", "B. Turn Back", "C. Turn Right" ]

4,965

scannetpp

c49a8c6cff

route_planning

You are a robot beginning at the door and facing the window. You want to navigate to the monitor. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the heater 2. [please fill in] 3. Go forward until the monitor. You have reached the final destination.

C

[ "A. Turn Left", "B. Turn Back", "C. Turn Right" ]

4,966

scannetpp

578511c8a9

route_planning

You are a robot beginning at the blue chair and facing the fan beside the boxes. You want to navigate to the trash bin. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until passing the tables on the right. 2. [please fill in] 3. Go forward until the trash bin. You have reached the final destination.

A

[ "A. Turn Left", "B. Turn Back", "C. Turn Right" ]

4,967

scannet

scene0316_00

route_planning

You are a robot beginning at the door facing the brown single-seat sofa. You want to navigate to the chair next to water fountain . You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the brown single-seat sofa. 2. [please fill in] 3. Go forward until passing by the brown two-seats sofa. 4. [please fill in] 5. Go forward until the chair. You have reached the final destination.

A

[ "A. Turn Left, Turn Left", "B. Turn Back, Turn Right", "C. Turn Left, Turn Right", "D. Turn Right, Turn Left" ]

4,968

scannetpp

3db0a1c8f3

route_planning

You are a robot beginning at the toilet and facing the washing machine. You want to navigate to the pan. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the washing machine 2. [please fill in] 3. Go forward until the sofa 4. [please fill in] 5. Go forward until the pan. You have reached the final destination.

D

[ "A. Turn Left, Turn Left", "B. Turn Left, Turn Right", "C. Turn Back, Turn Right", "D. Turn Right, Turn Right" ]

4,969

arkitscenes

42897508

route_planning

You are a robot beginning at the door and facing the kitchen windows. You want to navigate to the stove. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the cabinets 2. [please fill in] 3. Go forward until the stove. You have reached the final destination.

B

[ "A. Turn Back", "B. Turn Right", "C. Turn Left" ]

4,970

arkitscenes

42898581

route_planning

You are a robot beginning at the door and facing the bed. You want to navigate to the table. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the dresser 2. [please fill in] 3. Go forward until the table. You have reached the final destination.

C

[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]

4,971

arkitscenes

47334372

route_planning

You are a robot beginning at the door and facing the washer. You want to navigate to the bathtub. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the washer 2. [please fill in] 3. Go forward until the bathtub. You have reached the final destination.

C

[ "A. Turn Left", "B. Turn Back", "C. Turn Right" ]

4,972

arkitscenes

42445429

route_planning

You are a robot beginning at the sofa and facing the TV. You want to navigate to the bookshelf. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the TV 2. [please fill in] 3. Go forward until the bookshelf. You have reached the final destination.

B

[ "A. Turn Left", "B. Turn Right", "C. Turn Back" ]

4,973

arkitscenes

42446151

route_planning

You are a robot beginning at the tv and facing the closest sofa. You want to navigate to the stool by the piano. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the closest sofa 2. [please fill in] 3. Go forward until the stool. You have reached the final destination.

B

[ "A. Turn Left", "B. Turn Right", "C. Turn Back" ]

4,974

scannet

scene0338_00

route_planning

You are a robot beginning at the door and facing the boxes. You want to navigate to the counter. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the boxes 2. [please fill in] 3. Go forward until the counter. You have reached the final destination.

B

[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]

4,975

arkitscenes

42897554

route_planning

You are a robot beginning at the bed and facing the door. You want to navigate to the wardrobe. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the door 2. [please fill in] 3. Go forward until the cabinet. You have reached the final destination.

A

[ "A. Turn Right", "B. Turn Back", "C. Turn Left" ]

4,976

arkitscenes

47332899

route_planning

You are a robot beginning at the door and facing the desk. You want to navigate to the window. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the desk 2. [please fill in] 3. Go forward until the bed 4. [please fill in] 5. Go forward until the window. You have reached the final destination.

B

[ "A. Turn Right, Turn Right", "B. Turn Right, Turn Left", "C. Turn Back, Turn Right", "D. Turn Left, Turn Left" ]

4,977

arkitscenes

47429922

route_planning

You are a robot beginning at the door and facing the stool. You want to navigate to the bed. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the stool 2. [please fill in] 3. Go forward until the bed. You have reached the final destination.

C

[ "A. Turn Left", "B. Turn Back", "C. Turn Right" ]

4,978

scannetpp

cc5237fd77

route_planning

You are a robot beginning at the black desk chair and facing the bookshelf. You want to navigate to the red desk chair. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the red desk chair. You have reached the final destination.

C

[ "A. Turn Right", "B. Turn Left", "C. Turn Back" ]

4,979

arkitscenes

42446517

route_planning

You are a robot beginning at the black chair and facing to white table. You want to navigate to the tv. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the trash bin 3. [please fill in] 4. Go forward until the tv. You have reached the final destination.

A

[ "A. Turn Back, Turn Left", "B. Turn Back, Turn Right", "C. Turn Right, Turn Right", "D. Turn Left, Turn Right" ]

4,980

scannet

scene0658_00

route_planning

You are a robot beginning at the chair and facing to lamp. You want to navigate to the lamp on the cabinet. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the wardrobe. 3. [please fill in]. 4. Go foward until the lamp. You have reached the final destination.

C

[ "A. Turn Back, Turn Right", "B. Turn Back, Turn Left", "C. Turn Left, Turn Left", "D. Turn Left, Turn Right" ]

4,981

arkitscenes

47331970

route_planning

You are a robot beginning at the kitchen sink and facing window. You want to navigate to the refrigerator. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the refrigerator. You have reached the final destination.

A

[ "A. Turn Back", "B. Turn Right", "C. Turn Left" ]

4,982

scannetpp

d755b3d9d8

route_planning

You are a robot beginning at the blue chair and facing the nearest monitor. You want to navigate to the brown door. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the cabinet 3. [please fill in]. 4. Go forward until the brown door. You have reached the final destination.

D

[ "A. Turn Left, Turn Left", "B. Turn Right, Turn Right", "C. Turn Back, Turn Left", "D. Turn Back, Turn Right" ]

4,983

arkitscenes

47331990

route_planning

You are a robot beginning at the door and facing the bed. You want to navigate to the window. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the edge of bed 2. [please fill in] 3. Go forward until the wall 4. [please fill in] 5. Go forward until the window. You have reached the final destination.

B

[ "A. Turn Back, Turn Left", "B. Turn Left, Turn Right", "C. Turn Right, Turn Left", "D. Turn Left, Turn Left" ]

4,984

scannet

scene0696_01

route_planning

You are a robot beginning at the microwave and facing the table. You want to navigate to the sofa. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the sofa. You have reached the final destination.

B

[ "A. Turn Left", "B. Turn Right", "C. Turn Back" ]

4,985

arkitscenes

45260905

route_planning

You are a robot beginning at the TV and facing the TV. You want to navigate to the door. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the wall with the bookshelf to your right. 3. [please fill in] 4. Go forward until the door. You have reached the final destination.

A

[ "A. Turn Left, Turn Left", "B. Turn Back, Turn Right", "C. Turn Right, Turn Right", "D. Turn Back, Turn Left" ]

4,986

arkitscenes

47334362

route_planning

You are a robot beginning at the door and facing the farthest sofa. You want to navigate to the TV. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the farthest sofa 2. [please fill in] 3. Go forward until the TV. You have reached the final destination.

A

[ "A. Turn Left", "B. Turn Right", "C. Turn Back" ]

4,987

arkitscenes

45261637

route_planning

You are a robot beginning at the door and facing the bed. You want to navigate to the cabinet. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the bed 2. [please fill in]. 3. Go forward until the cabinet. You have reached the final destination.

B

[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]

4,988

scannet

scene0647_00

route_planning

You are a robot beginning at the TV facing the drawing. You want to navigate to the table with two orange chair. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the drawing 2. [please fill in] 3. Go forward until the desired chair. You have reached the final destination.

C

[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]

4,989

scannetpp

9071e139d9

route_planning

You are a robot beginning at the whiteboard facing the whiteboard. You want to navigate to the bookshelf. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the blue trash bin 3. [please fill in] 4. Go forward until the bookshelf. You have reached the final destination.

C

[ "A. Turn Back, Turn Left", "B. Turn Left, Turn Right", "C. Turn Left, Turn Left", "D. Turn Right, Turn Left" ]

4,990

arkitscenes

47333436

route_planning

You are a robot beginning at the door and facing the window. You want to navigate to the farthest sofa. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until window 2. [please fill in] 3. Go forward until the sofa. You have reached the final destination.

B

[ "A. Turn Right", "B. Turn Left", "C. Turn Back" ]

4,991

arkitscenes

45662924

route_planning

You are a robot beginning at the lamp and facing the windows. You want to navigate to the painting seen in the other room. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the wall 3. [please fill in]. 4. Go forward through the doorway until the painting. You have reached the final destination.

A

[ "A. Turn Back, Turn Left", "B. Turn Right, Turn Right", "C. Turn Left, Turn Left", "D. Turn Back, Turn Right" ]

4,992

scannet

scene0591_01

route_planning

You are a robot beginning at the black chair next to the trash bin and facing the table. You want to navigate to the black sofa. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the black sofa. You have reached the final destination.

A

[ "A. Turn Right", "B. Turn Left", "C. Turn Back" ]

4,993

arkitscenes

47334239

route_planning

You are a robot beginning at the door and facing the toilet. You want to navigate to the bathtub. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the toilet 2. [please fill in] 3. Go forward until the bathtub. You have reached the final destination.

C

[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]

4,994

scannet

scene0251_00

route_planning

You are a robot beginning at the poster and facing the cabinet. You want to navigate to the trashbin. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the cabinet. 2. [please fill in] 3. Go forward until the trashbin. You have reached the final destination.

A

[ "A. Turn Left", "B. Turn Right", "C. Turn Back" ]

4,995

scannetpp

6115eddb86

route_planning

You are a robot beginning at the chair and facing the table. You want to navigate to the apartment door. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the door. You have reached the final destination.

A

[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]

4,996

arkitscenes

45663164

route_planning

You are a robot beginning at the hallway entrance and facing the door. You want to navigate to the refrigerator. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the trash can 2. [please fill in]. 3. Go forward until the refrigerator. You have reached the final destination.

C

[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]

4,997

arkitscenes

42897688

route_planning

You are a robot beginning at the door and facing the trash bin next to the door. You want to navigate to the window. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the wall. 3. [please fill in] 4. Go forward until the window. You have reached the final destination.

C

[ "A. Turn Back, Turn Left", "B. Turn Right, Turn Right", "C. Turn Right, Turn Left", "D. Turn Back, Turn Right" ]

4,998

scannet

scene0153_00

route_planning

You are a robot beginning at the bathroom door facing the sink. You want to navigate to the bathtube. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the bathtube. You have reached the final destination.

A

[ "A. Turn Right", "B. Turn Back", "C. Turn Left" ]

4,999

arkitscenes

42446541

route_planning

You are a robot beginning at the TV and facing the TV. You want to navigate to the dining table. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in]. 2. Go forward until the dining table. You have reached the final destination.

B

[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]

5,000

arkitscenes

42899739

route_planning

You are a robot beginning at the nightstand near by the window and facing the closet. You want to navigate to the door. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the edge of the bed. 2. [please fill in] 3. Go forward until the door. You have reached the final destination.

C

[ "A. Turn Left", "B. Turn Back", "C. Turn Right" ]

5,001

arkitscenes

47334254

route_planning

You are a robot beginning at the oven and facing the dining table. You want to navigate to the gas stove. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the sink 3. [please fill in]. 4. Go forward until the gas stove. You have reached the final destination.

D

[ "A. Turn Left, Turn Left", "B. Turn Right, Turn Right", "C. Turn Back, Turn Right", "D. Turn Left, Turn Right" ]

5,002

arkitscenes

42899698

route_planning

You are a robot beginning at the bathroom sink facing the mirror. You want to navigate to the bathtube. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the bathtube. You have reached the final destination.

A

[ "A. Turn Right", "B. Turn Back", "C. Turn Left" ]

5,003

scannetpp

25f3b7a318

route_planning

You are a robot beginning at the window and facing the waste bin. You want to navigate to the bathroom. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the waste bin 2. [please fill in]. 3. Go forward until the bathroom. You have reached the final destination.

B

[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]

5,004

arkitscenes

41125760

route_planning

You are a robot beginning at the toilet and facing the bathtub. You want to navigate to the towel rack. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the bathtub 2. [please fill in]. 3. Go forward until the towel rack. You have reached the final destination.

C

[ "A. Turn Left", "B. Turn Back", "C. Turn Right" ]

5,005

arkitscenes

42898486

route_planning

You are a robot beginning at the door and facing the display cabinet. You want to navigate to the 3-seater sofa. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the display cabinet 2. [please fill in] 3. Go forward until the 3-seater sofa. You have reached the final destination.

B

[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]

5,006

scannet

scene0488_01

route_planning

You are a robot beginning at the sink and facing the sink. You want to navigate to the microwave. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the microwave. You have reached the final destination.

A

[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]

5,007

arkitscenes

45261182

route_planning

You are a robot beginning at the door and facing the mirror. You want to navigate to the bathroom sink. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the toilet. 2. [please fill in] 3. Go forward until the bathroom sink. You have reached the final destination.

A

[ "A. Turn Right", "B. Turn Back", "C. Turn Left" ]

5,008

arkitscenes

45662987

route_planning

You are a robot beginning at the door and facing the standing lamps. You want to navigate to the tv. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the sofa. 2. [please fill in] 3. Go forward until the fireplace. 4. [please fill in] 5. Go forward until the tv. You have reached the final destination.

D

[ "A. Turn Back, Turn Left", "B. Turn Right, Turn Left", "C. Turn Left, Turn Left", "D. Turn Left, Turn Right" ]

5,009

arkitscenes

41069048

route_planning

You are a robot beginning at the door facing the bathtub. You want to navigate to the toilet. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the bathroom sink. 2. [please fill in] 3. Go forward until the toilet. You have reached the final destination.

B

[ "A. Turn Left", "B. Turn Right", "C. Turn Back" ]

5,010

arkitscenes

45662970

route_planning

You are a robot beginning at the door and facing the cabinet. You want to navigate to the window. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the cabinet. 2. [please fill in] 3. Go forward until the window. You have reached the final destination.

C

[ "A. Turn Back", "B. Turn Left", "C. Turn Right" ]

5,011

arkitscenes

47333457

route_planning

You are a robot beginning at the head of the bed and facing the teddy bear and the windows. You want to navigate to the washer. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the cabinets. 3. [please fill in] 4. Go forward until the doorway. 5. [please fill in] 6. Go forward until the washer. You have reached the final destination.

C

[ "A. Turn Back, Turn Right, Turn Left", "B. Turn Right, Turn Left, Turn Left", "C. Turn Right, Turn Right, Turn Left", "D. Turn Left, Turn Right, Turn Right" ]

5,012

scannet

scene0671_01

route_planning

You are a robot beginning at the chair with the red backpack and facing the plant on the table. You want to navigate to the yellow backpack. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the trash bin. 3. [please fill in] 4. Go forward until the yellow backpack. You have reached the final destination.

B

[ "A. Turn Left, Turn Right", "B. Turn Right, Turn Left", "C. Turn Back, Turn Left", "D. Turn Back, Turn Right" ]

5,013

arkitscenes

42444976

route_planning

You are a robot beginning at the refrigerator and facing the refrigerator. You want to navigate to the table. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the sink. 3. [please fill in] 4. Go forward until the table. You have reached the final destination.

D

[ "A. Turn Left, Turn Left", "B. Turn Back, Turn Right", "C. Turn Back, Turn Left", "D. Turn Right, Turn Right" ]

5,014

arkitscenes

42899617

route_planning

You are a robot beginning at the door and facing into the bathroom. You want to navigate to the bathtub. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the bathroom sink. 2. [please fill in] 3. Go forward until the bathtub. You have reached the final destination.

A

[ "A. Turn Right", "B. Turn Left", "C. Turn Back" ]

5,015

scannet

scene0328_00

route_planning

You are a robot beginning at the sink facing the sink. You want to navigate to the microwave. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the refridgerator. 3. [please fill in] 4. Go forward until the microwave. You have reached the final destination.

A

[ "A. Turn Back, Turn Right", "B. Turn Back, Turn Left", "C. Turn Left, Turn Right", "D. Turn Right, Turn Left" ]

5,016

scannetpp

38d58a7a31

route_planning

You are a robot beginning at the coat rack by the front door and facing the whiteboard. You want to navigate to the last heater in the back of the room. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the wall 2. [please fill in] 3. Go forward until the heater. You have reached the final destination.

A

[ "A. Turn Right", "B. Turn Left", "C. Turn Back" ]

5,017

scannetpp

a8bf42d646

route_planning

You are a robot beginning at the door with the clock above it and facing the door. You want to navigate to the blue machine. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the blue machine. You have reached the final destination.

C

[ "A. Turn Left", "B. Turn Right", "C. Turn Back" ]

5,018

arkitscenes

47430475

route_planning

You are a robot beginning at the door and facing the window. You want to navigate to the window. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the bookshelf 3. [please fill in] 4. Go forward until the wall 5. [please fill in] 6. Go forward until the window. You have reached the final destination.

B

[ "A. Turn Back, Turn Right, Turn Left", "B. Turn Right, Turn Left, Turn Left", "C. Turn Right, Turn Right, Turn Left", "D. Turn Left, Turn Left, Turn Right" ]

5,019

scannet

scene0193_01

route_planning

You are a robot beginning at the chair and facing the window. You want to navigate to the trash bin. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until past the foot of the bed 3. [please fill in] 4. Go forward until the trash bin. You have reached the final destination.

C

[ "A. Turn Back, Turn Right", "B. Turn Back, Turn Left", "C. Turn Right, Turn Right", "D. Turn Left, Turn Right" ]

5,020

scannetpp

21d970d8de

route_planning

You are a robot beginning at the red chair at the front of the classroom and facing the windows. You want to navigate to the window in the corner farthest from the door. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. [please fill in] 2. Go forward until the sink. 3. [please fill in] 4. Go forward until the wall. 5. [please fill in] 6. Go forward until the window. You have reached the final destination.

C

[ "A. Turn Right, Turn Left, Turn Left", "B. Turn Back, Turn Left, Turn Left", "C. Turn Back, Turn Right, Turn Right", "D. Turn Left, Turn Right, Turn Left" ]

5,021

scannet

scene0231_00

route_planning

You are a robot beginning at the refrigerator, with your back to the fridge. You want to navigate to the trophies on the open shelving. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the kitchen island. 2. [please fill in] 3. Go forward until the chairs. 4. [please fill in] 5. Go forward until past the column. 6. [please fill in] 7. Go forward until the open shelving. You have reached the final destination.

D

[ "A. Turn Back, Turn Right, Turn Right", "B. Turn Left, Turn Left, Turn Right", "C. Turn Left, Turn Right, Turn Left", "D. Turn Right, Turn Left, Turn Right" ]

5,022

scannetpp

bde1e479ad

route_planning

You are a robot beginning at the chair at the center-back of the room and facing the whiteboard. You want to navigate to the hand soap. You will perform the following actions (Note: for each [please fill in], choose either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the desk row closest to the whiteboard. 2. [please fill in] 3. Go forward until the door. 4. [please fill in] 5. Go forward until the hand soap. You have reached the final destination.

A

[ "A. Turn Right, Turn Left", "B. Turn Right, Turn Right", "C. Turn Left, Turn Left", "D. Turn Left, Turn Right" ]